[INFO] [launch]: All log files can be found below /home/rzr-admin/.ros/log/2025-11-12-11-29-18-382964-rzr-admin-6446 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [launch.user]: * Starting Composable node container: /zed_multi/zed_multi_container [INFO] [launch.user]: * Starting a ZED ROS2 node for camera front (zedx, serial: 40483530) [INFO] [launch.user]: Using common configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/rzr-admin/auto-rzr/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_override.yaml [INFO] [launch.user]: Loading ZED node `front` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting a ZED ROS2 node for camera right (zedx, serial: 44036609) [INFO] [launch.user]: Using common configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/rzr-admin/auto-rzr/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_override.yaml [INFO] [launch.user]: Loading ZED node `right` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting a ZED ROS2 node for camera left (zedx, serial: 49440015) [INFO] [launch.user]: Using common configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/rzr-admin/auto-rzr/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_override.yaml [INFO] [launch.user]: Loading ZED node `left` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting a ZED ROS2 node for camera rear (zedx, serial: 41385721) [INFO] [launch.user]: Using common configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/common_stereo.yaml [INFO] [launch.user]: Using camera configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/zedx.yaml [INFO] [launch.user]: Using Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/object_detection.yaml [INFO] [launch.user]: Using Custom Object Detection configuration file: /home/rzr-admin/auto-rzr/install/zed_wrapper/share/zed_wrapper/config/custom_object_detection.yaml [INFO] [launch.user]: Using ROS parameters override file: /home/rzr-admin/auto-rzr/install/launch_files/share/launch_files/launch/hardware_launch/config/zed/zed_override.yaml [INFO] [launch.user]: Loading ZED node `rear` in container `/zed_multi/zed_multi_container` [INFO] [launch.user]: * Starting robot_state_publisher node to link all the frames: state_publisher [INFO] [novatel_oem7_driver_exe-1]: process started with pid [6467] [INFO] [localizer_node-2]: process started with pid [6469] [INFO] [component_container_isolated-3]: process started with pid [6471] [INFO] [robot_state_publisher-4]: process started with pid [6473] [INFO] [robot_state_publisher-5]: process started with pid [6475] [INFO] [robot_state_publisher-6]: process started with pid [6477] [INFO] [robot_state_publisher-7]: process started with pid [6479] [INFO] [robot_state_publisher-8]: process started with pid [6481] [INFO] [svo_controller-9]: process started with pid [6483] [robot_state_publisher-4] [INFO] [1762964960.412935329] [zed_multi.front_state_publisher]: got segment front_camera_center [robot_state_publisher-4] [INFO] [1762964960.413008298] [zed_multi.front_state_publisher]: got segment front_camera_link [robot_state_publisher-4] [INFO] [1762964960.413019330] [zed_multi.front_state_publisher]: got segment front_left_camera_frame [robot_state_publisher-4] [INFO] [1762964960.413029699] [zed_multi.front_state_publisher]: got segment front_left_camera_optical_frame [robot_state_publisher-4] [INFO] [1762964960.413038266] [zed_multi.front_state_publisher]: got segment front_right_camera_frame [robot_state_publisher-4] [INFO] [1762964960.413046942] [zed_multi.front_state_publisher]: got segment front_right_camera_optical_frame [robot_state_publisher-5] [INFO] [1762964960.414205555] [zed_multi.right_state_publisher]: got segment right_camera_center [robot_state_publisher-5] [INFO] [1762964960.414276009] [zed_multi.right_state_publisher]: got segment right_camera_link [robot_state_publisher-5] [INFO] [1762964960.414283364] [zed_multi.right_state_publisher]: got segment right_left_camera_frame [robot_state_publisher-5] [INFO] [1762964960.414288654] [zed_multi.right_state_publisher]: got segment right_left_camera_optical_frame [robot_state_publisher-5] [INFO] [1762964960.414293282] [zed_multi.right_state_publisher]: got segment right_right_camera_frame [robot_state_publisher-5] [INFO] [1762964960.414297691] [zed_multi.right_state_publisher]: got segment right_right_camera_optical_frame [robot_state_publisher-6] [INFO] [1762964960.421838763] [zed_multi.left_state_publisher]: got segment left_camera_center [robot_state_publisher-6] [INFO] [1762964960.421908856] [zed_multi.left_state_publisher]: got segment left_camera_link [robot_state_publisher-6] [INFO] [1762964960.421916651] [zed_multi.left_state_publisher]: got segment left_left_camera_frame [robot_state_publisher-6] [INFO] [1762964960.421934576] [zed_multi.left_state_publisher]: got segment left_left_camera_optical_frame [robot_state_publisher-6] [INFO] [1762964960.421939475] [zed_multi.left_state_publisher]: got segment left_right_camera_frame [robot_state_publisher-6] [INFO] [1762964960.421944214] [zed_multi.left_state_publisher]: got segment left_right_camera_optical_frame [novatel_oem7_driver_exe-1] [INFO] [1762964960.426049374] [novatel.oem7.main]: Oem7RawMsg: topic [oem7raw]: frame_id: 'gps'; q size: 200 [robot_state_publisher-7] [INFO] [1762964960.426096033] [zed_multi.rear_state_publisher]: got segment rear_camera_center [robot_state_publisher-7] [INFO] [1762964960.426180705] [zed_multi.rear_state_publisher]: got segment rear_camera_link [robot_state_publisher-7] [INFO] [1762964960.426192387] [zed_multi.rear_state_publisher]: got segment rear_left_camera_frame [robot_state_publisher-7] [INFO] [1762964960.426199019] [zed_multi.rear_state_publisher]: got segment rear_left_camera_optical_frame [robot_state_publisher-7] [INFO] [1762964960.426207115] [zed_multi.rear_state_publisher]: got segment rear_right_camera_frame [robot_state_publisher-7] [INFO] [1762964960.426217795] [zed_multi.rear_state_publisher]: got segment rear_right_camera_optical_frame [robot_state_publisher-8] [INFO] [1762964960.429278982] [zed_multi.state_publisher]: got segment base_link [robot_state_publisher-8] [INFO] [1762964960.429345719] [zed_multi.state_publisher]: got segment front_camera_link [robot_state_publisher-8] [INFO] [1762964960.429354355] [zed_multi.state_publisher]: got segment left_camera_link [robot_state_publisher-8] [INFO] [1762964960.429359475] [zed_multi.state_publisher]: got segment rear_camera_link [robot_state_publisher-8] [INFO] [1762964960.429364284] [zed_multi.state_publisher]: got segment right_camera_link [novatel_oem7_driver_exe-1] [INFO] [1762964960.430133193] [novatel.oem7.main]: Oem7MessageNode v.; Oct 17 2025 03:22:45 [svo_controller-9] [INFO] [1762964960.432391997] [svo_controller]: ############# TARGET FPS: 30 [novatel_oem7_driver_exe-1] [INFO] [1762964960.436026979] [novatel.oem7.main]: Oem7MessageDecoderLib version: 10.1.0 [localizer_node-2] [INFO] [1762964960.437515000] [map_frame_publisher]: Localizer is initialized [novatel_oem7_driver_exe-1] [INFO] [1762964960.437800476] [novatel.oem7.main]: PPPPOS: topic [ppppos]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.438578762] [novatel.oem7.main]: BESTPOS: topic [bestpos]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.439123172] [novatel.oem7.main]: BESTVEL: topic [bestvel]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.439616934] [novatel.oem7.main]: BESTGNSSVEL: topic [bestgnssvel]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.440099145] [novatel.oem7.main]: BESTUTM: topic [bestutm]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.440625120] [novatel.oem7.main]: BESTGNSSPOS: topic [bestgnsspos]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.441152026] [novatel.oem7.main]: INSPVA: topic [inspva]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.441680345] [novatel.oem7.main]: GPSFix: topic [gps]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.442736272] [novatel.oem7.main]: NavSatFix: topic [fix]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.444194326] [novatel.oem7.main]: GPSFix position source: BESTPOS or INSPVAS based on quality [novatel_oem7_driver_exe-1] [INFO] [1762964960.444333392] [novatel.oem7.main]: IMU: topic [imu/data]: frame_id: 'imu_link'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.444913009] [novatel.oem7.main]: RAWIMU: topic [imu/data_raw]: frame_id: 'imu_link'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.445376614] [novatel.oem7.main]: CORRIMU: topic [corrimu]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.445855739] [novatel.oem7.main]: INSSTDEV: topic [insstdev]: frame_id: 'gps'; q size: 10 [novatel_oem7_driver_exe-1] [INFO] [1762964960.446346957] [novatel.oem7.main]: INSPVAX: topic [inspvax]: frame_id: 'gps'; q size: 10 [novatel_oem7_driver_exe-1] [INFO] [1762964960.446834558] [novatel.oem7.main]: INSCONFIG: topic [insconfig]: frame_id: 'gps'; q size: 10 [novatel_oem7_driver_exe-1] [WARN] [1762964960.447666337] [novatel.oem7.main]: Message 'RAWIMUSX' will not be published. [novatel_oem7_driver_exe-1] [INFO] [1762964960.447817375] [novatel.oem7.main]: HEADING2: topic [heading2]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.448394758] [novatel.oem7.main]: RXSTATUS: topic [rxstatus]: frame_id: 'gps'; q size: 10 [novatel_oem7_driver_exe-1] [INFO] [1762964960.449208773] [novatel.oem7.main]: TERRASTARINFO: topic [terrastarinfo]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.449789902] [novatel.oem7.main]: TERRASTARSTATUS: topic [terrastarstatus]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.450377394] [novatel.oem7.main]: TIME: topic [time]: frame_id: 'gps'; q size: 100 [novatel_oem7_driver_exe-1] [WARN] [1762964960.450877189] [novatel.oem7.main]: Message 'NMEA_Sentence' will not be published. [novatel_oem7_driver_exe-1] [INFO] [1762964960.451013249] [novatel.oem7.main]: Odometry: topic [odom]: frame_id: 'odom'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.452254309] [novatel.oem7.main]: OdometryOrigin: topic [odom_origin]: frame_id: 'odom'; q size: 100 [novatel_oem7_driver_exe-1] [INFO] [1762964960.455536477] [novatel.oem7.main]: Oem7Net TCP['192.168.16.50' : 3002] [novatel_oem7_driver_exe-1] [INFO] [1762964960.455953804] [novatel.oem7.main]: Oem7Net socket open: '1; OS error= 0 [component_container_isolated-3] [INFO] [1762964960.488545406] [zed_multi.zed_multi_container]: Load Library: /home/rzr-admin/auto-rzr/install/zed_components/lib/libzed_camera_component.so [novatel_oem7_driver_exe-1] [INFO] [1762964960.504516186] [novatel.oem7.main]: Standard Receiver Initialization: [novatel_oem7_driver_exe-1] [INFO] [1762964960.510794406] [novatel.oem7.main]: AACmd 'UNLOGALL THISPORT' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.515789967] [novatel.oem7.main]: AACmd 'LOG INSCONFIGB ONCE' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.519877713] [novatel.oem7.main]: AACmd 'LOG TERRASTARINFOB ONCE' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.525485613] [novatel.oem7.main]: AACmd 'LOG TERRASTARSTATUSB ONCE' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.530928427] [novatel.oem7.main]: AACmd 'LOG TERRASTARINFOB ONTIME 300' : 'OK' [component_container_isolated-3] [INFO] [1762964960.533777448] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762964960.533834718] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [novatel_oem7_driver_exe-1] [INFO] [1762964960.536627952] [novatel.oem7.main]: AACmd 'LOG TERRASTARSTATUSB ONTIME 300' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.542541626] [novatel.oem7.main]: AACmd 'LOG INSCONFIGB ONTIME 300' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.547687874] [novatel.oem7.main]: AACmd 'LOG RXSTATUSB ONCHANGED' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.552528769] [novatel.oem7.main]: AACmd 'LOG BESTPOSB ONTIME 0.1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.558084950] [novatel.oem7.main]: AACmd 'LOG BESTVELB ONTIME 0.1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.577035972] [novatel.oem7.main]: AACmd 'LOG BESTGNSSVELB ONTIME 0.1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.581817814] [novatel.oem7.main]: AACmd 'LOG BESTUTMB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.586563527] [novatel.oem7.main]: AACmd 'LOG BESTGNSSPOSB ONTIME 0.1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.591923924] [novatel.oem7.main]: AACmd 'LOG PPPPOSB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.597327924] [novatel.oem7.main]: AACmd 'LOG HEADING2B ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.602817789] [novatel.oem7.main]: AACmd 'LOG PSRDOP2B ONCHANGED' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.608116748] [novatel.oem7.main]: AACmd 'LOG INSPVASB ONTIME 0.02' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.614408023] [novatel.oem7.main]: AACmd 'LOG INSPVAXB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.622126544] [novatel.oem7.main]: AACmd 'LOG CORRIMUSB ONTIME 0.01' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.626971286] [novatel.oem7.main]: AACmd 'LOG INSSTDEVB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.632914236] [novatel.oem7.main]: AACmd 'LOG RAWIMUSXB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.638331021] [novatel.oem7.main]: AACmd 'LOG TIMEB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.642955482] [novatel.oem7.main]: AACmd 'LOG VERSIONB ONCE' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.647967093] [novatel.oem7.main]: AACmd 'LOG INSUPDATESTATUSB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.653658452] [novatel.oem7.main]: AACmd 'LOG RAWEPHEMB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.660187371] [novatel.oem7.main]: AACmd 'LOG GLOEPHEMERISB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.668486440] [novatel.oem7.main]: AACmd 'LOG BDSEPHEMERISB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.674687212] [novatel.oem7.main]: AACmd 'LOG GALFNAVEPHEMERISB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.679016851] [novatel.oem7.main]: AACmd 'LOG GALINAVEPHEMERISB ONNEW' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.684601346] [novatel.oem7.main]: AACmd 'LOG RANGEB ONTIME 1' : 'OK' [novatel_oem7_driver_exe-1] [INFO] [1762964960.684613259] [novatel.oem7.main]: Extended Receiver Initialization: [novatel_oem7_driver_exe-1] [INFO] [1762964960.684621715] [novatel.oem7.main]: Receiver Initialization completed, errors= 0 [novatel_oem7_driver_exe-1] [INFO] [1762964960.685596446] [novatel.oem7.main]: GPSFix position source= INSPVA: 0 --> 0 at GPSTime[0 313080] [novatel_oem7_driver_exe-1] [ERROR] [1762964960.685625782] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [novatel_oem7_driver_exe-1] [ERROR] [1762964960.687461668] [novatel.oem7.main]: No BESTPOS or INSPVAX to get undulation [component_container_isolated-3] [INFO] [1762964960.861280500] [zed_multi.left]: ================================ [component_container_isolated-3] [INFO] [1762964960.861318753] [zed_multi.left]: ZED Camera Component [component_container_isolated-3] [INFO] [1762964960.861327220] [zed_multi.left]: ================================ [component_container_isolated-3] [INFO] [1762964960.861334964] [zed_multi.left]: * namespace: /zed_multi [component_container_isolated-3] [INFO] [1762964960.861342158] [zed_multi.left]: * node name: left [component_container_isolated-3] [INFO] [1762964960.861350073] [zed_multi.left]: * IPC: enabled [component_container_isolated-3] [INFO] [1762964960.861356235] [zed_multi.left]: ================================ [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/left' in container '/zed_multi/zed_multi_container' [component_container_isolated-3] [INFO] [1762964960.862665796] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762964960.862691214] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762964960.870598295] [zed_multi.right]: ================================ [component_container_isolated-3] [INFO] [1762964960.870622401] [zed_multi.right]: ZED Camera Component [component_container_isolated-3] [INFO] [1762964960.870628763] [zed_multi.right]: ================================ [component_container_isolated-3] [INFO] [1762964960.870637991] [zed_multi.right]: * namespace: /zed_multi [component_container_isolated-3] [INFO] [1762964960.870643321] [zed_multi.right]: * node name: right [component_container_isolated-3] [INFO] [1762964960.870648140] [zed_multi.right]: * IPC: enabled [component_container_isolated-3] [INFO] [1762964960.870653070] [zed_multi.right]: ================================ [component_container_isolated-3] [INFO] [1762964960.871380910] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762964960.871397301] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/right' in container '/zed_multi/zed_multi_container' [component_container_isolated-3] [INFO] [1762964960.879161719] [zed_multi.rear]: ================================ [component_container_isolated-3] [INFO] [1762964960.879183350] [zed_multi.rear]: ZED Camera Component [component_container_isolated-3] [INFO] [1762964960.879189682] [zed_multi.rear]: ================================ [component_container_isolated-3] [INFO] [1762964960.879195494] [zed_multi.rear]: * namespace: /zed_multi [component_container_isolated-3] [INFO] [1762964960.879201054] [zed_multi.rear]: * node name: rear [component_container_isolated-3] [INFO] [1762964960.879206054] [zed_multi.rear]: * IPC: enabled [component_container_isolated-3] [INFO] [1762964960.879211143] [zed_multi.rear]: ================================ [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/rear' in container '/zed_multi/zed_multi_container' [component_container_isolated-3] [INFO] [1762964960.879930437] [zed_multi.zed_multi_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762964960.879947089] [zed_multi.zed_multi_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container_isolated-3] [INFO] [1762964960.887890639] [zed_multi.front]: ================================ [component_container_isolated-3] [INFO] [1762964960.887911950] [zed_multi.front]: ZED Camera Component [component_container_isolated-3] [INFO] [1762964960.887926788] [zed_multi.front]: ================================ [component_container_isolated-3] [INFO] [1762964960.887933080] [zed_multi.front]: * namespace: /zed_multi [component_container_isolated-3] [INFO] [1762964960.887938551] [zed_multi.front]: * node name: front [component_container_isolated-3] [INFO] [1762964960.887943610] [zed_multi.front]: * IPC: enabled [component_container_isolated-3] [INFO] [1762964960.887948400] [zed_multi.front]: ================================ [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/zed_multi/front' in container '/zed_multi/zed_multi_container' [component_container_isolated-3] [INFO] [1762964960.911521939] [zed_multi.left]: === DEBUG parameters === [component_container_isolated-3] [INFO] [1762964960.911855797] [zed_multi.left]: * SDK Verbose: 0 [component_container_isolated-3] [INFO] [1762964960.912061920] [zed_multi.left]: * Use Pub Timestamps: FALSE [component_container_isolated-3] [INFO] [1762964960.912245912] [zed_multi.left]: * SDK Verbose File: [component_container_isolated-3] [INFO] [1762964960.912424713] [zed_multi.left]: * Debug Common: FALSE [component_container_isolated-3] [INFO] [1762964960.912559791] [zed_multi.left]: * Debug Simulation: FALSE [component_container_isolated-3] [INFO] [1762964960.912691763] [zed_multi.left]: * Debug Video/Depth: FALSE [component_container_isolated-3] [INFO] [1762964960.912843253] [zed_multi.left]: * Debug Control settings: FALSE [component_container_isolated-3] [INFO] [1762964960.912996576] [zed_multi.left]: * Debug Point Cloud: FALSE [component_container_isolated-3] [INFO] [1762964960.913140931] [zed_multi.left]: * Debug GNSS: FALSE [component_container_isolated-3] [INFO] [1762964960.913337617] [zed_multi.left]: * Debug Positional Tracking: TRUE [component_container_isolated-3] [INFO] [1762964960.913481862] [zed_multi.left]: * Debug sensors: FALSE [component_container_isolated-3] [INFO] [1762964960.913610097] [zed_multi.left]: * Debug Mapping: FALSE [component_container_isolated-3] [INFO] [1762964960.913771245] [zed_multi.left]: * Debug Object Detection: FALSE [component_container_isolated-3] [INFO] [1762964960.913905171] [zed_multi.left]: * Debug Body Tracking: FALSE [component_container_isolated-3] [INFO] [1762964960.914053574] [zed_multi.left]: * Debug Streaming: FALSE [component_container_isolated-3] [INFO] [1762964960.914206416] [zed_multi.left]: * Debug ROI: FALSE [component_container_isolated-3] [INFO] [1762964960.914712462] [zed_multi.left]: * Debug Nitros: FALSE [component_container_isolated-3] [INFO] [1762964960.914862128] [zed_multi.left]: * Debug Advanced: FALSE [component_container_isolated-3] [INFO] [1762964960.914890582] [zed_multi.left]: + Debug Mode enabled + [component_container_isolated-3] [INFO] [1762964960.914908527] [zed_multi.left]: === TOPIC selection parameters === [component_container_isolated-3] [INFO] [1762964960.915058744] [zed_multi.left]: * Publish Status: TRUE [component_container_isolated-3] [INFO] [1762964960.915238146] [zed_multi.left]: * Publish Left/Right images: FALSE [component_container_isolated-3] [INFO] [1762964960.915397040] [zed_multi.left]: * Publish Raw images: FALSE [component_container_isolated-3] [INFO] [1762964960.915526236] [zed_multi.left]: * Publish Gray images: FALSE [component_container_isolated-3] [INFO] [1762964960.915653189] [zed_multi.left]: * Publish RGB image: TRUE [component_container_isolated-3] [INFO] [1762964960.915778138] [zed_multi.left]: * Publish Stereo image: FALSE [component_container_isolated-3] [INFO] [1762964960.915914298] [zed_multi.left]: * Publish ROI Mask image: FALSE [component_container_isolated-3] [INFO] [1762964960.916062290] [zed_multi.left]: * Publish Depth Map: TRUE [component_container_isolated-3] [INFO] [1762964960.916188782] [zed_multi.left]: * Publish Depth Info: TRUE [component_container_isolated-3] [INFO] [1762964960.916314071] [zed_multi.left]: * Publish Point Cloud: TRUE [component_container_isolated-3] [INFO] [1762964960.916448748] [zed_multi.left]: * Publish Depth Confidence: TRUE [component_container_isolated-3] [INFO] [1762964960.916574829] [zed_multi.left]: * Publish Disparity: TRUE [component_container_isolated-3] [INFO] [1762964960.916706941] [zed_multi.left]: * Publish IMU: TRUE [component_container_isolated-3] [INFO] [1762964960.916833593] [zed_multi.left]: * Publish IMU Raw: FALSE [component_container_isolated-3] [INFO] [1762964960.916990753] [zed_multi.left]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-3] [INFO] [1762964960.917137904] [zed_multi.left]: * Publish Magnetometer: FALSE [component_container_isolated-3] [INFO] [1762964960.917302909] [zed_multi.left]: * Publish Barometer: FALSE [component_container_isolated-3] [INFO] [1762964960.917474297] [zed_multi.left]: * Publish Temperature: FALSE [component_container_isolated-3] [INFO] [1762964960.917623562] [zed_multi.left]: * Publish Odometry/Pose: TRUE [component_container_isolated-3] [INFO] [1762964960.917759391] [zed_multi.left]: * Publish Pose with Covariance: FALSE [component_container_isolated-3] [INFO] [1762964960.917885713] [zed_multi.left]: * Publish Camera Path: FALSE [component_container_isolated-3] [INFO] [1762964960.918025389] [zed_multi.left]: * Publish Detection Plane: FALSE [component_container_isolated-3] [INFO] [1762964960.918184283] [zed_multi.left]: === SVO INPUT parameters === [component_container_isolated-3] [INFO] [1762964960.918358185] [zed_multi.left]: === LOCAL STREAMING parameters === [component_container_isolated-3] [INFO] [1762964960.918630214] [zed_multi.left]: * Local stream input: 192.168.16.175:30004 [component_container_isolated-3] [INFO] [1762964960.918650653] [zed_multi.left]: === GENERAL parameters === [component_container_isolated-3] [INFO] [1762964960.918795089] [zed_multi.left]: + Playing a network stream from a ZED X camera model. [component_container_isolated-3] [INFO] [1762964960.918814647] [zed_multi.left]: * Camera model: zedx - ZED X [component_container_isolated-3] [INFO] [1762964960.918963371] [zed_multi.left]: * Camera name: left [component_container_isolated-3] [INFO] [1762964960.919103809] [zed_multi.left]: * Camera SN: 0 [component_container_isolated-3] [INFO] [1762964960.919235280] [zed_multi.left]: * Camera ID: -1 [component_container_isolated-3] [INFO] [1762964960.919366581] [zed_multi.left]: * Camera timeout [sec]: 5 [component_container_isolated-3] [INFO] [1762964960.919507490] [zed_multi.left]: * Camera reconnection temptatives: 5 [component_container_isolated-3] [INFO] [1762964960.919638480] [zed_multi.left]: * Camera framerate: 30 [component_container_isolated-3] [INFO] [1762964960.919767306] [zed_multi.left]: * GPU ID: -1 [component_container_isolated-3] [INFO] [1762964960.919895621] [zed_multi.left]: * Asynchronous image retrieval: FALSE [component_container_isolated-3] [INFO] [1762964960.920057190] [zed_multi.left]: * Image Validity Check: 1 [component_container_isolated-3] [INFO] [1762964960.920211093] [zed_multi.left]: * Camera resolution: HD1200 [component_container_isolated-3] [INFO] [1762964960.920348476] [zed_multi.left]: * Publishing resolution: CUSTOM [component_container_isolated-3] [INFO] [1762964960.920511207] [zed_multi.left]: * Publishing downscale factor: 2 [component_container_isolated-3] [INFO] [1762964960.920660662] [zed_multi.left]: * OpenCV custom calibration: [component_container_isolated-3] [INFO] [1762964960.920716929] [zed_multi.right]: === DEBUG parameters === [component_container_isolated-3] [INFO] [1762964960.920787885] [zed_multi.left]: * Camera self calibration: TRUE [component_container_isolated-3] [INFO] [1762964960.921002064] [zed_multi.left]: * Camera flip: FALSE [component_container_isolated-3] [INFO] [1762964960.921096454] [zed_multi.right]: * SDK Verbose: 0 [component_container_isolated-3] [INFO] [1762964960.921162571] [zed_multi.left]: * Publish framerate [Hz]: 15 [component_container_isolated-3] [INFO] [1762964960.921197447] [zed_multi.left]: === VIDEO parameters === [component_container_isolated-3] [INFO] [1762964960.921264535] [zed_multi.right]: * Use Pub Timestamps: FALSE [component_container_isolated-3] [INFO] [1762964960.921337986] [zed_multi.left]: * Saturation: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.921404382] [zed_multi.right]: * SDK Verbose File: [component_container_isolated-3] [INFO] [1762964960.921487702] [zed_multi.left]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.921550672] [zed_multi.right]: * Debug Common: FALSE [component_container_isolated-3] [INFO] [1762964960.921617820] [zed_multi.left]: * Gamma: 8 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.921678987] [zed_multi.right]: * Debug Simulation: FALSE [component_container_isolated-3] [INFO] [1762964960.921761965] [zed_multi.left]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.921822771] [zed_multi.right]: * Debug Video/Depth: FALSE [component_container_isolated-3] [INFO] [1762964960.921905610] [zed_multi.left]: * Exposure: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.921955896] [zed_multi.right]: * Debug Control settings: FALSE [component_container_isolated-3] [INFO] [1762964960.922071617] [zed_multi.left]: * Gain: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.922121011] [zed_multi.right]: * Debug Point Cloud: FALSE [component_container_isolated-3] [INFO] [1762964960.922205773] [zed_multi.left]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.922290976] [zed_multi.right]: * Debug GNSS: FALSE [component_container_isolated-3] [INFO] [1762964960.922329700] [zed_multi.left]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.922422978] [zed_multi.right]: * Debug Positional Tracking: TRUE [component_container_isolated-3] [INFO] [1762964960.922463746] [zed_multi.left]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.922559659] [zed_multi.right]: * Debug sensors: FALSE [component_container_isolated-3] [INFO] [1762964960.922618992] [zed_multi.left]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.922685519] [zed_multi.right]: * Debug Mapping: FALSE [component_container_isolated-3] [INFO] [1762964960.922744842] [zed_multi.left]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.922827961] [zed_multi.right]: * Debug Object Detection: FALSE [component_container_isolated-3] [INFO] [1762964960.922866685] [zed_multi.left]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.922969371] [zed_multi.right]: * Debug Body Tracking: FALSE [component_container_isolated-3] [INFO] [1762964960.923016170] [zed_multi.left]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.923103267] [zed_multi.right]: * Debug Streaming: FALSE [component_container_isolated-3] [INFO] [1762964960.923141991] [zed_multi.left]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.923261158] [zed_multi.right]: * Debug ROI: FALSE [component_container_isolated-3] [INFO] [1762964960.923298880] [zed_multi.left]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.923428328] [zed_multi.right]: * Debug Nitros: FALSE [component_container_isolated-3] [INFO] [1762964960.923466661] [zed_multi.left]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.923565339] [zed_multi.right]: * Debug Advanced: FALSE [component_container_isolated-3] [INFO] [1762964960.923585428] [zed_multi.right]: + Debug Mode enabled + [component_container_isolated-3] [INFO] [1762964960.923597641] [zed_multi.right]: === TOPIC selection parameters === [component_container_isolated-3] [INFO] [1762964960.923615966] [zed_multi.left]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.923728521] [zed_multi.right]: * Publish Status: TRUE [component_container_isolated-3] [INFO] [1762964960.923782113] [zed_multi.left]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.923872335] [zed_multi.right]: * Publish Left/Right images: FALSE [component_container_isolated-3] [INFO] [1762964960.923914015] [zed_multi.left]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.923981053] [zed_multi.left]: === DEPTH parameters === [component_container_isolated-3] [INFO] [1762964960.924024676] [zed_multi.right]: * Publish Raw images: FALSE [component_container_isolated-3] [INFO] [1762964960.924171286] [zed_multi.right]: * Publish Gray images: FALSE [component_container_isolated-3] [INFO] [1762964960.924231962] [zed_multi.left]: * Depth mode: NEURAL [5] [component_container_isolated-3] [INFO] [1762964960.924304661] [zed_multi.right]: * Publish RGB image: TRUE [component_container_isolated-3] [INFO] [1762964960.924391387] [zed_multi.left]: * Min depth [m]: 2 [component_container_isolated-3] [INFO] [1762964960.924441923] [zed_multi.right]: * Publish Stereo image: FALSE [component_container_isolated-3] [INFO] [1762964960.924579907] [zed_multi.left]: * Max depth [m]: 35 [component_container_isolated-3] [INFO] [1762964960.924629381] [zed_multi.right]: * Publish ROI Mask image: FALSE [component_container_isolated-3] [INFO] [1762964960.924712480] [zed_multi.left]: * Depth Stabilization: 80 [component_container_isolated-3] [INFO] [1762964960.924768908] [zed_multi.right]: * Publish Depth Map: TRUE [component_container_isolated-3] [INFO] [1762964960.924845895] [zed_multi.left]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-3] [INFO] [1762964960.924899447] [zed_multi.right]: * Publish Depth Info: TRUE [component_container_isolated-3] [INFO] [1762964960.924994839] [zed_multi.left]: * Point cloud rate [Hz]: 10 [component_container_isolated-3] [INFO] [1762964960.925048291] [zed_multi.right]: * Publish Point Cloud: TRUE [component_container_isolated-3] [INFO] [1762964960.925144896] [zed_multi.left]: * Point cloud resolution: COMPACT [component_container_isolated-3] [INFO] [1762964960.925200983] [zed_multi.right]: * Publish Depth Confidence: TRUE [component_container_isolated-3] [INFO] [1762964960.925278651] [zed_multi.left]: * Depth Confidence: 70 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.925357281] [zed_multi.right]: * Publish Disparity: TRUE [component_container_isolated-3] [INFO] [1762964960.925422416] [zed_multi.left]: * Depth Texture Confidence: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.925490516] [zed_multi.right]: * Publish IMU: TRUE [component_container_isolated-3] [INFO] [1762964960.925571060] [zed_multi.left]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.925593503] [zed_multi.left]: === GNSS FUSION parameters === [component_container_isolated-3] [INFO] [1762964960.925620995] [zed_multi.right]: * Publish IMU Raw: FALSE [component_container_isolated-3] [INFO] [1762964960.925756384] [zed_multi.right]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-3] [INFO] [1762964960.925812340] [zed_multi.left]: * GNSS fusion enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.925840785] [zed_multi.left]: === POSITIONAL TRACKING parameters === [component_container_isolated-3] [INFO] [1762964960.925885440] [zed_multi.right]: * Publish Magnetometer: FALSE [component_container_isolated-3] [INFO] [1762964960.926016410] [zed_multi.left]: * Positional tracking enabled: TRUE [component_container_isolated-3] [INFO] [1762964960.926068039] [zed_multi.right]: * Publish Barometer: FALSE [component_container_isolated-3] [DEBUG] [1762964960.926175694] [zed_multi.left]: Comparing 'GEN_1' to 'GEN_2' [component_container_isolated-3] [DEBUG] [1762964960.926196694] [zed_multi.left]: Comparing 'GEN_2' to 'GEN_2' [component_container_isolated-3] [INFO] [1762964960.926209880] [zed_multi.left]: * Positional tracking mode: GEN 2 [component_container_isolated-3] [INFO] [1762964960.926246680] [zed_multi.right]: * Publish Temperature: FALSE [component_container_isolated-3] [INFO] [1762964960.926339347] [zed_multi.left]: * Map frame id: map [component_container_isolated-3] [INFO] [1762964960.926389773] [zed_multi.right]: * Publish Odometry/Pose: TRUE [component_container_isolated-3] [INFO] [1762964960.926481158] [zed_multi.left]: * Odometry frame id: odom [component_container_isolated-3] [INFO] [1762964960.926551141] [zed_multi.right]: * Publish Pose with Covariance: FALSE [component_container_isolated-3] [INFO] [1762964960.926611126] [zed_multi.left]: * Broadcast Odometry TF: FALSE [component_container_isolated-3] [INFO] [1762964960.926686700] [zed_multi.right]: * Publish Camera Path: FALSE [component_container_isolated-3] [INFO] [1762964960.926746314] [zed_multi.left]: * Depth minimum range: 0 [component_container_isolated-3] [INFO] [1762964960.926815867] [zed_multi.right]: * Publish Detection Plane: FALSE [component_container_isolated-3] [INFO] [1762964960.926888826] [zed_multi.left]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.926960463] [zed_multi.right]: === SVO INPUT parameters === [component_container_isolated-3] [INFO] [1762964960.927106021] [zed_multi.right]: === LOCAL STREAMING parameters === [component_container_isolated-3] [INFO] [1762964960.927224387] [zed_multi.left]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.927390845] [zed_multi.right]: * Local stream input: 192.168.16.175:30002 [component_container_isolated-3] [INFO] [1762964960.927412326] [zed_multi.right]: === GENERAL parameters === [component_container_isolated-3] [INFO] [1762964960.927448275] [zed_multi.left]: * Path history lenght: -1 [component_container_isolated-3] [INFO] [1762964960.927550740] [zed_multi.right]: + Playing a network stream from a ZED X camera model. [component_container_isolated-3] [INFO] [1762964960.927569737] [zed_multi.right]: * Camera model: zedx - ZED X [component_container_isolated-3] [INFO] [1762964960.927654869] [zed_multi.left]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-3] [INFO] [1762964960.927708953] [zed_multi.right]: * Camera name: right [component_container_isolated-3] [INFO] [1762964960.927845313] [zed_multi.right]: * Camera SN: 0 [component_container_isolated-3] [INFO] [1762964960.927903524] [zed_multi.left]: * Area Memory: TRUE [component_container_isolated-3] [INFO] [1762964960.927998495] [zed_multi.right]: * Camera ID: -1 [component_container_isolated-3] [INFO] [1762964960.928102554] [zed_multi.left]: * Area Memory File: [component_container_isolated-3] [INFO] [1762964960.928146849] [zed_multi.right]: * Camera timeout [sec]: 5 [component_container_isolated-3] [INFO] [1762964960.928281907] [zed_multi.right]: * Camera reconnection temptatives: 5 [component_container_isolated-3] [INFO] [1762964960.928337713] [zed_multi.left]: * Save Area Memory on closing: FALSE [component_container_isolated-3] [INFO] [1762964960.928414600] [zed_multi.right]: * Camera framerate: 30 [component_container_isolated-3] [INFO] [1762964960.928552474] [zed_multi.right]: * GPU ID: -1 [component_container_isolated-3] [INFO] [1762964960.928604112] [zed_multi.left]: * Camera is static: FALSE [component_container_isolated-3] [INFO] [1762964960.928685948] [zed_multi.right]: * Asynchronous image retrieval: FALSE [component_container_isolated-3] [INFO] [1762964960.928777253] [zed_multi.left]: * Gravity as origin: TRUE [component_container_isolated-3] [INFO] [1762964960.928837969] [zed_multi.right]: * Image Validity Check: 1 [component_container_isolated-3] [INFO] [1762964960.929008915] [zed_multi.left]: * IMU Fusion: TRUE [component_container_isolated-3] [INFO] [1762964960.929068659] [zed_multi.right]: * Camera resolution: HD1200 [component_container_isolated-3] [INFO] [1762964960.929208366] [zed_multi.left]: * Floor Alignment: FALSE [component_container_isolated-3] [INFO] [1762964960.929259544] [zed_multi.right]: * Publishing resolution: CUSTOM [component_container_isolated-3] [INFO] [1762964960.929268301] [zed_multi.rear]: === DEBUG parameters === [component_container_isolated-3] [INFO] [1762964960.929399641] [zed_multi.left]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-3] [INFO] [1762964960.929446731] [zed_multi.right]: * Publishing downscale factor: 2 [component_container_isolated-3] [INFO] [1762964960.929575477] [zed_multi.left]: * Publish 3D Landmarks: FALSE [component_container_isolated-3] [INFO] [1762964960.929641463] [zed_multi.rear]: * SDK Verbose: 0 [component_container_isolated-3] [INFO] [1762964960.929691268] [zed_multi.right]: * OpenCV custom calibration: [component_container_isolated-3] [INFO] [1762964960.929743418] [zed_multi.left]: * Publish Landmark Skip Frame:  [component_container_isolated-3] [INFO] [1762964960.929834792] [zed_multi.rear]: * Use Pub Timestamps: FALSE [component_container_isolated-3] [INFO] [1762964960.929878075] [zed_multi.right]: * Camera self calibration: TRUE [component_container_isolated-3] [INFO] [1762964960.929938671] [zed_multi.left]: * 2D mode: FALSE [component_container_isolated-3] [INFO] [1762964960.929980150] [zed_multi.rear]: * SDK Verbose File: [component_container_isolated-3] [INFO] [1762964960.930023192] [zed_multi.right]: * Camera flip: FALSE [component_container_isolated-3] [INFO] [1762964960.930090030] [zed_multi.left]: * Reset pose with SVO loop: TRUE [component_container_isolated-3] [INFO] [1762964960.930112803] [zed_multi.left]: === Region of Interest parameters === [component_container_isolated-3] [INFO] [1762964960.930129786] [zed_multi.rear]: * Debug Common: FALSE [component_container_isolated-3] [INFO] [1762964960.930174792] [zed_multi.right]: * Publish framerate [Hz]: 15 [component_container_isolated-3] [INFO] [1762964960.930198777] [zed_multi.right]: === VIDEO parameters === [component_container_isolated-3] [INFO] [1762964960.930259333] [zed_multi.rear]: * Debug Simulation: FALSE [component_container_isolated-3] [INFO] [1762964960.930309549] [zed_multi.left]: * Automatic ROI generation: FALSE [component_container_isolated-3] [INFO] [1762964960.930360256] [zed_multi.right]: * Saturation: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.930414680] [zed_multi.rear]: * Debug Video/Depth: FALSE [component_container_isolated-3] [INFO] [1762964960.930508459] [zed_multi.right]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.930584985] [zed_multi.rear]: * Debug Control settings: FALSE [component_container_isolated-3] [INFO] [1762964960.930644188] [zed_multi.left]: * Manual ROI polygon: [] [component_container_isolated-3] [INFO] [1762964960.930669266] [zed_multi.left]: === SENSORS STACK parameters === [component_container_isolated-3] [INFO] [1762964960.930680718] [zed_multi.right]: * Gamma: 8 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.930716466] [zed_multi.rear]: * Debug Point Cloud: FALSE [component_container_isolated-3] [INFO] [1762964960.930844631] [zed_multi.right]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.930883325] [zed_multi.rear]: * Debug GNSS: FALSE [component_container_isolated-3] [INFO] [1762964960.930942097] [zed_multi.left]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-3] [INFO] [1762964960.931001360] [zed_multi.right]: * Exposure: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.931043731] [zed_multi.rear]: * Debug Positional Tracking: TRUE [component_container_isolated-3] [INFO] [1762964960.931113775] [zed_multi.left]: * Sensors Camera Sync: FALSE [component_container_isolated-3] [INFO] [1762964960.931170243] [zed_multi.right]: * Gain: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.931221180] [zed_multi.rear]: * Debug sensors: FALSE [component_container_isolated-3] [INFO] [1762964960.931261267] [zed_multi.left]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.931287076] [zed_multi.left]: === Spatial Mapping parameters === [component_container_isolated-3] [INFO] [1762964960.931307304] [zed_multi.right]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.931374162] [zed_multi.rear]: * Debug Mapping: FALSE [component_container_isolated-3] [INFO] [1762964960.931431832] [zed_multi.right]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.931487188] [zed_multi.left]: * Spatial Mapping Enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.931533186] [zed_multi.rear]: * Debug Object Detection: FALSE [component_container_isolated-3] [INFO] [1762964960.931586848] [zed_multi.right]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.931665619] [zed_multi.left]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-3] [INFO] [1762964960.931745762] [zed_multi.right]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.931792862] [zed_multi.rear]: * Debug Body Tracking: FALSE [component_container_isolated-3] [INFO] [1762964960.931831696] [zed_multi.left]: * 3D Max Mapping range [m]: 5 [component_container_isolated-3] [INFO] [1762964960.931874357] [zed_multi.right]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.931963638] [zed_multi.rear]: * Debug Streaming: FALSE [component_container_isolated-3] [INFO] [1762964960.932025246] [zed_multi.left]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.932129274] [zed_multi.right]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.932168008] [zed_multi.rear]: * Debug ROI: FALSE [component_container_isolated-3] [INFO] [1762964960.932216671] [zed_multi.left]: * Clicked point topic: /clicked_point [component_container_isolated-3] [INFO] [1762964960.932347411] [zed_multi.right]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.932395533] [zed_multi.rear]: * Debug Nitros: FALSE [component_container_isolated-3] [INFO] [1762964960.932449666] [zed_multi.left]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-3] [INFO] [1762964960.932491316] [zed_multi.right]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.932540470] [zed_multi.rear]: * Debug Advanced: FALSE [component_container_isolated-3] [INFO] [1762964960.932564836] [zed_multi.rear]: + Debug Mode enabled + [component_container_isolated-3] [INFO] [1762964960.932577991] [zed_multi.rear]: === TOPIC selection parameters === [component_container_isolated-3] [INFO] [1762964960.932616244] [zed_multi.left]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-3] [INFO] [1762964960.932654307] [zed_multi.left]: === OBJECT DETECTION parameters === [component_container_isolated-3] [INFO] [1762964960.932676690] [zed_multi.right]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.932731394] [zed_multi.rear]: * Publish Status: TRUE [component_container_isolated-3] [INFO] [1762964960.932821266] [zed_multi.right]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.932869628] [zed_multi.left]: * Object Det. enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.932917580] [zed_multi.rear]: * Publish Left/Right images: FALSE [component_container_isolated-3] [INFO] [1762964960.932970871] [zed_multi.right]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.933050784] [zed_multi.left]: * Object Det. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964960.933094958] [zed_multi.rear]: * Publish Raw images: FALSE [component_container_isolated-3] [INFO] [1762964960.933154101] [zed_multi.right]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.933241679] [zed_multi.left]: * Object Det. maximum range [m]: 20 [component_container_isolated-3] [INFO] [1762964960.933291895] [zed_multi.rear]: * Publish Gray images: FALSE [component_container_isolated-3] [INFO] [1762964960.933340568] [zed_multi.right]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.933365846] [zed_multi.right]: === DEPTH parameters === [component_container_isolated-3] [INFO] [1762964960.933389160] [zed_multi.left]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-3] [INFO] [1762964960.933439066] [zed_multi.rear]: * Publish RGB image: TRUE [component_container_isolated-3] [INFO] [1762964960.933535941] [zed_multi.right]: * Depth mode: NEURAL [5] [component_container_isolated-3] [INFO] [1762964960.933578101] [zed_multi.left]: * Object Det. tracking: TRUE [component_container_isolated-3] [INFO] [1762964960.933623147] [zed_multi.rear]: * Publish Stereo image: FALSE [component_container_isolated-3] [INFO] [1762964960.933679675] [zed_multi.right]: * Min depth [m]: 2 [component_container_isolated-3] [INFO] [1762964960.933753687] [zed_multi.rear]: * Publish ROI Mask image: FALSE [component_container_isolated-3] [INFO] [1762964960.933844450] [zed_multi.left]: * Object Filtering mode: NMS3D [component_container_isolated-3] [INFO] [1762964960.933860921] [zed_multi.right]: * Max depth [m]: 35 [component_container_isolated-3] [INFO] [1762964960.933905817] [zed_multi.rear]: * Publish Depth Map: TRUE [component_container_isolated-3] [INFO] [1762964960.934049301] [zed_multi.right]: * Depth Stabilization: 80 [component_container_isolated-3] [INFO] [1762964960.934116930] [zed_multi.left]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-3] [INFO] [1762964960.934147719] [zed_multi.rear]: * Publish Depth Info: TRUE [component_container_isolated-3] [INFO] [1762964960.934199658] [zed_multi.right]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-3] [INFO] [1762964960.934271556] [zed_multi.left]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.934319587] [zed_multi.rear]: * Publish Point Cloud: TRUE [component_container_isolated-3] [INFO] [1762964960.934372508] [zed_multi.right]: * Point cloud rate [Hz]: 10 [component_container_isolated-3] [INFO] [1762964960.934458282] [zed_multi.left]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.934509610] [zed_multi.rear]: * Publish Depth Confidence: TRUE [component_container_isolated-3] [INFO] [1762964960.934554125] [zed_multi.right]: * Point cloud resolution: COMPACT [component_container_isolated-3] [INFO] [1762964960.934608048] [zed_multi.left]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.934657052] [zed_multi.rear]: * Publish Disparity: TRUE [component_container_isolated-3] [INFO] [1762964960.934730011] [zed_multi.right]: * Depth Confidence: 70 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.934767172] [zed_multi.left]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.934815073] [zed_multi.rear]: * Publish IMU: TRUE [component_container_isolated-3] [INFO] [1762964960.934904624] [zed_multi.right]: * Depth Texture Confidence: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.934963717] [zed_multi.left]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.935020816] [zed_multi.rear]: * Publish IMU Raw: FALSE [component_container_isolated-3] [INFO] [1762964960.935106250] [zed_multi.right]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.935129534] [zed_multi.right]: === GNSS FUSION parameters === [component_container_isolated-3] [INFO] [1762964960.935154361] [zed_multi.left]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.935202824] [zed_multi.rear]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-3] [INFO] [1762964960.935248672] [zed_multi.right]: * GNSS fusion enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.935267818] [zed_multi.right]: === POSITIONAL TRACKING parameters === [component_container_isolated-3] [INFO] [1762964960.935344465] [zed_multi.left]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.935388699] [zed_multi.rear]: * Publish Magnetometer: FALSE [component_container_isolated-3] [INFO] [1762964960.935447872] [zed_multi.right]: * Positional tracking enabled: TRUE [component_container_isolated-3] [INFO] [1762964960.935504180] [zed_multi.left]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.935546009] [zed_multi.rear]: * Publish Barometer: FALSE [component_container_isolated-3] [DEBUG] [1762964960.935595955] [zed_multi.right]: Comparing 'GEN_1' to 'GEN_2' [component_container_isolated-3] [DEBUG] [1762964960.935615823] [zed_multi.right]: Comparing 'GEN_2' to 'GEN_2' [component_container_isolated-3] [INFO] [1762964960.935629539] [zed_multi.right]: * Positional tracking mode: GEN 2 [component_container_isolated-3] [INFO] [1762964960.935647383] [zed_multi.left]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.935691467] [zed_multi.rear]: * Publish Temperature: FALSE [component_container_isolated-3] [INFO] [1762964960.935818610] [zed_multi.rear]: * Publish Odometry/Pose: TRUE [component_container_isolated-3] [INFO] [1762964960.935874727] [zed_multi.left]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.935966042] [zed_multi.right]: * Map frame id: map [component_container_isolated-3] [INFO] [1762964960.936012070] [zed_multi.rear]: * Publish Pose with Covariance: FALSE [component_container_isolated-3] [INFO] [1762964960.936049090] [zed_multi.left]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.936189408] [zed_multi.rear]: * Publish Camera Path: FALSE [component_container_isolated-3] [INFO] [1762964960.936245195] [zed_multi.right]: * Odometry frame id: odom [component_container_isolated-3] [INFO] [1762964960.936295902] [zed_multi.left]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.936342901] [zed_multi.rear]: * Publish Detection Plane: FALSE [component_container_isolated-3] [INFO] [1762964960.936441079] [zed_multi.right]: * Broadcast Odometry TF: FALSE [component_container_isolated-3] [INFO] [1762964960.936481716] [zed_multi.rear]: === SVO INPUT parameters === [component_container_isolated-3] [INFO] [1762964960.936538465] [zed_multi.left]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.936626503] [zed_multi.rear]: === LOCAL STREAMING parameters === [component_container_isolated-3] [INFO] [1762964960.936684313] [zed_multi.right]: * Depth minimum range: 0 [component_container_isolated-3] [INFO] [1762964960.936721134] [zed_multi.left]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.936756211] [zed_multi.left]: === Body Track. parameters === [component_container_isolated-3] [INFO] [1762964960.936858035] [zed_multi.right]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.936895336] [zed_multi.rear]: * Local stream input: 192.168.16.175:40000 [component_container_isolated-3] [INFO] [1762964960.936916156] [zed_multi.rear]: === GENERAL parameters === [component_container_isolated-3] [INFO] [1762964960.936945813] [zed_multi.left]: * Body Track. enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.937078747] [zed_multi.right]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.937131177] [zed_multi.rear]: + Playing a network stream from a ZED X camera model. [component_container_isolated-3] [INFO] [1762964960.937177836] [zed_multi.rear]: * Camera model: zedx - ZED X [component_container_isolated-3] [INFO] [1762964960.937185180] [zed_multi.left]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-3] [INFO] [1762964960.937238271] [zed_multi.right]: * Path history lenght: -1 [component_container_isolated-3] [INFO] [1762964960.937326029] [zed_multi.rear]: * Camera name: rear [component_container_isolated-3] [INFO] [1762964960.937407054] [zed_multi.left]: * Body Track. format: BODY 38 [component_container_isolated-3] [INFO] [1762964960.937444555] [zed_multi.right]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-3] [INFO] [1762964960.937490222] [zed_multi.rear]: * Camera SN: 0 [component_container_isolated-3] [INFO] [1762964960.937621693] [zed_multi.left]: * Body Track. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964960.937665697] [zed_multi.right]: * Area Memory: TRUE [component_container_isolated-3] [INFO] [1762964960.937713419] [zed_multi.rear]: * Camera ID: -1 [component_container_isolated-3] [INFO] [1762964960.937826545] [zed_multi.right]: * Area Memory File: [component_container_isolated-3] [INFO] [1762964960.937877662] [zed_multi.rear]: * Camera timeout [sec]: 5 [component_container_isolated-3] [INFO] [1762964960.937939260] [zed_multi.left]: * Body Track. maximum range [m]: 15 [component_container_isolated-3] [INFO] [1762964960.937995547] [zed_multi.front]: === DEBUG parameters === [component_container_isolated-3] [INFO] [1762964960.938031306] [zed_multi.right]: * Save Area Memory on closing: FALSE [component_container_isolated-3] [INFO] [1762964960.938082073] [zed_multi.rear]: * Camera reconnection temptatives: 5 [component_container_isolated-3] [INFO] [1762964960.938130555] [zed_multi.left]: * Body Track. KP selection: FULL [component_container_isolated-3] [INFO] [1762964960.938279039] [zed_multi.right]: * Camera is static: FALSE [component_container_isolated-3] [INFO] [1762964960.938343442] [zed_multi.front]: * SDK Verbose: 0 [component_container_isolated-3] [INFO] [1762964960.938377467] [zed_multi.left]: * Body fitting: FALSE [component_container_isolated-3] [INFO] [1762964960.938427332] [zed_multi.rear]: * Camera framerate: 30 [component_container_isolated-3] [INFO] [1762964960.938483589] [zed_multi.right]: * Gravity as origin: TRUE [component_container_isolated-3] [INFO] [1762964960.938532693] [zed_multi.front]: * Use Pub Timestamps: FALSE [component_container_isolated-3] [INFO] [1762964960.938578110] [zed_multi.left]: * Body joints tracking: TRUE [component_container_isolated-3] [INFO] [1762964960.938663814] [zed_multi.rear]: * GPU ID: -1 [component_container_isolated-3] [INFO] [1762964960.938726564] [zed_multi.left]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-3] [INFO] [1762964960.938774665] [zed_multi.front]: * SDK Verbose File: [component_container_isolated-3] [INFO] [1762964960.938822867] [zed_multi.rear]: * Asynchronous image retrieval: FALSE [component_container_isolated-3] [INFO] [1762964960.938868054] [zed_multi.right]: * IMU Fusion: TRUE [component_container_isolated-3] [INFO] [1762964960.938912869] [zed_multi.left]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.938997301] [zed_multi.front]: * Debug Common: FALSE [component_container_isolated-3] [INFO] [1762964960.939042918] [zed_multi.rear]: * Image Validity Check: 1 [component_container_isolated-3] [INFO] [1762964960.939103754] [zed_multi.right]: * Floor Alignment: FALSE [component_container_isolated-3] [INFO] [1762964960.939148650] [zed_multi.left]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.939176022] [zed_multi.left]: === STREAMING SERVER parameters === [component_container_isolated-3] [INFO] [1762964960.939191932] [zed_multi.rear]: * Camera resolution: HD1200 [component_container_isolated-3] [INFO] [1762964960.939232049] [zed_multi.front]: * Debug Simulation: FALSE [component_container_isolated-3] [INFO] [1762964960.939321750] [zed_multi.rear]: * Publishing resolution: CUSTOM [component_container_isolated-3] [INFO] [1762964960.939374371] [zed_multi.left]: * Streaming Server enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.939422923] [zed_multi.front]: * Debug Video/Depth: FALSE [component_container_isolated-3] [INFO] [1762964960.939466817] [zed_multi.rear]: * Publishing downscale factor: 2 [component_container_isolated-3] [INFO] [1762964960.939520059] [zed_multi.right]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-3] [INFO] [1762964960.939569153] [zed_multi.front]: * Debug Control settings: FALSE [component_container_isolated-3] [INFO] [1762964960.939634277] [zed_multi.rear]: * OpenCV custom calibration: [component_container_isolated-3] [INFO] [1762964960.939683701] [zed_multi.left]: * Stream codec: H264 [component_container_isolated-3] [INFO] [1762964960.939728908] [zed_multi.front]: * Debug Point Cloud: FALSE [component_container_isolated-3] [INFO] [1762964960.939766289] [zed_multi.rear]: * Camera self calibration: TRUE [component_container_isolated-3] [INFO] [1762964960.939816054] [zed_multi.right]: * Publish 3D Landmarks: FALSE [component_container_isolated-3] [INFO] [1762964960.939859788] [zed_multi.left]: * Stream port: 30000 [component_container_isolated-3] [INFO] [1762964960.939969427] [zed_multi.front]: * Debug GNSS: FALSE [component_container_isolated-3] [INFO] [1762964960.940011798] [zed_multi.left]: * Stream bitrate: 12500 [component_container_isolated-3] [INFO] [1762964960.940060321] [zed_multi.rear]: * Camera flip: FALSE [component_container_isolated-3] [INFO] [1762964960.940113031] [zed_multi.right]: * Publish Landmark Skip Frame:  [component_container_isolated-3] [INFO] [1762964960.940156554] [zed_multi.front]: * Debug Positional Tracking: TRUE [component_container_isolated-3] [INFO] [1762964960.940231377] [zed_multi.left]: * Stream GOP size: -1 [component_container_isolated-3] [INFO] [1762964960.940278377] [zed_multi.rear]: * Publish framerate [Hz]: 15 [component_container_isolated-3] [INFO] [1762964960.940301962] [zed_multi.rear]: === VIDEO parameters === [component_container_isolated-3] [INFO] [1762964960.940327721] [zed_multi.right]: * 2D mode: FALSE [component_container_isolated-3] [INFO] [1762964960.940373188] [zed_multi.front]: * Debug sensors: FALSE [component_container_isolated-3] [INFO] [1762964960.940436058] [zed_multi.rear]: * Saturation: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.940485423] [zed_multi.left]: * Stream Chunk size: 16084 [component_container_isolated-3] [INFO] [1762964960.940533775] [zed_multi.front]: * Debug Mapping: FALSE [component_container_isolated-3] [INFO] [1762964960.940568431] [zed_multi.rear]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.940619168] [zed_multi.right]: * Reset pose with SVO loop: TRUE [component_container_isolated-3] [INFO] [1762964960.940642573] [zed_multi.right]: === Region of Interest parameters === [component_container_isolated-3] [INFO] [1762964960.940689011] [zed_multi.left]: * Adaptive bitrate: FALSE [component_container_isolated-3] [INFO] [1762964960.940734729] [zed_multi.front]: * Debug Object Detection: FALSE [component_container_isolated-3] [INFO] [1762964960.940786908] [zed_multi.rear]: * Gamma: 8 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.940845671] [zed_multi.right]: * Automatic ROI generation: FALSE [component_container_isolated-3] [INFO] [1762964960.940876630] [zed_multi.front]: * Debug Body Tracking: FALSE [component_container_isolated-3] [INFO] [1762964960.940934430] [zed_multi.left]: * Target frame rate:0 [component_container_isolated-3] [INFO] [1762964960.940964708] [zed_multi.left]: === ADVANCED parameters === [component_container_isolated-3] [INFO] [1762964960.941005676] [zed_multi.rear]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.941052355] [zed_multi.front]: * Debug Streaming: FALSE [component_container_isolated-3] [INFO] [1762964960.941101730] [zed_multi.right]: * Manual ROI polygon: [] [component_container_isolated-3] [INFO] [1762964960.941128100] [zed_multi.right]: === SENSORS STACK parameters === [component_container_isolated-3] [INFO] [1762964960.941141135] [zed_multi.left]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-3] [INFO] [1762964960.941181833] [zed_multi.rear]: * Exposure: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.941221238] [zed_multi.front]: * Debug ROI: FALSE [component_container_isolated-3] [INFO] [1762964960.941225326] [zed_multi.left]: === SERVICES === [component_container_isolated-3] [INFO] [1762964960.941329975] [zed_multi.rear]: * Gain: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.941391192] [zed_multi.front]: * Debug Nitros: FALSE [component_container_isolated-3] [INFO] [1762964960.941459262] [zed_multi.rear]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.941512434] [zed_multi.right]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-3] [INFO] [1762964960.941556979] [zed_multi.front]: * Debug Advanced: FALSE [component_container_isolated-3] [INFO] [1762964960.941581245] [zed_multi.front]: + Debug Mode enabled + [component_container_isolated-3] [INFO] [1762964960.941595202] [zed_multi.front]: === TOPIC selection parameters === [component_container_isolated-3] [INFO] [1762964960.941610812] [zed_multi.rear]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.941657461] [zed_multi.right]: * Sensors Camera Sync: FALSE [component_container_isolated-3] [INFO] [1762964960.941732564] [zed_multi.front]: * Publish Status: TRUE [component_container_isolated-3] [INFO] [1762964960.941779293] [zed_multi.rear]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.941835381] [zed_multi.right]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.941858084] [zed_multi.right]: === Spatial Mapping parameters === [component_container_isolated-3] [INFO] [1762964960.941870518] [zed_multi.front]: * Publish Left/Right images: FALSE [component_container_isolated-3] [INFO] [1762964960.941916205] [zed_multi.rear]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.942045782] [zed_multi.front]: * Publish Raw images: FALSE [component_container_isolated-3] [INFO] [1762964960.942095758] [zed_multi.right]: * Spatial Mapping Enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.942144220] [zed_multi.rear]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.942189427] [zed_multi.front]: * Publish Gray images: FALSE [component_container_isolated-3] [INFO] [1762964960.942274169] [zed_multi.right]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-3] [INFO] [1762964960.942472036] [zed_multi.rear]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.942497315] [zed_multi.front]: * Publish RGB image: TRUE [component_container_isolated-3] [INFO] [1762964960.942533103] [zed_multi.right]: * 3D Max Mapping range [m]: 5 [component_container_isolated-3] [INFO] [1762964960.942634417] [zed_multi.rear]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.942684142] [zed_multi.front]: * Publish Stereo image: FALSE [component_container_isolated-3] [INFO] [1762964960.942745960] [zed_multi.right]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.942917688] [zed_multi.rear]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.942965118] [zed_multi.front]: * Publish ROI Mask image: FALSE [component_container_isolated-3] [INFO] [1762964960.943078936] [zed_multi.left]: * Advertised on service: '/zed_multi/left/reset_odometry' [component_container_isolated-3] [INFO] [1762964960.943116347] [zed_multi.right]: * Clicked point topic: /clicked_point [component_container_isolated-3] [INFO] [1762964960.943186661] [zed_multi.rear]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.943241546] [zed_multi.front]: * Publish Depth Map: TRUE [component_container_isolated-3] [INFO] [1762964960.943314135] [zed_multi.right]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-3] [INFO] [1762964960.943362928] [zed_multi.rear]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.943407914] [zed_multi.front]: * Publish Depth Info: TRUE [component_container_isolated-3] [INFO] [1762964960.943503296] [zed_multi.right]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-3] [INFO] [1762964960.943526671] [zed_multi.right]: === OBJECT DETECTION parameters === [component_container_isolated-3] [INFO] [1762964960.943545006] [zed_multi.rear]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.943590673] [zed_multi.front]: * Publish Point Cloud: TRUE [component_container_isolated-3] [INFO] [1762964960.943776969] [zed_multi.rear]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.943819329] [zed_multi.front]: * Publish Depth Confidence: TRUE [component_container_isolated-3] [INFO] [1762964960.943872301] [zed_multi.right]: * Object Det. enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.943949328] [zed_multi.rear]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.943974295] [zed_multi.rear]: === DEPTH parameters === [component_container_isolated-3] [INFO] [1762964960.944001688] [zed_multi.front]: * Publish Disparity: TRUE [component_container_isolated-3] [INFO] [1762964960.944212901] [zed_multi.right]: * Object Det. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964960.944268818] [zed_multi.rear]: * Depth mode: NEURAL [5] [component_container_isolated-3] [INFO] [1762964960.944307131] [zed_multi.front]: * Publish IMU: TRUE [component_container_isolated-3] [INFO] [1762964960.944406250] [zed_multi.left]: * Advertised on service: '/zed_multi/left/reset_pos_tracking' [component_container_isolated-3] [INFO] [1762964960.944469491] [zed_multi.right]: * Object Det. maximum range [m]: 20 [component_container_isolated-3] [INFO] [1762964960.944489319] [zed_multi.front]: * Publish IMU Raw: FALSE [component_container_isolated-3] [INFO] [1762964960.944566036] [zed_multi.rear]: * Min depth [m]: 2 [component_container_isolated-3] [INFO] [1762964960.944658111] [zed_multi.front]: * Publish LeftCam/IMU Transf.: FALSE [component_container_isolated-3] [INFO] [1762964960.944730991] [zed_multi.rear]: * Max depth [m]: 35 [component_container_isolated-3] [INFO] [1762964960.944790043] [zed_multi.right]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-3] [INFO] [1762964960.944840991] [zed_multi.front]: * Publish Magnetometer: FALSE [component_container_isolated-3] [INFO] [1762964960.944886327] [zed_multi.rear]: * Depth Stabilization: 80 [component_container_isolated-3] [INFO] [1762964960.944992240] [zed_multi.right]: * Object Det. tracking: TRUE [component_container_isolated-3] [INFO] [1762964960.945035422] [zed_multi.front]: * Publish Barometer: FALSE [component_container_isolated-3] [INFO] [1762964960.945094815] [zed_multi.rear]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-3] [INFO] [1762964960.945205156] [zed_multi.front]: * Publish Temperature: FALSE [component_container_isolated-3] [INFO] [1762964960.945262546] [zed_multi.right]: * Object Filtering mode: NMS3D [component_container_isolated-3] [INFO] [1762964960.945309075] [zed_multi.rear]: * Point cloud rate [Hz]: 10 [component_container_isolated-3] [INFO] [1762964960.945344763] [zed_multi.front]: * Publish Odometry/Pose: TRUE [component_container_isolated-3] [INFO] [1762964960.945426609] [zed_multi.right]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-3] [INFO] [1762964960.945498236] [zed_multi.rear]: * Point cloud resolution: COMPACT [component_container_isolated-3] [INFO] [1762964960.945554383] [zed_multi.front]: * Publish Pose with Covariance: FALSE [component_container_isolated-3] [INFO] [1762964960.945607845] [zed_multi.right]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.945717685] [zed_multi.rear]: * Depth Confidence: 70 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.945794732] [zed_multi.front]: * Publish Camera Path: FALSE [component_container_isolated-3] [INFO] [1762964960.945840069] [zed_multi.right]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.945879113] [zed_multi.rear]: * Depth Texture Confidence: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.946004723] [zed_multi.right]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.946055570] [zed_multi.front]: * Publish Detection Plane: FALSE [component_container_isolated-3] [INFO] [1762964960.946106217] [zed_multi.rear]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.946133820] [zed_multi.rear]: === GNSS FUSION parameters === [component_container_isolated-3] [INFO] [1762964960.946164308] [zed_multi.right]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.946235233] [zed_multi.front]: === SVO INPUT parameters === [component_container_isolated-3] [INFO] [1762964960.946269178] [zed_multi.rear]: * GNSS fusion enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.946288906] [zed_multi.rear]: === POSITIONAL TRACKING parameters === [component_container_isolated-3] [INFO] [1762964960.946320436] [zed_multi.right]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.946496482] [zed_multi.front]: === LOCAL STREAMING parameters === [component_container_isolated-3] [INFO] [1762964960.946548762] [zed_multi.rear]: * Positional tracking enabled: TRUE [component_container_isolated-3] [INFO] [1762964960.946596333] [zed_multi.right]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-3] [DEBUG] [1762964960.946705321] [zed_multi.rear]: Comparing 'GEN_1' to 'GEN_2' [component_container_isolated-3] [DEBUG] [1762964960.946728145] [zed_multi.rear]: Comparing 'GEN_2' to 'GEN_2' [component_container_isolated-3] [INFO] [1762964960.946743143] [zed_multi.rear]: * Positional tracking mode: GEN 2 [component_container_isolated-3] [INFO] [1762964960.946791956] [zed_multi.front]: * Local stream input: 192.168.16.175:30000 [component_container_isolated-3] [INFO] [1762964960.946813367] [zed_multi.front]: === GENERAL parameters === [component_container_isolated-3] [INFO] [1762964960.946885685] [zed_multi.right]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.946973283] [zed_multi.front]: + Playing a network stream from a ZED X camera model. [component_container_isolated-3] [INFO] [1762964960.947000715] [zed_multi.front]: * Camera model: zedx - ZED X [component_container_isolated-3] [INFO] [1762964960.947059708] [zed_multi.right]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.947139570] [zed_multi.rear]: * Map frame id: map [component_container_isolated-3] [INFO] [1762964960.947183404] [zed_multi.front]: * Camera name: front [component_container_isolated-3] [INFO] [1762964960.947258778] [zed_multi.right]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.947327429] [zed_multi.front]: * Camera SN: 0 [component_container_isolated-3] [INFO] [1762964960.947388616] [zed_multi.rear]: * Odometry frame id: odom [component_container_isolated-3] [INFO] [1762964960.947438241] [zed_multi.right]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.947506491] [zed_multi.front]: * Camera ID: -1 [component_container_isolated-3] [INFO] [1762964960.947583819] [zed_multi.right]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.947644475] [zed_multi.rear]: * Broadcast Odometry TF: FALSE [component_container_isolated-3] [INFO] [1762964960.947690673] [zed_multi.front]: * Camera timeout [sec]: 5 [component_container_isolated-3] [INFO] [1762964960.947764213] [zed_multi.right]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.947827885] [zed_multi.front]: * Camera reconnection temptatives: 5 [component_container_isolated-3] [INFO] [1762964960.947885485] [zed_multi.rear]: * Depth minimum range: 0 [component_container_isolated-3] [INFO] [1762964960.947946712] [zed_multi.right]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.947989163] [zed_multi.front]: * Camera framerate: 30 [component_container_isolated-3] [INFO] [1762964960.948105946] [zed_multi.right]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.948127437] [zed_multi.right]: === Body Track. parameters === [component_container_isolated-3] [INFO] [1762964960.948203913] [zed_multi.rear]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.948246434] [zed_multi.front]: * GPU ID: -1 [component_container_isolated-3] [INFO] [1762964960.948299966] [zed_multi.right]: * Body Track. enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.948424454] [zed_multi.front]: * Asynchronous image retrieval: FALSE [component_container_isolated-3] [INFO] [1762964960.948488136] [zed_multi.right]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-3] [INFO] [1762964960.948529906] [zed_multi.rear]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.948563991] [zed_multi.front]: * Image Validity Check: 1 [component_container_isolated-3] [INFO] [1762964960.948634646] [zed_multi.right]: * Body Track. format: BODY 38 [component_container_isolated-3] [INFO] [1762964960.948706252] [zed_multi.front]: * Camera resolution: HD1200 [component_container_isolated-3] [INFO] [1762964960.948745527] [zed_multi.rear]: * Path history lenght: -1 [component_container_isolated-3] [INFO] [1762964960.948784912] [zed_multi.right]: * Body Track. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964960.948876357] [zed_multi.front]: * Publishing resolution: CUSTOM [component_container_isolated-3] [INFO] [1762964960.948948535] [zed_multi.right]: * Body Track. maximum range [m]: 15 [component_container_isolated-3] [INFO] [1762964960.948993721] [zed_multi.rear]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-3] [INFO] [1762964960.949069476] [zed_multi.front]: * Publishing downscale factor: 2 [component_container_isolated-3] [INFO] [1762964960.949118991] [zed_multi.right]: * Body Track. KP selection: FULL [component_container_isolated-3] [INFO] [1762964960.949199955] [zed_multi.rear]: * Area Memory: TRUE [component_container_isolated-3] [INFO] [1762964960.949248478] [zed_multi.front]: * OpenCV custom calibration: [component_container_isolated-3] [INFO] [1762964960.949444673] [zed_multi.right]: * Body fitting: FALSE [component_container_isolated-3] [INFO] [1762964960.949492233] [zed_multi.rear]: * Area Memory File: [component_container_isolated-3] [INFO] [1762964960.949534885] [zed_multi.front]: * Camera self calibration: TRUE [component_container_isolated-3] [INFO] [1762964960.949680112] [zed_multi.left]: * Advertised on service: '/zed_multi/left/set_pose' [component_container_isolated-3] [INFO] [1762964960.949724577] [zed_multi.right]: * Body joints tracking: TRUE [component_container_isolated-3] [INFO] [1762964960.949787988] [zed_multi.rear]: * Save Area Memory on closing: FALSE [component_container_isolated-3] [INFO] [1762964960.949839096] [zed_multi.front]: * Camera flip: FALSE [component_container_isolated-3] [INFO] [1762964960.949883801] [zed_multi.right]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-3] [INFO] [1762964960.949960367] [zed_multi.rear]: * Camera is static: FALSE [component_container_isolated-3] [INFO] [1762964960.950074545] [zed_multi.front]: * Publish framerate [Hz]: 15 [component_container_isolated-3] [INFO] [1762964960.950099794] [zed_multi.front]: === VIDEO parameters === [component_container_isolated-3] [INFO] [1762964960.950115023] [zed_multi.rear]: * Gravity as origin: TRUE [component_container_isolated-3] [INFO] [1762964960.950169266] [zed_multi.right]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.950250812] [zed_multi.front]: * Saturation: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.950291760] [zed_multi.rear]: * IMU Fusion: TRUE [component_container_isolated-3] [INFO] [1762964960.950331446] [zed_multi.right]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.950351915] [zed_multi.right]: === STREAMING SERVER parameters === [component_container_isolated-3] [INFO] [1762964960.950403273] [zed_multi.front]: * Sharpness: 4 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.950452607] [zed_multi.rear]: * Floor Alignment: FALSE [component_container_isolated-3] [INFO] [1762964960.950504627] [zed_multi.right]: * Streaming Server enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.950538592] [zed_multi.front]: * Gamma: 8 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.950736660] [zed_multi.rear]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-3] [INFO] [1762964960.950779862] [zed_multi.front]: * Auto Exposure/Gain: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.950829848] [zed_multi.right]: * Stream codec: H264 [component_container_isolated-3] [INFO] [1762964960.950887067] [zed_multi.rear]: * Publish 3D Landmarks: FALSE [component_container_isolated-3] [INFO] [1762964960.951015783] [zed_multi.right]: * Stream port: 30000 [component_container_isolated-3] [INFO] [1762964960.951060919] [zed_multi.front]: * Exposure: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.951272844] [zed_multi.rear]: * Publish Landmark Skip Frame:  [component_container_isolated-3] [INFO] [1762964960.951320675] [zed_multi.right]: * Stream bitrate: 12500 [component_container_isolated-3] [INFO] [1762964960.951392192] [zed_multi.front]: * Gain: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.951506260] [zed_multi.left]: * Advertised on service: '/zed_multi/left/save_area_memory' [component_container_isolated-3] [INFO] [1762964960.951546236] [zed_multi.right]: * Stream GOP size: -1 [component_container_isolated-3] [INFO] [1762964960.951618694] [zed_multi.rear]: * 2D mode: FALSE [component_container_isolated-3] [INFO] [1762964960.951658320] [zed_multi.front]: * Auto White Balance: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.951704418] [zed_multi.right]: * Stream Chunk size: 16084 [component_container_isolated-3] [INFO] [1762964960.951793869] [zed_multi.rear]: * Reset pose with SVO loop: TRUE [component_container_isolated-3] [INFO] [1762964960.951814649] [zed_multi.rear]: === Region of Interest parameters === [component_container_isolated-3] [INFO] [1762964960.951860236] [zed_multi.front]: * White Balance Temperature: 42 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.951903548] [zed_multi.right]: * Adaptive bitrate: FALSE [component_container_isolated-3] [INFO] [1762964960.952005383] [zed_multi.rear]: * Automatic ROI generation: FALSE [component_container_isolated-3] [INFO] [1762964960.952067802] [zed_multi.front]: * ZED X Exposure time: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.952114912] [zed_multi.right]: * Target frame rate:0 [component_container_isolated-3] [INFO] [1762964960.952137355] [zed_multi.right]: === ADVANCED parameters === [component_container_isolated-3] [INFO] [1762964960.952341615] [zed_multi.rear]: * Manual ROI polygon: [] [component_container_isolated-3] [INFO] [1762964960.952369588] [zed_multi.rear]: === SENSORS STACK parameters === [component_container_isolated-3] [INFO] [1762964960.952390178] [zed_multi.front]: * ZED X Auto Exp. time range min: 28 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.952436987] [zed_multi.right]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-3] [INFO] [1762964960.952490810] [zed_multi.right]: === SERVICES === [component_container_isolated-3] [INFO] [1762964960.952584669] [zed_multi.front]: * ZED X Auto Exp. time range max: 30000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.952639774] [zed_multi.rear]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-3] [INFO] [1762964960.952735678] [zed_multi.front]: * ZED X Exposure comp.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.952845778] [zed_multi.rear]: * Sensors Camera Sync: FALSE [component_container_isolated-3] [INFO] [1762964960.953063594] [zed_multi.rear]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.953088672] [zed_multi.rear]: === Spatial Mapping parameters === [component_container_isolated-3] [INFO] [1762964960.953111636] [zed_multi.front]: * ZED X Analog Gain: 1255 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.953226284] [zed_multi.left]: * Advertised on service: '/zed_multi/left/enable_obj_det' [component_container_isolated-3] [INFO] [1762964960.953260790] [zed_multi.front]: * ZED X Auto Analog Gain range min: 1000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.953304995] [zed_multi.rear]: * Spatial Mapping Enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.953416568] [zed_multi.front]: * ZED X Auto Analog Gain range max: 16000 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.953502572] [zed_multi.rear]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-3] [INFO] [1762964960.953578878] [zed_multi.front]: * ZED X Digital Gain: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.953661465] [zed_multi.rear]: * 3D Max Mapping range [m]: 5 [component_container_isolated-3] [INFO] [1762964960.953938525] [zed_multi.front]: * ZED X Auto Digital Gain range min: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.953969965] [zed_multi.rear]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.954133777] [zed_multi.front]: * ZED X Auto Digital Gain range max: 256 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.954187270] [zed_multi.rear]: * Clicked point topic: /clicked_point [component_container_isolated-3] [INFO] [1762964960.954288443] [zed_multi.front]: * ZED X Auto Digital Gain range max: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.954308662] [zed_multi.front]: === DEPTH parameters === [component_container_isolated-3] [INFO] [1762964960.954495578] [zed_multi.rear]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-3] [INFO] [1762964960.954552587] [zed_multi.front]: * Depth mode: NEURAL [5] [component_container_isolated-3] [INFO] [1762964960.954683467] [zed_multi.right]: * Advertised on service: '/zed_multi/right/reset_odometry' [component_container_isolated-3] [INFO] [1762964960.954702824] [zed_multi.rear]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-3] [INFO] [1762964960.954751708] [zed_multi.rear]: === OBJECT DETECTION parameters === [component_container_isolated-3] [INFO] [1762964960.954757389] [zed_multi.front]: * Min depth [m]: 2 [component_container_isolated-3] [INFO] [1762964960.955025080] [zed_multi.rear]: * Object Det. enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.955079754] [zed_multi.front]: * Max depth [m]: 35 [component_container_isolated-3] [INFO] [1762964960.955198080] [zed_multi.rear]: * Object Det. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964960.955458978] [zed_multi.front]: * Depth Stabilization: 80 [component_container_isolated-3] [INFO] [1762964960.955515767] [zed_multi.rear]: * Object Det. maximum range [m]: 20 [component_container_isolated-3] [INFO] [1762964960.955681714] [zed_multi.front]: * OpenNI mode (16bit depth): FALSE [component_container_isolated-3] [INFO] [1762964960.955731078] [zed_multi.rear]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-3] [INFO] [1762964960.955880203] [zed_multi.rear]: * Object Det. tracking: TRUE [component_container_isolated-3] [INFO] [1762964960.955943764] [zed_multi.front]: * Point cloud rate [Hz]: 10 [component_container_isolated-3] [INFO] [1762964960.956043705] [zed_multi.rear]: * Object Filtering mode: NMS3D [component_container_isolated-3] [INFO] [1762964960.956127225] [zed_multi.front]: * Point cloud resolution: COMPACT [component_container_isolated-3] [INFO] [1762964960.956231534] [zed_multi.rear]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-3] [INFO] [1762964960.956335663] [zed_multi.front]: * Depth Confidence: 70 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.956411417] [zed_multi.rear]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.956502441] [zed_multi.front]: * Depth Texture Confidence: 80 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.956564830] [zed_multi.rear]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.956688787] [zed_multi.front]: * Remove saturated areas: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.956710639] [zed_multi.front]: === GNSS FUSION parameters === [component_container_isolated-3] [INFO] [1762964960.956736679] [zed_multi.rear]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.956947722] [zed_multi.rear]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.956996575] [zed_multi.front]: * GNSS fusion enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.957023556] [zed_multi.front]: === POSITIONAL TRACKING parameters === [component_container_isolated-3] [INFO] [1762964960.957187640] [zed_multi.front]: * Positional tracking enabled: TRUE [component_container_isolated-3] [INFO] [1762964960.957231213] [zed_multi.rear]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.957330513] [zed_multi.left]: * Advertised on service: '/zed_multi/left/enable_body_trk' [component_container_isolated-3] [DEBUG] [1762964960.957375559] [zed_multi.front]: Comparing 'GEN_1' to 'GEN_2' [component_container_isolated-3] [DEBUG] [1762964960.957400366] [zed_multi.front]: Comparing 'GEN_2' to 'GEN_2' [component_container_isolated-3] [INFO] [1762964960.957414493] [zed_multi.front]: * Positional tracking mode: GEN 2 [component_container_isolated-3] [INFO] [1762964960.957420895] [zed_multi.rear]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.957626718] [zed_multi.rear]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.957740576] [zed_multi.front]: * Map frame id: map [component_container_isolated-3] [INFO] [1762964960.957782756] [zed_multi.rear]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.958027333] [zed_multi.rear]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.958063001] [zed_multi.front]: * Odometry frame id: odom [component_container_isolated-3] [INFO] [1762964960.958199933] [zed_multi.rear]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.958282841] [zed_multi.front]: * Broadcast Odometry TF: TRUE [component_container_isolated-3] [INFO] [1762964960.958505567] [zed_multi.rear]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.958543890] [zed_multi.front]: * Broadcast Pose TF: TRUE [component_container_isolated-3] [INFO] [1762964960.958659571] [zed_multi.right]: * Advertised on service: '/zed_multi/right/reset_pos_tracking' [component_container_isolated-3] [INFO] [1762964960.958705889] [zed_multi.rear]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.958755875] [zed_multi.front]: * Depth minimum range: 0 [component_container_isolated-3] [INFO] [1762964960.958952220] [zed_multi.rear]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.959001143] [zed_multi.front]: * TF timestamp offset: 0 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.959130600] [zed_multi.rear]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.959154706] [zed_multi.rear]: === Body Track. parameters === [component_container_isolated-3] [INFO] [1762964960.959362533] [zed_multi.front]: * Path publishing rate: 2 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.959417659] [zed_multi.rear]: * Body Track. enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.959563748] [zed_multi.front]: * Path history lenght: -1 [component_container_isolated-3] [INFO] [1762964960.959636426] [zed_multi.rear]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-3] [INFO] [1762964960.959765743] [zed_multi.front]: * Initial pose: [0,0,0,0,0,0,] [component_container_isolated-3] [INFO] [1762964960.959978269] [zed_multi.rear]: * Body Track. format: BODY 38 [component_container_isolated-3] [INFO] [1762964960.960018356] [zed_multi.front]: * Area Memory: TRUE [component_container_isolated-3] [INFO] [1762964960.960152332] [zed_multi.left]: * Advertised on service: '/zed_multi/left/enable_mapping' [component_container_isolated-3] [INFO] [1762964960.960257813] [zed_multi.rear]: * Body Track. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964960.960320813] [zed_multi.front]: * Area Memory File: [component_container_isolated-3] [INFO] [1762964960.960465079] [zed_multi.rear]: * Body Track. maximum range [m]: 15 [component_container_isolated-3] [INFO] [1762964960.960527258] [zed_multi.front]: * Save Area Memory on closing: FALSE [component_container_isolated-3] [INFO] [1762964960.960644932] [zed_multi.rear]: * Body Track. KP selection: FULL [component_container_isolated-3] [INFO] [1762964960.960837149] [zed_multi.front]: * Camera is static: FALSE [component_container_isolated-3] [INFO] [1762964960.960876695] [zed_multi.rear]: * Body fitting: FALSE [component_container_isolated-3] [INFO] [1762964960.961118897] [zed_multi.front]: * Gravity as origin: TRUE [component_container_isolated-3] [INFO] [1762964960.961173862] [zed_multi.rear]: * Body joints tracking: TRUE [component_container_isolated-3] [INFO] [1762964960.961442055] [zed_multi.rear]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-3] [INFO] [1762964960.961497140] [zed_multi.front]: * IMU Fusion: TRUE [component_container_isolated-3] [INFO] [1762964960.961652296] [zed_multi.rear]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.961734233] [zed_multi.front]: * Floor Alignment: FALSE [component_container_isolated-3] [INFO] [1762964960.961812873] [zed_multi.rear]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.961832841] [zed_multi.rear]: === STREAMING SERVER parameters === [component_container_isolated-3] [INFO] [1762964960.961969913] [zed_multi.front]: * Reset Odometry with Loop Closure: TRUE [component_container_isolated-3] [INFO] [1762964960.962036590] [zed_multi.rear]: * Streaming Server enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.962216053] [zed_multi.front]: * Publish 3D Landmarks: FALSE [component_container_isolated-3] [INFO] [1762964960.962269405] [zed_multi.rear]: * Stream codec: H264 [component_container_isolated-3] [INFO] [1762964960.962459027] [zed_multi.rear]: * Stream port: 30000 [component_container_isolated-3] [INFO] [1762964960.962509744] [zed_multi.front]: * Publish Landmark Skip Frame:  [component_container_isolated-3] [INFO] [1762964960.962662956] [zed_multi.rear]: * Stream bitrate: 12500 [component_container_isolated-3] [INFO] [1762964960.962713513] [zed_multi.front]: * 2D mode: FALSE [component_container_isolated-3] [INFO] [1762964960.962819195] [zed_multi.rear]: * Stream GOP size: -1 [component_container_isolated-3] [INFO] [1762964960.962876514] [zed_multi.front]: * Reset pose with SVO loop: TRUE [component_container_isolated-3] [INFO] [1762964960.962897073] [zed_multi.front]: === Region of Interest parameters === [component_container_isolated-3] [INFO] [1762964960.962999950] [zed_multi.rear]: * Stream Chunk size: 16084 [component_container_isolated-3] [INFO] [1762964960.963069092] [zed_multi.front]: * Automatic ROI generation: FALSE [component_container_isolated-3] [INFO] [1762964960.963186546] [zed_multi.rear]: * Adaptive bitrate: FALSE [component_container_isolated-3] [INFO] [1762964960.963262181] [zed_multi.front]: * Manual ROI polygon: [] [component_container_isolated-3] [INFO] [1762964960.963288010] [zed_multi.front]: === SENSORS STACK parameters === [component_container_isolated-3] [INFO] [1762964960.963358364] [zed_multi.rear]: * Target frame rate:0 [component_container_isolated-3] [INFO] [1762964960.963383061] [zed_multi.rear]: === ADVANCED parameters === [component_container_isolated-3] [INFO] [1762964960.963488733] [zed_multi.front]: * Broadcast IMU TF [not for ZED]: FALSE [component_container_isolated-3] [INFO] [1762964960.963546554] [zed_multi.rear]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-3] [INFO] [1762964960.963693404] [zed_multi.rear]: === SERVICES === [component_container_isolated-3] [INFO] [1762964960.963760442] [zed_multi.front]: * Sensors Camera Sync: FALSE [component_container_isolated-3] [INFO] [1762964960.963932320] [zed_multi.front]: * Sensors publishing rate [Hz]: 100 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.963955655] [zed_multi.front]: === Spatial Mapping parameters === [component_container_isolated-3] [INFO] [1762964960.964292188] [zed_multi.right]: * Advertised on service: '/zed_multi/right/set_pose' [component_container_isolated-3] [INFO] [1762964960.964333497] [zed_multi.front]: * Spatial Mapping Enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.964566031] [zed_multi.front]: * Spatial Mapping resolution [m]: 0.05 [component_container_isolated-3] [INFO] [1762964960.964844362] [zed_multi.front]: * 3D Max Mapping range [m]: 5 [component_container_isolated-3] [INFO] [1762964960.965050716] [zed_multi.front]: * Map publishing rate [Hz]: 1 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.965222414] [zed_multi.front]: * Clicked point topic: /clicked_point [component_container_isolated-3] [INFO] [1762964960.965454888] [zed_multi.front]: * Plane Det. Max Dist. Thresh.: 0.15 [component_container_isolated-3] [INFO] [1762964960.965681030] [zed_multi.left]: * Advertised on service: '/zed_multi/left/enable_streaming' [component_container_isolated-3] [INFO] [1762964960.965716528] [zed_multi.front]: * Plane Det. Normals Sim. Thresh.: 15 [component_container_isolated-3] [INFO] [1762964960.965782354] [zed_multi.front]: === OBJECT DETECTION parameters === [component_container_isolated-3] [INFO] [1762964960.965968730] [zed_multi.front]: * Object Det. enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.966126421] [zed_multi.front]: * Object Det. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964960.966376598] [zed_multi.front]: * Object Det. maximum range [m]: 20 [component_container_isolated-3] [INFO] [1762964960.966548968] [zed_multi.front]: * Object Det. prediction timeout [sec]: 2 [component_container_isolated-3] [INFO] [1762964960.966695187] [zed_multi.front]: * Object Det. tracking: TRUE [component_container_isolated-3] [INFO] [1762964960.966915928] [zed_multi.front]: * Object Filtering mode: NMS3D [component_container_isolated-3] [INFO] [1762964960.967089029] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/reset_odometry' [component_container_isolated-3] [INFO] [1762964960.967134035] [zed_multi.front]: * Object Det. model: MULTI CLASS BOX FAST [component_container_isolated-3] [INFO] [1762964960.967318487] [zed_multi.front]: * MultiClassBox people: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.967584485] [zed_multi.front]: * MultiClassBox vehicles: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.967734612] [zed_multi.front]: * MultiClassBox bags: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.967903995] [zed_multi.front]: * MultiClassBox animals: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.968091644] [zed_multi.front]: * MultiClassBox electronics: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.968225710] [zed_multi.right]: * Advertised on service: '/zed_multi/right/save_area_memory' [component_container_isolated-3] [INFO] [1762964960.968261718] [zed_multi.front]: * MultiClassBox fruits and vegetables: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.968511025] [zed_multi.front]: * MultiClassBox sport-related objects: TRUE [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.968841175] [zed_multi.front]: * MultiClassBox people confidence: 65 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.969073288] [zed_multi.front]: * MultiClassBox vehicles confidence: 60 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.969243303] [zed_multi.front]: * MultiClassBox bags confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.969494312] [zed_multi.front]: * MultiClassBox animals confidence: 40 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.969641944] [zed_multi.left]: * Advertised on service: '/zed_multi/left/start_svo_rec' [component_container_isolated-3] [INFO] [1762964960.969677693] [zed_multi.front]: * MultiClassBox electronics confidence: 45 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.969873937] [zed_multi.front]: * MultiClassBox fruits and vegetables confidence: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.970157379] [zed_multi.front]: * MultiClassBox sport-related objects confidence: 30 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.970189710] [zed_multi.front]: === Body Track. parameters === [component_container_isolated-3] [INFO] [1762964960.970410933] [zed_multi.front]: * Body Track. enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.970661271] [zed_multi.front]: * Body Track. model: HUMAN BODY MEDIUM [component_container_isolated-3] [INFO] [1762964960.970787522] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/reset_pos_tracking' [component_container_isolated-3] [INFO] [1762964960.970854951] [zed_multi.front]: * Body Track. format: BODY 38 [component_container_isolated-3] [INFO] [1762964960.971047038] [zed_multi.front]: * Body Track. allow reduced precision: FALSE [component_container_isolated-3] [INFO] [1762964960.971325930] [zed_multi.front]: * Body Track. maximum range [m]: 15 [component_container_isolated-3] [INFO] [1762964960.971527726] [zed_multi.front]: * Body Track. KP selection: FULL [component_container_isolated-3] [INFO] [1762964960.971781881] [zed_multi.front]: * Body fitting: FALSE [component_container_isolated-3] [INFO] [1762964960.971917470] [zed_multi.right]: * Advertised on service: '/zed_multi/right/enable_obj_det' [component_container_isolated-3] [INFO] [1762964960.971972635] [zed_multi.front]: * Body joints tracking: TRUE [component_container_isolated-3] [INFO] [1762964960.972154212] [zed_multi.front]: * Body Track. prediction timeout [sec]: 0.5 [component_container_isolated-3] [INFO] [1762964960.972540921] [zed_multi.front]: * Body Track. confidence thresh.: 50 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.972758226] [zed_multi.front]: * Body Track. min. KP thresh.: 5 [DYNAMIC] [component_container_isolated-3] [INFO] [1762964960.972779707] [zed_multi.front]: === STREAMING SERVER parameters === [component_container_isolated-3] [INFO] [1762964960.972941436] [zed_multi.front]: * Streaming Server enabled: FALSE [component_container_isolated-3] [INFO] [1762964960.973228434] [zed_multi.front]: * Stream codec: H264 [component_container_isolated-3] [INFO] [1762964960.973402005] [zed_multi.left]: * Advertised on service: '/zed_multi/left/stop_svo_rec' [component_container_isolated-3] [INFO] [1762964960.973443625] [zed_multi.front]: * Stream port: 30000 [component_container_isolated-3] [INFO] [1762964960.973631353] [zed_multi.front]: * Stream bitrate: 12500 [component_container_isolated-3] [INFO] [1762964960.973899806] [zed_multi.front]: * Stream GOP size: -1 [component_container_isolated-3] [INFO] [1762964960.974081423] [zed_multi.front]: * Stream Chunk size: 16084 [component_container_isolated-3] [INFO] [1762964960.974265975] [zed_multi.front]: * Adaptive bitrate: FALSE [component_container_isolated-3] [INFO] [1762964960.974482990] [zed_multi.front]: * Target frame rate:0 [component_container_isolated-3] [INFO] [1762964960.974507497] [zed_multi.front]: === ADVANCED parameters === [component_container_isolated-3] [INFO] [1762964960.974627175] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/set_pose' [component_container_isolated-3] [INFO] [1762964960.974671610] [zed_multi.front]: * Thread sched. policy: SCHED_BATCH [component_container_isolated-3] [INFO] [1762964960.974755029] [zed_multi.front]: === SERVICES === [component_container_isolated-3] [INFO] [1762964960.975602598] [zed_multi.right]: * Advertised on service: '/zed_multi/right/enable_body_trk' [component_container_isolated-3] [INFO] [1762964960.976902661] [zed_multi.left]: * Advertised on service: '/zed_multi/left/set_roi' [component_container_isolated-3] [INFO] [1762964960.977941024] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/save_area_memory' [component_container_isolated-3] [INFO] [1762964960.979197533] [zed_multi.front]: * Advertised on service: '/zed_multi/front/reset_odometry' [component_container_isolated-3] [INFO] [1762964960.980250244] [zed_multi.right]: * Advertised on service: '/zed_multi/right/enable_mapping' [component_container_isolated-3] [INFO] [1762964960.981527653] [zed_multi.left]: * Advertised on service: '/zed_multi/left/reset_roi' [component_container_isolated-3] [INFO] [1762964960.981577208] [zed_multi.left]: === STARTING CAMERA === [component_container_isolated-3] [INFO] [1762964960.981711665] [zed_multi.left]: ZED SDK Version: 5.1.0 - Build 106231_f4e0c540 [component_container_isolated-3] [INFO] [1762964960.982572378] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/enable_obj_det' [component_container_isolated-3] [INFO] [1762964960.983574111] [zed_multi.front]: * Advertised on service: '/zed_multi/front/reset_pos_tracking' [component_container_isolated-3] [INFO] [1762964960.984585082] [zed_multi.right]: * Advertised on service: '/zed_multi/right/enable_streaming' [component_container_isolated-3] [INFO] [1762964960.986493908] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/enable_body_trk' [component_container_isolated-3] [INFO] [1762964960.988954557] [zed_multi.front]: * Advertised on service: '/zed_multi/front/set_pose' [component_container_isolated-3] [INFO] [1762964960.990052313] [zed_multi.right]: * Advertised on service: '/zed_multi/right/start_svo_rec' [component_container_isolated-3] [INFO] [1762964960.991119712] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/enable_mapping' [component_container_isolated-3] [INFO] [1762964960.995306107] [zed_multi.front]: * Advertised on service: '/zed_multi/front/save_area_memory' [component_container_isolated-3] [INFO] [1762964960.996396359] [zed_multi.right]: * Advertised on service: '/zed_multi/right/stop_svo_rec' [component_container_isolated-3] [INFO] [1762964960.997395196] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/enable_streaming' [component_container_isolated-3] [INFO] [1762964960.999398793] [zed_multi.front]: * Advertised on service: '/zed_multi/front/enable_obj_det' [component_container_isolated-3] [INFO] [1762964961.000732660] [zed_multi.right]: * Advertised on service: '/zed_multi/right/set_roi' [component_container_isolated-3] [INFO] [1762964961.001900711] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/start_svo_rec' [component_container_isolated-3] [INFO] [1762964961.002913625] [zed_multi.front]: * Advertised on service: '/zed_multi/front/enable_body_trk' [component_container_isolated-3] [INFO] [1762964961.003725876] [zed_multi.left]: === LOCAL STREAMING OPENING === [component_container_isolated-3] [INFO] [1762964961.004620134] [zed_multi.right]: * Advertised on service: '/zed_multi/right/reset_roi' [component_container_isolated-3] [INFO] [1762964961.004652516] [zed_multi.right]: === STARTING CAMERA === [component_container_isolated-3] [INFO] [1762964961.004681001] [zed_multi.right]: ZED SDK Version: 5.1.0 - Build 106231_f4e0c540 [component_container_isolated-3] [INFO] [1762964961.005840114] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/stop_svo_rec' [component_container_isolated-3] [INFO] [1762964961.006885320] [zed_multi.front]: * Advertised on service: '/zed_multi/front/enable_mapping' [component_container_isolated-3] [INFO] [1762964961.008588353] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/set_roi' [component_container_isolated-3] [INFO] [1762964961.010724883] [zed_multi.front]: * Advertised on service: '/zed_multi/front/enable_streaming' [component_container_isolated-3] [INFO] [1762964961.011829783] [zed_multi.rear]: * Advertised on service: '/zed_multi/rear/reset_roi' [component_container_isolated-3] [INFO] [1762964961.011870441] [zed_multi.rear]: === STARTING CAMERA === [component_container_isolated-3] [INFO] [1762964961.011890780] [zed_multi.rear]: ZED SDK Version: 5.1.0 - Build 106231_f4e0c540 [component_container_isolated-3] [INFO] [1762964961.013912120] [zed_multi.front]: * Advertised on service: '/zed_multi/front/start_svo_rec' [component_container_isolated-3] [INFO] [1762964961.017715644] [zed_multi.front]: * Advertised on service: '/zed_multi/front/stop_svo_rec' [component_container_isolated-3] [INFO] [1762964961.018598259] [zed_multi.right]: === LOCAL STREAMING OPENING === [component_container_isolated-3] [INFO] [1762964961.020397094] [zed_multi.front]: * Advertised on service: '/zed_multi/front/set_roi' [component_container_isolated-3] [INFO] [1762964961.022324996] [zed_multi.front]: * Advertised on service: '/zed_multi/front/reset_roi' [component_container_isolated-3] [INFO] [1762964961.022357999] [zed_multi.front]: === STARTING CAMERA === [component_container_isolated-3] [INFO] [1762964961.022375112] [zed_multi.front]: ZED SDK Version: 5.1.0 - Build 106231_f4e0c540 [component_container_isolated-3] [INFO] [1762964961.023400761] [zed_multi.rear]: === LOCAL STREAMING OPENING === [component_container_isolated-3] [INFO] [1762964961.029333180] [zed_multi.front]: === LOCAL STREAMING OPENING === [component_container_isolated-3] [INFO] [1762964962.940082320] [zed_multi.left]: * ZED SDK running on GPU #0 [component_container_isolated-3] [INFO] [1762964962.940137625] [zed_multi.left]: * Camera Model -> ZED X [component_container_isolated-3] [INFO] [1762964962.940145681] [zed_multi.left]: * Serial Number -> 49440015 [component_container_isolated-3] [INFO] [1762964962.940211426] [zed_multi.left]: * Focal Length -> 2.20837 mm [component_container_isolated-3] [INFO] [1762964962.940226906] [zed_multi.left]: * Input -> STREAM [component_container_isolated-3] [INFO] [1762964962.940245090] [zed_multi.left]: * Camera FW Version -> 2001 [component_container_isolated-3] [INFO] [1762964962.940258005] [zed_multi.left]: * Sensors FW Version -> 0 [component_container_isolated-3] [INFO] [1762964962.940266812] [zed_multi.left]: * Camera grab size -> 1920x1200 [component_container_isolated-3] [INFO] [1762964962.940297631] [zed_multi.left]: * Color/Depth publishing size -> 960x600 [component_container_isolated-3] [INFO] [1762964962.940304574] [zed_multi.left]: * Point Cloud publishing size -> 448x256 [component_container_isolated-3] [INFO] [1762964962.940316537] [zed_multi.left]: === TF FRAMES === [component_container_isolated-3] [INFO] [1762964962.940322949] [zed_multi.left]: * Map -> map [component_container_isolated-3] [INFO] [1762964962.940328339] [zed_multi.left]: * Odometry -> odom [component_container_isolated-3] [INFO] [1762964962.940334191] [zed_multi.left]: * Base -> left_camera_link [component_container_isolated-3] [INFO] [1762964962.940339651] [zed_multi.left]: * Camera -> left_camera_center [component_container_isolated-3] [INFO] [1762964962.940345021] [zed_multi.left]: * Left -> left_left_camera_frame [component_container_isolated-3] [INFO] [1762964962.940350592] [zed_multi.left]: * Left Optical -> left_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964962.940355722] [zed_multi.left]: * Right -> left_right_camera_frame [component_container_isolated-3] [INFO] [1762964962.940360711] [zed_multi.left]: * Right Optical -> left_right_camera_optical_frame [component_container_isolated-3] [INFO] [1762964962.940365891] [zed_multi.left]: * Depth -> left_left_camera_frame [component_container_isolated-3] [INFO] [1762964962.940371041] [zed_multi.left]: * Depth Optical -> left_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964962.940382693] [zed_multi.left]: * Point Cloud -> left_left_camera_frame [component_container_isolated-3] [INFO] [1762964962.940399345] [zed_multi.left]: * IMU -> left_imu_link [component_container_isolated-3] [INFO] [1762964962.940429553] [zed_multi.left]: === PUBLISHED TOPICS === [component_container_isolated-3] [INFO] [1762964962.942390237] [zed_multi.left]: * Advertised on topic: /zed_multi/left/status/health [component_container_isolated-3] [INFO] [1762964962.943256832] [zed_multi.left]: * Advertised on topic: /zed_multi/left/status/heartbeat [component_container_isolated-3] [INFO] [1762964963.019296019] [zed_multi.right]: * ZED SDK running on GPU #0 [component_container_isolated-3] [INFO] [1762964963.019356745] [zed_multi.right]: * Camera Model -> ZED X [component_container_isolated-3] [INFO] [1762964963.019365531] [zed_multi.right]: * Serial Number -> 44036609 [component_container_isolated-3] [INFO] [1762964963.020239631] [zed_multi.right]: * Focal Length -> 2.20909 mm [component_container_isolated-3] [INFO] [1762964963.020262394] [zed_multi.right]: * Input -> STREAM [component_container_isolated-3] [INFO] [1762964963.020270650] [zed_multi.right]: * Camera FW Version -> 2001 [component_container_isolated-3] [INFO] [1762964963.020277343] [zed_multi.right]: * Sensors FW Version -> 0 [component_container_isolated-3] [INFO] [1762964963.020283665] [zed_multi.right]: * Camera grab size -> 1920x1200 [component_container_isolated-3] [INFO] [1762964963.020290618] [zed_multi.right]: * Color/Depth publishing size -> 960x600 [component_container_isolated-3] [INFO] [1762964963.020296820] [zed_multi.right]: * Point Cloud publishing size -> 448x256 [component_container_isolated-3] [INFO] [1762964963.020305527] [zed_multi.right]: === TF FRAMES === [component_container_isolated-3] [INFO] [1762964963.020311989] [zed_multi.right]: * Map -> map [component_container_isolated-3] [INFO] [1762964963.020318030] [zed_multi.right]: * Odometry -> odom [component_container_isolated-3] [INFO] [1762964963.020325755] [zed_multi.right]: * Base -> right_camera_link [component_container_isolated-3] [INFO] [1762964963.020331877] [zed_multi.right]: * Camera -> right_camera_center [component_container_isolated-3] [INFO] [1762964963.020337878] [zed_multi.right]: * Left -> right_left_camera_frame [component_container_isolated-3] [INFO] [1762964963.020344792] [zed_multi.right]: * Left Optical -> right_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964963.020350923] [zed_multi.right]: * Right -> right_right_camera_frame [component_container_isolated-3] [INFO] [1762964963.020356514] [zed_multi.right]: * Right Optical -> right_right_camera_optical_frame [component_container_isolated-3] [INFO] [1762964963.020362315] [zed_multi.right]: * Depth -> right_left_camera_frame [component_container_isolated-3] [INFO] [1762964963.020368086] [zed_multi.right]: * Depth Optical -> right_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964963.020373697] [zed_multi.right]: * Point Cloud -> right_left_camera_frame [component_container_isolated-3] [INFO] [1762964963.020399777] [zed_multi.right]: * IMU -> right_imu_link [component_container_isolated-3] [INFO] [1762964963.020413653] [zed_multi.right]: === PUBLISHED TOPICS === [component_container_isolated-3] [DEBUG] [1762964963.053046103] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/rgb/color/rect/image/compressed [component_container_isolated-3] [INFO] [1762964963.053830691] [zed_multi.right]: * Advertised on topic: /zed_multi/right/status/health [component_container_isolated-3] [INFO] [1762964963.054492566] [zed_multi.right]: * Advertised on topic: /zed_multi/right/status/heartbeat [component_container_isolated-3] [DEBUG] [1762964963.054681106] [zed_multi.right]: getTopicToAdvertise: /zed_multi/right/rgb/color/rect/image/compressed [component_container_isolated-3] [DEBUG] [1762964963.060572817] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/rgb/color/rect/image/compressedDepth [component_container_isolated-3] [ERROR] [1762964963.089986400] [zed_multi.right]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964963.090407404] [zed_multi.right]: Failed to load plugin image_transport/ffmpeg_pub, error string: MultiLibraryClassLoader: Could not create object of class type ffmpeg_image_transport::FFMPEGPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.091300991] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.091860910] [zed_multi.left]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-3] [DEBUG] [1762964963.092264932] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/rgb/color/rect/image/ffmpeg [component_container_isolated-3] [INFO] [1762964963.095325937] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.096228221] [zed_multi.right]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-3] [DEBUG] [1762964963.096692287] [zed_multi.right]: getTopicToAdvertise: /zed_multi/right/rgb/color/rect/image/foxglove [component_container_isolated-3] [INFO] [1762964963.096766599] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.097822786] [zed_multi.left]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-3] [DEBUG] [1762964963.098196259] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/rgb/color/rect/image/foxglove [component_container_isolated-3] [DEBUG] [1762964963.099726451] [zed_multi.right]: getTopicToAdvertise: /zed_multi/right/rgb/color/rect/image [component_container_isolated-3] [ERROR] [1762964963.099749876] [zed_multi.left]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964963.102633243] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/rgb/color/rect/image/theora [component_container_isolated-3] [ERROR] [1762964963.102681324] [zed_multi.right]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.102715199] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image [component_container_isolated-3] [INFO] [1762964963.103480771] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image [component_container_isolated-3] [INFO] [1762964963.105190627] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964963.105209483] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964963.105216857] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964963.105222988] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964963.105229140] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/raw [image_transport] [component_container_isolated-3] [INFO] [1762964963.105235162] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/theora [image_transport] [component_container_isolated-3] [INFO] [1762964963.105338108] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964963.105357856] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964963.105367955] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964963.105377584] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964963.105386841] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/raw [image_transport] [component_container_isolated-3] [INFO] [1762964963.105396279] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/theora [image_transport] [component_container_isolated-3] [DEBUG] [1762964963.105477014] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/depth/depth_registered/compressed [component_container_isolated-3] [DEBUG] [1762964963.105585200] [zed_multi.right]: getTopicToAdvertise: /zed_multi/right/depth/depth_registered/compressed [component_container_isolated-3] [ERROR] [1762964963.107331174] [zed_multi.right]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964963.107333910] [zed_multi.left]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.107570792] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-3] [INFO] [1762964963.107648521] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.108182641] [zed_multi.right]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-3] [WARN] [1762964963.108303732] [zed_multi.left]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-3] [DEBUG] [1762964963.108597763] [zed_multi.right]: getTopicToAdvertise: /zed_multi/right/depth/depth_registered/ffmpeg [component_container_isolated-3] [DEBUG] [1762964963.108975916] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/depth/depth_registered/ffmpeg [component_container_isolated-3] [INFO] [1762964963.109324161] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-3] [INFO] [1762964963.109656846] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.110344289] [zed_multi.right]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-3] [DEBUG] [1762964963.110685300] [zed_multi.right]: getTopicToAdvertise: /zed_multi/right/depth/depth_registered/foxglove [component_container_isolated-3] [WARN] [1762964963.110864673] [zed_multi.left]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-3] [DEBUG] [1762964963.111485078] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/depth/depth_registered/foxglove [component_container_isolated-3] [ERROR] [1762964963.111651495] [zed_multi.right]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964963.112030289] [zed_multi.right]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.112050377] [zed_multi.right]: * Advertised on topic: /zed_multi/right/depth/depth_registered [component_container_isolated-3] [INFO] [1762964963.112160808] [zed_multi.right]: * Advertised on topic: /zed_multi/right/depth/depth_registered/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964963.112171709] [zed_multi.right]: * Advertised on topic: /zed_multi/right/depth/depth_registered/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964963.112180936] [zed_multi.right]: * Advertised on topic: /zed_multi/right/depth/depth_registered/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964963.112190224] [zed_multi.right]: * Advertised on topic: /zed_multi/right/depth/depth_registered/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964963.112199161] [zed_multi.right]: * Advertised on topic: /zed_multi/right/depth/depth_registered/raw [image_transport] [component_container_isolated-3] [INFO] [1762964963.112208389] [zed_multi.right]: * Advertised on topic: /zed_multi/right/depth/depth_registered/theora [image_transport] [component_container_isolated-3] [DEBUG] [1762964963.112398181] [zed_multi.right]: getTopicToAdvertise: /zed_multi/right/confidence/confidence_map/compressed [component_container_isolated-3] [ERROR] [1762964963.112566342] [zed_multi.left]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964963.113003066] [zed_multi.left]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.113032202] [zed_multi.left]: * Advertised on topic: /zed_multi/left/depth/depth_registered [component_container_isolated-3] [INFO] [1762964963.113161419] [zed_multi.left]: * Advertised on topic: /zed_multi/left/depth/depth_registered/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964963.113183010] [zed_multi.left]: * Advertised on topic: /zed_multi/left/depth/depth_registered/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964963.113195995] [zed_multi.left]: * Advertised on topic: /zed_multi/left/depth/depth_registered/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964963.113207667] [zed_multi.left]: * Advertised on topic: /zed_multi/left/depth/depth_registered/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964963.113219510] [zed_multi.left]: * Advertised on topic: /zed_multi/left/depth/depth_registered/raw [image_transport] [component_container_isolated-3] [INFO] [1762964963.113251992] [zed_multi.left]: * Advertised on topic: /zed_multi/left/depth/depth_registered/theora [image_transport] [component_container_isolated-3] [DEBUG] [1762964963.113518340] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/confidence/confidence_map/compressed [component_container_isolated-3] [ERROR] [1762964963.113967448] [zed_multi.right]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.114137373] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.114627539] [zed_multi.right]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-3] [DEBUG] [1762964963.115032372] [zed_multi.right]: getTopicToAdvertise: /zed_multi/right/confidence/confidence_map/ffmpeg [component_container_isolated-3] [INFO] [1762964963.115610025] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-3] [ERROR] [1762964963.115629653] [zed_multi.left]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.115904267] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.116482712] [zed_multi.right]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-3] [WARN] [1762964963.116514863] [zed_multi.left]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-3] [DEBUG] [1762964963.116796411] [zed_multi.right]: getTopicToAdvertise: /zed_multi/right/confidence/confidence_map/foxglove [component_container_isolated-3] [DEBUG] [1762964963.117135569] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/confidence/confidence_map/ffmpeg [component_container_isolated-3] [ERROR] [1762964963.117755252] [zed_multi.right]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.117770010] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-3] [ERROR] [1762964963.118138334] [zed_multi.right]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.118158472] [zed_multi.right]: * Advertised on topic: /zed_multi/right/confidence/confidence_map [component_container_isolated-3] [INFO] [1762964963.118267039] [zed_multi.right]: * Advertised on topic: /zed_multi/right/confidence/confidence_map/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964963.118277489] [zed_multi.right]: * Advertised on topic: /zed_multi/right/confidence/confidence_map/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964963.118286587] [zed_multi.right]: * Advertised on topic: /zed_multi/right/confidence/confidence_map/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964963.118296245] [zed_multi.right]: * Advertised on topic: /zed_multi/right/confidence/confidence_map/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964963.118305343] [zed_multi.right]: * Advertised on topic: /zed_multi/right/confidence/confidence_map/raw [image_transport] [component_container_isolated-3] [INFO] [1762964963.118314370] [zed_multi.right]: * Advertised on topic: /zed_multi/right/confidence/confidence_map/theora [image_transport] [component_container_isolated-3] [INFO] [1762964963.119044855] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/camera_info [component_container_isolated-3] [INFO] [1762964963.119452303] [zed_multi.right]: * Advertised on topic: /zed_multi/right/rgb/color/rect/image/camera_info [component_container_isolated-3] [WARN] [1762964963.119684025] [zed_multi.left]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-3] [INFO] [1762964963.119873788] [zed_multi.right]: * Advertised on topic: /zed_multi/right/depth/camera_info [component_container_isolated-3] [INFO] [1762964963.120313367] [zed_multi.right]: * Advertised on topic: /zed_multi/right/depth/depth_registered/camera_info [component_container_isolated-3] [DEBUG] [1762964963.120344918] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/confidence/confidence_map/foxglove [component_container_isolated-3] [INFO] [1762964963.120734892] [zed_multi.right]: * Advertised on topic: /zed_multi/right/confidence/camera_info [component_container_isolated-3] [INFO] [1762964963.121358323] [zed_multi.right]: * Advertised on topic: /zed_multi/right/confidence/confidence_map/camera_info [component_container_isolated-3] [ERROR] [1762964963.121516365] [zed_multi.left]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964963.121953770] [zed_multi.left]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.121984058] [zed_multi.left]: * Advertised on topic: /zed_multi/left/confidence/confidence_map [component_container_isolated-3] [INFO] [1762964963.122109698] [zed_multi.left]: * Advertised on topic: /zed_multi/left/confidence/confidence_map/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964963.122128935] [zed_multi.left]: * Advertised on topic: /zed_multi/left/confidence/confidence_map/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964963.122142851] [zed_multi.left]: * Advertised on topic: /zed_multi/left/confidence/confidence_map/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964963.122154964] [zed_multi.left]: * Advertised on topic: /zed_multi/left/confidence/confidence_map/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964963.122166577] [zed_multi.left]: * Advertised on topic: /zed_multi/left/confidence/confidence_map/raw [image_transport] [component_container_isolated-3] [INFO] [1762964963.122177888] [zed_multi.left]: * Advertised on topic: /zed_multi/left/confidence/confidence_map/theora [image_transport] [component_container_isolated-3] [INFO] [1762964963.122310531] [zed_multi.right]: * Advertised on topic: /zed_multi/right/depth/depth_info [component_container_isolated-3] [INFO] [1762964963.122647355] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/camera_info [component_container_isolated-3] [INFO] [1762964963.123131109] [zed_multi.left]: * Advertised on topic: /zed_multi/left/rgb/color/rect/image/camera_info [component_container_isolated-3] [INFO] [1762964963.125382809] [zed_multi.right]: * Advertised on topic: /zed_multi/right/disparity/disparity_image [component_container_isolated-3] [INFO] [1762964963.125679806] [zed_multi.left]: * Advertised on topic: /zed_multi/left/depth/camera_info [component_container_isolated-3] [INFO] [1762964963.126128683] [zed_multi.left]: * Advertised on topic: /zed_multi/left/depth/depth_registered/camera_info [component_container_isolated-3] [INFO] [1762964963.126574384] [zed_multi.left]: * Advertised on topic: /zed_multi/left/confidence/camera_info [component_container_isolated-3] [DEBUG] [1762964963.131570345] [zed_multi.right]: getTopicToAdvertise: /zed_multi/right/point_cloud/cloud_registered/draco [component_container_isolated-3] [INFO] [1762964963.132086732] [zed_multi.left]: * Advertised on topic: /zed_multi/left/confidence/confidence_map/camera_info [component_container_isolated-3] [INFO] [1762964963.134483699] [zed_multi.left]: * Advertised on topic: /zed_multi/left/depth/depth_info [component_container_isolated-3] [INFO] [1762964963.135517904] [zed_multi.left]: * Advertised on topic: /zed_multi/left/disparity/disparity_image [component_container_isolated-3] [DEBUG] [1762964963.135759185] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/point_cloud/cloud_registered/draco [component_container_isolated-3] [DEBUG] [1762964963.138571215] [zed_multi.right]: getTopicToAdvertise: /zed_multi/right/point_cloud/cloud_registered [component_container_isolated-3] [DEBUG] [1762964963.139244621] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/point_cloud/cloud_registered [component_container_isolated-3] [DEBUG] [1762964963.142338761] [zed_multi.right]: getTopicToAdvertise: /zed_multi/right/point_cloud/cloud_registered/zlib [component_container_isolated-3] [ERROR] [1762964963.142397793] [zed_multi.left]: Failed to load plugin point_cloud_transport/zlib_pub, error string: MultiLibraryClassLoader: Could not create object of class type zlib_point_cloud_transport::ZlibPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [DEBUG] [1762964963.144906584] [zed_multi.left]: getTopicToAdvertise: /zed_multi/left/point_cloud/cloud_registered/zstd [component_container_isolated-3] [ERROR] [1762964963.144957632] [zed_multi.right]: Failed to load plugin point_cloud_transport/zstd_pub, error string: MultiLibraryClassLoader: Could not create object of class type zstd_point_cloud_transport::ZstdPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [INFO] [1762964963.144989934] [zed_multi.right]: * Advertised on topic: /zed_multi/right/point_cloud/cloud_registered [component_container_isolated-3] [INFO] [1762964963.146268916] [zed_multi.right]: * Advertised on topic: /zed_multi/right/pose [component_container_isolated-3] [INFO] [1762964963.146772979] [zed_multi.left]: * Advertised on topic: /zed_multi/left/point_cloud/cloud_registered [component_container_isolated-3] [INFO] [1762964963.147388444] [zed_multi.right]: * Advertised on topic: /zed_multi/right/pose/status [component_container_isolated-3] [INFO] [1762964963.147894811] [zed_multi.left]: * Advertised on topic: /zed_multi/left/pose [component_container_isolated-3] [INFO] [1762964963.149501920] [zed_multi.right]: * Advertised on topic: /zed_multi/right/odom [component_container_isolated-3] [INFO] [1762964963.149858041] [zed_multi.left]: * Advertised on topic: /zed_multi/left/pose/status [component_container_isolated-3] [INFO] [1762964963.150708054] [zed_multi.right]: * Advertised on topic: /zed_multi/right/imu/data [component_container_isolated-3] [INFO] [1762964963.150741959] [zed_multi.right]: Camera-IMU Translation: [component_container_isolated-3] 0 -0.035649 -0.000147 [component_container_isolated-3] [INFO] [1762964963.150778558] [zed_multi.right]: Camera-IMU Rotation: [component_container_isolated-3] 719A70FFADC0 [component_container_isolated-3] 0.999980 -0.006363 -0.000502 [component_container_isolated-3] 0.006363 0.999980 -0.000539 [component_container_isolated-3] 0.000506 0.000536 1.000000 [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.150791293] [zed_multi.right]: ===Subscribers === [component_container_isolated-3] [INFO] [1762964963.151044065] [zed_multi.left]: * Advertised on topic: /zed_multi/left/odom [component_container_isolated-3] [INFO] [1762964963.152230391] [zed_multi.right]: * Plane detection: '/clicked_point' [component_container_isolated-3] [INFO] [1762964963.152487893] [zed_multi.left]: * Advertised on topic: /zed_multi/left/imu/data [component_container_isolated-3] [INFO] [1762964963.152514333] [zed_multi.left]: Camera-IMU Translation: [component_container_isolated-3] 0 -0.035649 -0.000147 [component_container_isolated-3] [INFO] [1762964963.152545844] [zed_multi.left]: Camera-IMU Rotation: [component_container_isolated-3] 719A7CBDBDC0 [component_container_isolated-3] 0.999995 0.001573 0.002688 [component_container_isolated-3] -0.001571 0.999999 -0.000736 [component_container_isolated-3] -0.002689 0.000732 0.999996 [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.152559129] [zed_multi.left]: ===Subscribers === [component_container_isolated-3] [INFO] [1762964963.153815579] [zed_multi.left]: * Plane detection: '/clicked_point' [component_container_isolated-3] [INFO] [1762964963.192651927] [zed_multi.front]: * ZED SDK running on GPU #0 [component_container_isolated-3] [INFO] [1762964963.192699668] [zed_multi.front]: * Camera Model -> ZED X [component_container_isolated-3] [INFO] [1762964963.192707703] [zed_multi.front]: * Serial Number -> 40483530 [component_container_isolated-3] [INFO] [1762964963.192755995] [zed_multi.front]: * Focal Length -> 2.20477 mm [component_container_isolated-3] [INFO] [1762964963.192769391] [zed_multi.front]: * Input -> STREAM [component_container_isolated-3] [INFO] [1762964963.192776655] [zed_multi.front]: * Camera FW Version -> 2001 [component_container_isolated-3] [INFO] [1762964963.192782817] [zed_multi.front]: * Sensors FW Version -> 0 [component_container_isolated-3] [INFO] [1762964963.192788858] [zed_multi.front]: * Camera grab size -> 1920x1200 [component_container_isolated-3] [INFO] [1762964963.192806682] [zed_multi.front]: * Color/Depth publishing size -> 960x600 [component_container_isolated-3] [INFO] [1762964963.192813635] [zed_multi.front]: * Point Cloud publishing size -> 448x256 [component_container_isolated-3] [INFO] [1762964963.192844003] [zed_multi.front]: === TF FRAMES === [component_container_isolated-3] [INFO] [1762964963.192852229] [zed_multi.front]: * Map -> map [component_container_isolated-3] [INFO] [1762964963.192858291] [zed_multi.front]: * Odometry -> odom [component_container_isolated-3] [INFO] [1762964963.192864432] [zed_multi.front]: * Base -> front_camera_link [component_container_isolated-3] [INFO] [1762964963.192870344] [zed_multi.front]: * Camera -> front_camera_center [component_container_isolated-3] [INFO] [1762964963.192876165] [zed_multi.front]: * Left -> front_left_camera_frame [component_container_isolated-3] [INFO] [1762964963.192881896] [zed_multi.front]: * Left Optical -> front_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964963.192887687] [zed_multi.front]: * Right -> front_right_camera_frame [component_container_isolated-3] [INFO] [1762964963.192893528] [zed_multi.front]: * Right Optical -> front_right_camera_optical_frame [component_container_isolated-3] [INFO] [1762964963.192899429] [zed_multi.front]: * Depth -> front_left_camera_frame [component_container_isolated-3] [INFO] [1762964963.192905120] [zed_multi.front]: * Depth Optical -> front_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964963.192939516] [zed_multi.front]: * Point Cloud -> front_left_camera_frame [component_container_isolated-3] [INFO] [1762964963.192947561] [zed_multi.front]: * IMU -> front_imu_link [component_container_isolated-3] [INFO] [1762964963.192961287] [zed_multi.front]: === PUBLISHED TOPICS === [component_container_isolated-3] [INFO] [1762964963.194178362] [zed_multi.front]: * Advertised on topic: /zed_multi/front/status/health [component_container_isolated-3] [INFO] [1762964963.195173442] [zed_multi.front]: * Advertised on topic: /zed_multi/front/status/heartbeat [component_container_isolated-3] [DEBUG] [1762964963.195502671] [zed_multi.front]: getTopicToAdvertise: /zed_multi/front/rgb/color/rect/image/compressed [component_container_isolated-3] [ERROR] [1762964963.197101724] [zed_multi.front]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.197265788] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.197617500] [zed_multi.front]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-3] [DEBUG] [1762964963.197873188] [zed_multi.front]: getTopicToAdvertise: /zed_multi/front/rgb/color/rect/image/ffmpeg [component_container_isolated-3] [INFO] [1762964963.198405815] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.199184492] [zed_multi.front]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-3] [DEBUG] [1762964963.199447835] [zed_multi.front]: getTopicToAdvertise: /zed_multi/front/rgb/color/rect/image/foxglove [component_container_isolated-3] [ERROR] [1762964963.200292148] [zed_multi.front]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964963.200575809] [zed_multi.front]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.200590958] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image [component_container_isolated-3] [INFO] [1762964963.200680279] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964963.200688194] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964963.200694235] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964963.200700698] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964963.200706549] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/raw [image_transport] [component_container_isolated-3] [INFO] [1762964963.200712370] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/theora [image_transport] [component_container_isolated-3] [DEBUG] [1762964963.200849712] [zed_multi.front]: getTopicToAdvertise: /zed_multi/front/depth/depth_registered/compressed [component_container_isolated-3] [ERROR] [1762964963.202235198] [zed_multi.front]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.202375647] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.202742176] [zed_multi.front]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-3] [DEBUG] [1762964963.203034855] [zed_multi.front]: getTopicToAdvertise: /zed_multi/front/depth/depth_registered/ffmpeg [component_container_isolated-3] [INFO] [1762964963.203549518] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.204391516] [zed_multi.front]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-3] [DEBUG] [1762964963.204734962] [zed_multi.front]: getTopicToAdvertise: /zed_multi/front/depth/depth_registered/foxglove [component_container_isolated-3] [ERROR] [1762964963.205523218] [zed_multi.front]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964963.205805827] [zed_multi.front]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.205821858] [zed_multi.front]: * Advertised on topic: /zed_multi/front/depth/depth_registered [component_container_isolated-3] [INFO] [1762964963.205902933] [zed_multi.front]: * Advertised on topic: /zed_multi/front/depth/depth_registered/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964963.205910417] [zed_multi.front]: * Advertised on topic: /zed_multi/front/depth/depth_registered/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964963.205916348] [zed_multi.front]: * Advertised on topic: /zed_multi/front/depth/depth_registered/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964963.205929854] [zed_multi.front]: * Advertised on topic: /zed_multi/front/depth/depth_registered/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964963.205940755] [zed_multi.front]: * Advertised on topic: /zed_multi/front/depth/depth_registered/raw [image_transport] [component_container_isolated-3] [INFO] [1762964963.205946847] [zed_multi.front]: * Advertised on topic: /zed_multi/front/depth/depth_registered/theora [image_transport] [component_container_isolated-3] [DEBUG] [1762964963.206142370] [zed_multi.front]: getTopicToAdvertise: /zed_multi/front/confidence/confidence_map/compressed [component_container_isolated-3] [ERROR] [1762964963.207682481] [zed_multi.front]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.207859630] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.208440669] [zed_multi.front]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-3] [DEBUG] [1762964963.208768285] [zed_multi.front]: getTopicToAdvertise: /zed_multi/front/confidence/confidence_map/ffmpeg [component_container_isolated-3] [INFO] [1762964963.209266036] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.210421963] [zed_multi.front]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-3] [DEBUG] [1762964963.210811056] [zed_multi.front]: getTopicToAdvertise: /zed_multi/front/confidence/confidence_map/foxglove [component_container_isolated-3] [ERROR] [1762964963.211673884] [zed_multi.front]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964963.211971953] [zed_multi.front]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.211994466] [zed_multi.front]: * Advertised on topic: /zed_multi/front/confidence/confidence_map [component_container_isolated-3] [INFO] [1762964963.212080140] [zed_multi.front]: * Advertised on topic: /zed_multi/front/confidence/confidence_map/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964963.212087945] [zed_multi.front]: * Advertised on topic: /zed_multi/front/confidence/confidence_map/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964963.212094227] [zed_multi.front]: * Advertised on topic: /zed_multi/front/confidence/confidence_map/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964963.212100298] [zed_multi.front]: * Advertised on topic: /zed_multi/front/confidence/confidence_map/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964963.212106119] [zed_multi.front]: * Advertised on topic: /zed_multi/front/confidence/confidence_map/raw [image_transport] [component_container_isolated-3] [INFO] [1762964963.212112101] [zed_multi.front]: * Advertised on topic: /zed_multi/front/confidence/confidence_map/theora [image_transport] [component_container_isolated-3] [INFO] [1762964963.212513397] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/camera_info [component_container_isolated-3] [INFO] [1762964963.212851553] [zed_multi.front]: * Advertised on topic: /zed_multi/front/rgb/color/rect/image/camera_info [component_container_isolated-3] [INFO] [1762964963.213213444] [zed_multi.front]: * Advertised on topic: /zed_multi/front/depth/camera_info [component_container_isolated-3] [INFO] [1762964963.213595153] [zed_multi.front]: * Advertised on topic: /zed_multi/front/depth/depth_registered/camera_info [component_container_isolated-3] [INFO] [1762964963.213977543] [zed_multi.front]: * Advertised on topic: /zed_multi/front/confidence/camera_info [component_container_isolated-3] [INFO] [1762964963.214383849] [zed_multi.front]: * Advertised on topic: /zed_multi/front/confidence/confidence_map/camera_info [component_container_isolated-3] [INFO] [1762964963.215499330] [zed_multi.front]: * Advertised on topic: /zed_multi/front/depth/depth_info [component_container_isolated-3] [INFO] [1762964963.216443262] [zed_multi.front]: * Advertised on topic: /zed_multi/front/disparity/disparity_image [component_container_isolated-3] [DEBUG] [1762964963.216690064] [zed_multi.front]: getTopicToAdvertise: /zed_multi/front/point_cloud/cloud_registered/draco [component_container_isolated-3] [DEBUG] [1762964963.220374159] [zed_multi.front]: getTopicToAdvertise: /zed_multi/front/point_cloud/cloud_registered [component_container_isolated-3] [ERROR] [1762964963.221563501] [zed_multi.front]: Failed to load plugin point_cloud_transport/zlib_pub, error string: MultiLibraryClassLoader: Could not create object of class type zlib_point_cloud_transport::ZlibPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [ERROR] [1762964963.221995766] [zed_multi.front]: Failed to load plugin point_cloud_transport/zstd_pub, error string: MultiLibraryClassLoader: Could not create object of class type zstd_point_cloud_transport::ZstdPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [INFO] [1762964963.222068916] [zed_multi.front]: * Advertised on topic: /zed_multi/front/point_cloud/cloud_registered [component_container_isolated-3] [INFO] [1762964963.222810212] [zed_multi.front]: * Advertised on topic: /zed_multi/front/pose [component_container_isolated-3] [INFO] [1762964963.223579801] [zed_multi.front]: * Advertised on topic: /zed_multi/front/pose/status [component_container_isolated-3] [INFO] [1762964963.225158607] [zed_multi.front]: * Advertised on topic: /zed_multi/front/odom [component_container_isolated-3] [INFO] [1762964963.225963744] [zed_multi.front]: * Advertised on topic: /zed_multi/front/imu/data [component_container_isolated-3] [INFO] [1762964963.225986387] [zed_multi.front]: Camera-IMU Translation: [component_container_isolated-3] 0 -0.035649 -0.000147 [component_container_isolated-3] [INFO] [1762964963.226010794] [zed_multi.front]: Camera-IMU Rotation: [component_container_isolated-3] 719A4F7FBDC0 [component_container_isolated-3] 0.999921 0.001340 0.012508 [component_container_isolated-3] -0.001246 0.999971 -0.007463 [component_container_isolated-3] -0.012518 0.007447 0.999894 [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.226026494] [zed_multi.front]: ===Subscribers === [component_container_isolated-3] [INFO] [1762964963.227011445] [zed_multi.front]: * Plane detection: '/clicked_point' [component_container_isolated-3] [INFO] [1762964963.260425898] [zed_multi.rear]: * ZED SDK running on GPU #0 [component_container_isolated-3] [INFO] [1762964963.260481655] [zed_multi.rear]: * Camera Model -> ZED X [component_container_isolated-3] [INFO] [1762964963.260497846] [zed_multi.rear]: * Serial Number -> 41385721 [component_container_isolated-3] [INFO] [1762964963.260574903] [zed_multi.rear]: * Focal Length -> 3.81525 mm [component_container_isolated-3] [INFO] [1762964963.260606393] [zed_multi.rear]: * Input -> STREAM [component_container_isolated-3] [INFO] [1762964963.260620991] [zed_multi.rear]: * Camera FW Version -> 2001 [component_container_isolated-3] [INFO] [1762964963.260634918] [zed_multi.rear]: * Sensors FW Version -> 0 [component_container_isolated-3] [INFO] [1762964963.260647061] [zed_multi.rear]: * Camera grab size -> 1920x1200 [component_container_isolated-3] [INFO] [1762964963.260660496] [zed_multi.rear]: * Color/Depth publishing size -> 960x600 [component_container_isolated-3] [INFO] [1762964963.260674393] [zed_multi.rear]: * Point Cloud publishing size -> 448x256 [component_container_isolated-3] [INFO] [1762964963.260701324] [zed_multi.rear]: === TF FRAMES === [component_container_isolated-3] [INFO] [1762964963.260717024] [zed_multi.rear]: * Map -> map [component_container_isolated-3] [INFO] [1762964963.260729097] [zed_multi.rear]: * Odometry -> odom [component_container_isolated-3] [INFO] [1762964963.260740730] [zed_multi.rear]: * Base -> rear_camera_link [component_container_isolated-3] [INFO] [1762964963.260753865] [zed_multi.rear]: * Camera -> rear_camera_center [component_container_isolated-3] [INFO] [1762964963.260767601] [zed_multi.rear]: * Left -> rear_left_camera_frame [component_container_isolated-3] [INFO] [1762964963.260782640] [zed_multi.rear]: * Left Optical -> rear_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964963.260795144] [zed_multi.rear]: * Right -> rear_right_camera_frame [component_container_isolated-3] [INFO] [1762964963.260809070] [zed_multi.rear]: * Right Optical -> rear_right_camera_optical_frame [component_container_isolated-3] [INFO] [1762964963.260822997] [zed_multi.rear]: * Depth -> rear_left_camera_frame [component_container_isolated-3] [INFO] [1762964963.260847934] [zed_multi.rear]: * Depth Optical -> rear_left_camera_optical_frame [component_container_isolated-3] [INFO] [1762964963.260861861] [zed_multi.rear]: * Point Cloud -> rear_left_camera_frame [component_container_isolated-3] [INFO] [1762964963.260904142] [zed_multi.rear]: * IMU -> rear_imu_link [component_container_isolated-3] [INFO] [1762964963.260944709] [zed_multi.rear]: === PUBLISHED TOPICS === [component_container_isolated-3] [INFO] [1762964963.262804691] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/status/health [component_container_isolated-3] [INFO] [1762964963.263673541] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/status/heartbeat [component_container_isolated-3] [DEBUG] [1762964963.263946291] [zed_multi.rear]: getTopicToAdvertise: /zed_multi/rear/rgb/color/rect/image/compressed [component_container_isolated-3] [ERROR] [1762964963.265647320] [zed_multi.rear]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.265829989] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.266309294] [zed_multi.rear]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-3] [DEBUG] [1762964963.266695352] [zed_multi.rear]: getTopicToAdvertise: /zed_multi/rear/rgb/color/rect/image/ffmpeg [component_container_isolated-3] [INFO] [1762964963.267247296] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.268086749] [zed_multi.rear]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-3] [DEBUG] [1762964963.268395989] [zed_multi.rear]: getTopicToAdvertise: /zed_multi/rear/rgb/color/rect/image/foxglove [component_container_isolated-3] [ERROR] [1762964963.269277272] [zed_multi.rear]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964963.269627702] [zed_multi.rear]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.269647980] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image [component_container_isolated-3] [INFO] [1762964963.269862560] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964963.269872389] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964963.269879773] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964963.269887007] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964963.269894150] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/raw [image_transport] [component_container_isolated-3] [INFO] [1762964963.269901204] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/theora [image_transport] [component_container_isolated-3] [DEBUG] [1762964963.270074455] [zed_multi.rear]: getTopicToAdvertise: /zed_multi/rear/depth/depth_registered/compressed [component_container_isolated-3] [ERROR] [1762964963.271612332] [zed_multi.rear]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.271774842] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.272204162] [zed_multi.rear]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-3] [DEBUG] [1762964963.272516428] [zed_multi.rear]: getTopicToAdvertise: /zed_multi/rear/depth/depth_registered/ffmpeg [component_container_isolated-3] [INFO] [1762964963.273215503] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.274098450] [zed_multi.rear]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-3] [DEBUG] [1762964963.274422699] [zed_multi.rear]: getTopicToAdvertise: /zed_multi/rear/depth/depth_registered/foxglove [component_container_isolated-3] [ERROR] [1762964963.275297099] [zed_multi.rear]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964963.275628091] [zed_multi.rear]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.275645855] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/depth/depth_registered [component_container_isolated-3] [INFO] [1762964963.275737189] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/depth/depth_registered/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964963.275746547] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/depth/depth_registered/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964963.275754312] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/depth/depth_registered/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964963.275762197] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/depth/depth_registered/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964963.275769321] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/depth/depth_registered/raw [image_transport] [component_container_isolated-3] [INFO] [1762964963.275780612] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/depth/depth_registered/theora [image_transport] [component_container_isolated-3] [DEBUG] [1762964963.275950867] [zed_multi.rear]: getTopicToAdvertise: /zed_multi/rear/confidence/confidence_map/compressed [component_container_isolated-3] [DEBUG] [1762964963.277948813] [zed_multi.front]: POS. TRACKING required: enabled by param. [component_container_isolated-3] [ERROR] [1762964963.278048704] [zed_multi.rear]: Failed to load plugin image_transport/compressedDepth_pub, error string: MultiLibraryClassLoader: Could not create object of class type compressed_depth_image_transport::CompressedDepthPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.278272100] [FFMPEGPublisher]: using libav encoder: libx264 [component_container_isolated-3] [WARN] [1762964963.278780712] [zed_multi.rear]: gop_size not set, defaulting to 10. This may severely affect lag and performance! [component_container_isolated-3] [INFO] [1762964963.278954564] [zed_multi.right]: === Starting Positional Tracking === [component_container_isolated-3] [INFO] [1762964963.279014017] [zed_multi.right]: * Waiting for valid static transformations... [component_container_isolated-3] [INFO] [1762964963.278958301] [zed_multi.front]: === Starting Positional Tracking === [component_container_isolated-3] [INFO] [1762964963.279073020] [zed_multi.front]: * Waiting for valid static transformations... [component_container_isolated-3] [DEBUG] [1762964963.279036340] [zed_multi.right]: Getting static TF from 'right_left_camera_frame' to 'right_camera_link' [component_container_isolated-3] [INFO] [1762964963.278956738] [zed_multi.left]: === Starting Positional Tracking === [component_container_isolated-3] [INFO] [1762964963.279194312] [zed_multi.left]: * Waiting for valid static transformations... [component_container_isolated-3] [DEBUG] [1762964963.279184332] [zed_multi.rear]: getTopicToAdvertise: /zed_multi/rear/confidence/confidence_map/ffmpeg [component_container_isolated-3] [INFO] [1762964963.279188961] [zed_multi.right]: Static transform ref. CMOS Sensor to Base [right_left_camera_frame -> right_camera_link] [component_container_isolated-3] [INFO] [1762964963.279255949] [zed_multi.right]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-3] [INFO] [1762964963.279269054] [zed_multi.right]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964963.279215211] [zed_multi.left]: Getting static TF from 'left_left_camera_frame' to 'left_camera_link' [component_container_isolated-3] [DEBUG] [1762964963.279283322] [zed_multi.right]: Getting static TF from 'right_left_camera_frame' to 'right_camera_center' [component_container_isolated-3] [DEBUG] [1762964963.279097627] [zed_multi.front]: Getting static TF from 'front_left_camera_frame' to 'front_camera_link' [component_container_isolated-3] [INFO] [1762964963.279324841] [zed_multi.right]: Static transform ref. CMOS Sensor to Camera Center [right_left_camera_frame -> right_camera_center] [component_container_isolated-3] [INFO] [1762964963.279372362] [zed_multi.right]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-3] [INFO] [1762964963.279384204] [zed_multi.right]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-3] [INFO] [1762964963.279393121] [zed_multi.front]: Static transform ref. CMOS Sensor to Base [front_left_camera_frame -> front_camera_link] [component_container_isolated-3] [INFO] [1762964963.279413670] [zed_multi.front]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-3] [INFO] [1762964963.279433959] [zed_multi.front]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964963.279453356] [zed_multi.front]: Getting static TF from 'front_left_camera_frame' to 'front_camera_center' [component_container_isolated-3] [INFO] [1762964963.279329941] [zed_multi.left]: Static transform ref. CMOS Sensor to Base [left_left_camera_frame -> left_camera_link] [component_container_isolated-3] [INFO] [1762964963.279498062] [zed_multi.left]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-3] [INFO] [1762964963.279515345] [zed_multi.left]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964963.279531095] [zed_multi.left]: Getting static TF from 'left_left_camera_frame' to 'left_camera_center' [component_container_isolated-3] [INFO] [1762964963.279486510] [zed_multi.front]: Static transform ref. CMOS Sensor to Camera Center [front_left_camera_frame -> front_camera_center] [component_container_isolated-3] [INFO] [1762964963.279571271] [zed_multi.front]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-3] [INFO] [1762964963.279589657] [zed_multi.front]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964963.279608673] [zed_multi.front]: Getting static TF from 'front_camera_center' to 'front_camera_link' [component_container_isolated-3] [INFO] [1762964963.279553277] [zed_multi.left]: Static transform ref. CMOS Sensor to Camera Center [left_left_camera_frame -> left_camera_center] [component_container_isolated-3] [INFO] [1762964963.279644481] [zed_multi.left]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-3] [INFO] [1762964963.279654621] [zed_multi.left]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964963.279664529] [zed_multi.left]: Getting static TF from 'left_camera_center' to 'left_camera_link' [component_container_isolated-3] [INFO] [1762964963.279635534] [zed_multi.front]: Static transform Camera Center to Base [front_camera_center -> front_camera_link] [component_container_isolated-3] [INFO] [1762964963.279685850] [zed_multi.front]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-3] [INFO] [1762964963.279694928] [zed_multi.front]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964963.279397800] [zed_multi.right]: Getting static TF from 'right_camera_center' to 'right_camera_link' [component_container_isolated-3] [INFO] [1762964963.279678226] [zed_multi.left]: Static transform Camera Center to Base [left_camera_center -> left_camera_link] [component_container_isolated-3] [INFO] [1762964963.279733030] [zed_multi.left]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-3] [INFO] [1762964963.279741917] [zed_multi.left]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-3] [INFO] [1762964963.279727911] [zed_multi.right]: Static transform Camera Center to Base [right_camera_center -> right_camera_link] [component_container_isolated-3] [INFO] [1762964963.279766504] [zed_multi.right]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-3] [INFO] [1762964963.279775892] [zed_multi.right]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-3] [INFO] [1762964963.279785931] [FoxglovePublisher]: using libav encoder: libx264 [component_container_isolated-3] [DEBUG] [1762964963.280778918] [zed_multi.front]: Time required to get valid static transforms: 6.25885e-07 sec [component_container_isolated-3] [INFO] [1762964963.280789939] [zed_multi.front]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-3] [INFO] [1762964963.280796652] [zed_multi.front]: * T: [-0.01,0.06,0.016] [component_container_isolated-3] [INFO] [1762964963.280811099] [zed_multi.front]: * Q: [0,0,0,1] [component_container_isolated-3] [DEBUG] [1762964963.280816109] [zed_multi.left]: Time required to get valid static transforms: 5.44119e-07 sec [component_container_isolated-3] [INFO] [1762964963.280837409] [zed_multi.left]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-3] [INFO] [1762964963.280866625] [zed_multi.left]: * T: [-0.01,0.06,0.016] [component_container_isolated-3] [INFO] [1762964963.280879370] [zed_multi.left]: * Q: [0,0,0,1] [component_container_isolated-3] [DEBUG] [1762964963.280894819] [zed_multi.left]: * Positional Tracking parameters: [component_container_isolated-3] [DEBUG] [1762964963.280852949] [zed_multi.right]: Time required to get valid static transforms: 7.62035e-07 sec [component_container_isolated-3] [INFO] [1762964963.280929465] [zed_multi.right]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-3] [INFO] [1762964963.280940556] [zed_multi.right]: * T: [-0.01,0.06,0.016] [component_container_isolated-3] [INFO] [1762964963.280953882] [zed_multi.right]: * Q: [0,0,0,1] [component_container_isolated-3] [DEBUG] [1762964963.280973269] [zed_multi.right]: * Positional Tracking parameters: [component_container_isolated-3] [WARN] [1762964963.280960214] [zed_multi.rear]: gop_size not set, defaulting to 1 which is required for foxglove! [component_container_isolated-3] [DEBUG] [1762964963.280825898] [zed_multi.front]: * Positional Tracking parameters: [component_container_isolated-3] [DEBUG] [1762964963.281355048] [zed_multi.left]: { [component_container_isolated-3] "PositionalTrackingParameters": { [component_container_isolated-3] "area_file_path": "", [component_container_isolated-3] "depth_min_range": 0.0, [component_container_isolated-3] "enable_area_memory": true, [component_container_isolated-3] "enable_imu_fusion": true, [component_container_isolated-3] "enable_pose_smoothing": false, [component_container_isolated-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 0.016000 0.000000 0.000000 0.000000 1.000000", [component_container_isolated-3] "mode": "GEN 2", [component_container_isolated-3] "set_as_static": false, [component_container_isolated-3] "set_floor_as_origin": false, [component_container_isolated-3] "set_gravity_as_origin": true [component_container_isolated-3] } [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964963.281357603] [zed_multi.front]: { [component_container_isolated-3] "PositionalTrackingParameters": { [component_container_isolated-3] "area_file_path": "", [component_container_isolated-3] "depth_min_range": 0.0, [component_container_isolated-3] "enable_area_memory": true, [component_container_isolated-3] "enable_imu_fusion": true, [component_container_isolated-3] "enable_pose_smoothing": false, [component_container_isolated-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 0.016000 0.000000 0.000000 0.000000 1.000000", [component_container_isolated-3] "mode": "GEN 2", [component_container_isolated-3] "set_as_static": false, [component_container_isolated-3] "set_floor_as_origin": false, [component_container_isolated-3] "set_gravity_as_origin": true [component_container_isolated-3] } [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964963.281358745] [zed_multi.right]: { [component_container_isolated-3] "PositionalTrackingParameters": { [component_container_isolated-3] "area_file_path": "", [component_container_isolated-3] "depth_min_range": 0.0, [component_container_isolated-3] "enable_area_memory": true, [component_container_isolated-3] "enable_imu_fusion": true, [component_container_isolated-3] "enable_pose_smoothing": false, [component_container_isolated-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 0.016000 0.000000 0.000000 0.000000 1.000000", [component_container_isolated-3] "mode": "GEN 2", [component_container_isolated-3] "set_as_static": false, [component_container_isolated-3] "set_floor_as_origin": false, [component_container_isolated-3] "set_gravity_as_origin": true [component_container_isolated-3] } [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964963.281415353] [zed_multi.rear]: getTopicToAdvertise: /zed_multi/rear/confidence/confidence_map/foxglove [component_container_isolated-3] [ERROR] [1762964963.282273943] [zed_multi.rear]: Failed to load plugin image_transport/raw_pub, error string: MultiLibraryClassLoader: Could not create object of class type image_transport::RawPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [ERROR] [1762964963.282600126] [zed_multi.rear]: Failed to load plugin image_transport/theora_pub, error string: MultiLibraryClassLoader: Could not create object of class type theora_image_transport::TheoraPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.282616587] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/confidence/confidence_map [component_container_isolated-3] [INFO] [1762964963.282705908] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/confidence/confidence_map/compressedDepth [image_transport] [component_container_isolated-3] [INFO] [1762964963.282714765] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/confidence/confidence_map/compressed [image_transport] [component_container_isolated-3] [INFO] [1762964963.282722019] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/confidence/confidence_map/ffmpeg [image_transport] [component_container_isolated-3] [INFO] [1762964963.282729303] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/confidence/confidence_map/foxglove [image_transport] [component_container_isolated-3] [INFO] [1762964963.282736667] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/confidence/confidence_map/raw [image_transport] [component_container_isolated-3] [INFO] [1762964963.282743971] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/confidence/confidence_map/theora [image_transport] [component_container_isolated-3] [INFO] [1762964963.283128635] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/camera_info [component_container_isolated-3] [INFO] [1762964963.283535152] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/rgb/color/rect/image/camera_info [component_container_isolated-3] [INFO] [1762964963.284059813] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/depth/camera_info [component_container_isolated-3] [INFO] [1762964963.284457253] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/depth/depth_registered/camera_info [component_container_isolated-3] [INFO] [1762964963.284877625] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/confidence/camera_info [component_container_isolated-3] [INFO] [1762964963.285313889] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/confidence/confidence_map/camera_info [component_container_isolated-3] [INFO] [1762964963.286257220] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/depth/depth_info [component_container_isolated-3] [INFO] [1762964963.287191504] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/disparity/disparity_image [component_container_isolated-3] [DEBUG] [1762964963.287421974] [zed_multi.rear]: getTopicToAdvertise: /zed_multi/rear/point_cloud/cloud_registered/draco [component_container_isolated-3] [DEBUG] [1762964963.291245647] [zed_multi.rear]: getTopicToAdvertise: /zed_multi/rear/point_cloud/cloud_registered [component_container_isolated-3] [ERROR] [1762964963.292596246] [zed_multi.rear]: Failed to load plugin point_cloud_transport/zlib_pub, error string: MultiLibraryClassLoader: Could not create object of class type zlib_point_cloud_transport::ZlibPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [ERROR] [1762964963.293090610] [zed_multi.rear]: Failed to load plugin point_cloud_transport/zstd_pub, error string: MultiLibraryClassLoader: Could not create object of class type zstd_point_cloud_transport::ZstdPublisher as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary() [component_container_isolated-3] [INFO] [1762964963.293110097] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/point_cloud/cloud_registered [component_container_isolated-3] [INFO] [1762964963.294047517] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/pose [component_container_isolated-3] [INFO] [1762964963.294989166] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/pose/status [component_container_isolated-3] [INFO] [1762964963.295929662] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/odom [component_container_isolated-3] [INFO] [1762964963.296870850] [zed_multi.rear]: * Advertised on topic: /zed_multi/rear/imu/data [component_container_isolated-3] [INFO] [1762964963.296894034] [zed_multi.rear]: Camera-IMU Translation: [component_container_isolated-3] 0 -0.035649 -0.000147 [component_container_isolated-3] [INFO] [1762964963.296917028] [zed_multi.rear]: Camera-IMU Rotation: [component_container_isolated-3] 719A4FFFCDC0 [component_container_isolated-3] 0.999981 -0.006154 -0.000560 [component_container_isolated-3] 0.006151 0.999970 -0.004792 [component_container_isolated-3] 0.000590 0.004789 0.999988 [component_container_isolated-3] [component_container_isolated-3] [INFO] [1762964963.296940613] [zed_multi.rear]: ===Subscribers === [component_container_isolated-3] [INFO] [1762964963.298031927] [zed_multi.rear]: * Plane detection: '/clicked_point' [component_container_isolated-3] [INFO] [1762964963.307093633] [zed_multi.rear]: === Starting Positional Tracking === [component_container_isolated-3] [INFO] [1762964963.307160911] [zed_multi.rear]: * Waiting for valid static transformations... [component_container_isolated-3] [DEBUG] [1762964963.307173575] [zed_multi.rear]: Getting static TF from 'rear_left_camera_frame' to 'rear_camera_link' [component_container_isolated-3] [INFO] [1762964963.307213612] [zed_multi.rear]: Static transform ref. CMOS Sensor to Base [rear_left_camera_frame -> rear_camera_link] [component_container_isolated-3] [INFO] [1762964963.307222158] [zed_multi.rear]: * Translation: {0.010,-0.060,-0.016} [component_container_isolated-3] [INFO] [1762964963.307231456] [zed_multi.rear]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964963.307239561] [zed_multi.rear]: Getting static TF from 'rear_left_camera_frame' to 'rear_camera_center' [component_container_isolated-3] [INFO] [1762964963.307251554] [zed_multi.rear]: Static transform ref. CMOS Sensor to Camera Center [rear_left_camera_frame -> rear_camera_center] [component_container_isolated-3] [INFO] [1762964963.307261463] [zed_multi.rear]: * Translation: {0.010,-0.060,0.000} [component_container_isolated-3] [INFO] [1762964963.307269709] [zed_multi.rear]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964963.307277574] [zed_multi.rear]: Getting static TF from 'rear_camera_center' to 'rear_camera_link' [component_container_isolated-3] [INFO] [1762964963.307288565] [zed_multi.rear]: Static transform Camera Center to Base [rear_camera_center -> rear_camera_link] [component_container_isolated-3] [INFO] [1762964963.307295067] [zed_multi.rear]: * Translation: {0.000,0.000,-0.016} [component_container_isolated-3] [INFO] [1762964963.307302281] [zed_multi.rear]: * Rotation: {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964963.308374509] [zed_multi.rear]: Time required to get valid static transforms: 1.42743e-07 sec [component_container_isolated-3] [INFO] [1762964963.308382955] [zed_multi.rear]: Initial ZED left camera pose (ZED pos. tracking): [component_container_isolated-3] [INFO] [1762964963.308389688] [zed_multi.rear]: * T: [-0.01,0.06,0.016] [component_container_isolated-3] [INFO] [1762964963.308399176] [zed_multi.rear]: * Q: [0,0,0,1] [component_container_isolated-3] [DEBUG] [1762964963.308416419] [zed_multi.rear]: * Positional Tracking parameters: [component_container_isolated-3] [DEBUG] [1762964963.308450344] [zed_multi.rear]: { [component_container_isolated-3] "PositionalTrackingParameters": { [component_container_isolated-3] "area_file_path": "", [component_container_isolated-3] "depth_min_range": 0.0, [component_container_isolated-3] "enable_area_memory": true, [component_container_isolated-3] "enable_imu_fusion": true, [component_container_isolated-3] "enable_pose_smoothing": false, [component_container_isolated-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 0.016000 0.000000 0.000000 0.000000 1.000000", [component_container_isolated-3] "mode": "GEN 2", [component_container_isolated-3] "set_as_static": false, [component_container_isolated-3] "set_floor_as_origin": false, [component_container_isolated-3] "set_gravity_as_origin": true [component_container_isolated-3] } [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.102963260] [zed_multi.front]: Positional Tracking started [component_container_isolated-3] [DEBUG] [1762964965.103029947] [zed_multi.front]: Starting path pub. timer [component_container_isolated-3] [DEBUG] [1762964965.115401233] [zed_multi.left]: Positional Tracking started [component_container_isolated-3] [DEBUG] [1762964965.115451499] [zed_multi.left]: Starting path pub. timer [component_container_isolated-3] [DEBUG] [1762964965.133196818] [zed_multi.right]: Positional Tracking started [component_container_isolated-3] [DEBUG] [1762964965.133250220] [zed_multi.right]: Starting path pub. timer [component_container_isolated-3] [DEBUG] [1762964965.147667053] [zed_multi.rear]: Positional Tracking started [component_container_isolated-3] [DEBUG] [1762964965.147727358] [zed_multi.rear]: Starting path pub. timer [component_container_isolated-3] [DEBUG] [1762964965.195059561] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.195143802] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.195203045] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.195245366] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 1.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 1.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.195292145] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.000,0.000} {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964965.195351208] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.195389071] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.195403588] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 0.000000 0.185160 -0.006865 [component_container_isolated-3] -0.000091 1.000000 0.000483 0.060009 [component_container_isolated-3] -0.185160 -0.000491 0.982708 0.017545 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.195413167] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.195424458] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.000} {-0.029,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.195446089] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.200391183] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.200433805] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.200464093] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.200494541] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 1.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 1.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.200515571] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,0.000,0.000} {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964965.200550818] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.200573421] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.200590504] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 -0.000000 0.203418 -0.006536 [component_container_isolated-3] 0.002410 0.999930 -0.011599 0.059786 [component_container_isolated-3] -0.203404 0.011847 0.979023 0.018409 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.200601275] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,-0.000} {0.693,11.736,0.141} [component_container_isolated-3] [DEBUG] [1762964965.200615301] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {0.693,11.736,0.141} [component_container_isolated-3] [DEBUG] [1762964965.200637414] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.204877150] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.204917808] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.204959989] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.204985497] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 1.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 1.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.205002319] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.000} {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964965.205027818] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.205049720] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.205068666] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879407 0.000000 0.476071 -0.001177 [component_container_isolated-3] -0.004724 0.999951 0.008727 0.060184 [component_container_isolated-3] -0.476048 -0.009924 0.879363 0.018235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.205081771] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.647,28.428,-0.308} [component_container_isolated-3] [DEBUG] [1762964965.205097211] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,0.000} {-0.647,28.428,-0.308} [component_container_isolated-3] [DEBUG] [1762964965.205120876] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.207130844] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.207161182] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.207183004] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.207206168] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 1.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 1.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.207224664] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.000,0.000} {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964965.207247678] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.207270070] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.207288936] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 0.000000 0.185160 -0.006865 [component_container_isolated-3] -0.000091 1.000000 0.000483 0.060009 [component_container_isolated-3] -0.185160 -0.000491 0.982708 0.017545 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.207301360] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.207317150] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.000} {-0.029,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.207343320] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.208857692] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.208898300] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.208945290] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.208975197] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 1.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 1.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.208995065] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.000,0.000} {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964965.209017728] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.209037155] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.209051693] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981555 0.000000 0.191178 -0.006757 [component_container_isolated-3] -0.001708 0.999960 0.008767 0.060155 [component_container_isolated-3] -0.191170 -0.008932 0.981516 0.017080 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.209061121] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.521,11.021,-0.100} [component_container_isolated-3] [DEBUG] [1762964965.209072613] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,0.000,0.000} {-0.521,11.021,-0.100} [component_container_isolated-3] [DEBUG] [1762964965.209091298] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.209792137] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.209822966] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.209845779] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.209869785] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 1.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 1.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.209883842] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,0.000,0.000} {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964965.209910253] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.209960428] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.209982931] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 0.000000 0.203418 -0.006536 [component_container_isolated-3] 0.002410 0.999930 -0.011599 0.059786 [component_container_isolated-3] -0.203404 0.011847 0.979023 0.018409 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.209997038] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.693,11.736,0.141} [component_container_isolated-3] [DEBUG] [1762964965.210015443] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {0.693,11.736,0.141} [component_container_isolated-3] [DEBUG] [1762964965.210043938] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.214594889] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.214639164] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.214669532] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.214701603] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 1.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 1.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.214721531] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.000} {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964965.214757550] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.214798889] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.214830188] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879407 0.000000 0.476071 -0.001177 [component_container_isolated-3] -0.004724 0.999951 0.008727 0.060184 [component_container_isolated-3] -0.476048 -0.009924 0.879363 0.018235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.214848864] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.647,28.428,-0.308} [component_container_isolated-3] [DEBUG] [1762964965.214874563] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,0.000} {-0.647,28.428,-0.308} [component_container_isolated-3] [DEBUG] [1762964965.214915852] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.221947581] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.221979211] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.221999320] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.222020520] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 1.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 1.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.222032794] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.000,0.000} {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964965.222055277] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.222078270] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.222100202] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981555 0.000000 0.191178 -0.006757 [component_container_isolated-3] -0.001708 0.999960 0.008767 0.060155 [component_container_isolated-3] -0.191170 -0.008932 0.981516 0.017080 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.222112035] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.521,11.021,-0.100} [component_container_isolated-3] [DEBUG] [1762964965.222126923] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,0.000,0.000} {-0.521,11.021,-0.100} [component_container_isolated-3] [DEBUG] [1762964965.222150528] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.240572780] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.240654607] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.240704532] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.240752594] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 1.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 1.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.240779906] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.000,0.000} {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964965.240831735] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.240880067] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.240962214] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 -0.000003 0.185145 -0.006855 [component_container_isolated-3] -0.000078 1.000000 0.000430 0.060010 [component_container_isolated-3] -0.185145 -0.000437 0.982711 0.017548 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.240988334] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.025,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.241020015] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,0.000,-0.000} {-0.025,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.241072916] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.250466485] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.250531399] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.250578299] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.250629827] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 1.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 1.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.250659504] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,0.000,0.000} {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964965.250709429] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.250754174] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.250794171] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979088 0.000014 0.203439 -0.006572 [component_container_isolated-3] 0.002388 0.999930 -0.011561 0.059765 [component_container_isolated-3] -0.203425 0.011805 0.979019 0.018428 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.250818257] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.737,0.140} [component_container_isolated-3] [DEBUG] [1762964965.250848575] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,-0.000,0.000} {0.691,11.737,0.140} [component_container_isolated-3] [DEBUG] [1762964965.250896416] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.256387823] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.256433641] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.256472305] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.256510908] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 1.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 1.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.256533832] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.000} {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964965.256576033] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.256612893] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.256645275] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879398 -0.000106 0.476087 -0.001180 [component_container_isolated-3] -0.004612 0.999951 0.008740 0.060159 [component_container_isolated-3] -0.476065 -0.009882 0.879355 0.018236 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.256664802] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.256691704] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.256736680] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.265553077] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.265614995] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.265656745] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.265700679] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 1.000000 0.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 1.000000 0.000000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.265727640] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.000,0.000} {0.000,-0.000,0.000} [component_container_isolated-3] [DEBUG] [1762964965.265776534] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.265820327] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.265855955] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981558 -0.000075 0.191164 -0.006738 [component_container_isolated-3] -0.001632 0.999960 0.008770 0.060071 [component_container_isolated-3] -0.191157 -0.008920 0.981519 0.017091 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.265878989] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.521,11.020,-0.095} [component_container_isolated-3] [DEBUG] [1762964965.265908576] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {-0.521,11.020,-0.095} [component_container_isolated-3] [DEBUG] [1762964965.265998528] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.270108016] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.270166487] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.270208387] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.270255908] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000320 -0.000254 0.000806 [component_container_isolated-3] -0.000320 1.000000 0.000073 0.001789 [component_container_isolated-3] 0.000254 -0.000073 1.000000 -0.001247 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.270281918] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,-0.001} {-0.004,-0.015,-0.018} [component_container_isolated-3] [DEBUG] [1762964965.270332204] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.270376528] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.270411876] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982758 0.000298 0.184895 -0.006691 [component_container_isolated-3] -0.000398 1.000000 0.000503 0.060750 [component_container_isolated-3] -0.184895 -0.000568 0.982758 0.017088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.270435120] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.000} {-0.033,10.655,-0.023} [component_container_isolated-3] [DEBUG] [1762964965.270466400] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,-0.001,0.001} {-0.025,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.270517468] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.282501845] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.282551930] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.282592488] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.282634889] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000001 -0.000107 -0.000079 [component_container_isolated-3] 0.000001 1.000000 -0.000120 -0.000013 [component_container_isolated-3] 0.000107 0.000120 1.000000 -0.000235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.282659676] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.000,-0.000} {0.007,-0.006,0.000} [component_container_isolated-3] [DEBUG] [1762964965.282707317] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.282747825] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.282781789] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979109 0.000038 0.203335 -0.006612 [component_container_isolated-3] 0.002388 0.999929 -0.011681 0.059747 [component_container_isolated-3] -0.203321 0.011923 0.979040 0.018421 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.282805755] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.731,0.140} [component_container_isolated-3] [DEBUG] [1762964965.282838828] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {0.691,11.737,0.140} [component_container_isolated-3] [DEBUG] [1762964965.282891048] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.284533505] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.284585785] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.284628065] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.284674334] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000078 0.000023 -0.000002 [component_container_isolated-3] -0.000078 1.000000 -0.000032 0.000053 [component_container_isolated-3] -0.000023 0.000032 1.000000 0.000035 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.284701876] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.000} {0.002,0.001,-0.004} [component_container_isolated-3] [DEBUG] [1762964965.284751952] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.284798701] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.284836994] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879387 -0.000022 0.476108 -0.001170 [component_container_isolated-3] -0.004690 0.999951 0.008708 0.060149 [component_container_isolated-3] -0.476085 -0.009891 0.879344 0.018238 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.284858986] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,0.000} {-0.644,28.430,-0.306} [component_container_isolated-3] [DEBUG] [1762964965.284890827] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.284972974] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.301617862] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.301676474] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.301717542] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.301760334] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000074 0.000046 -0.000140 [component_container_isolated-3] -0.000074 1.000000 -0.000079 0.000407 [component_container_isolated-3] -0.000046 0.000079 1.000000 -0.000351 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.301785121] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.000,-0.000} {0.005,0.003,-0.004} [component_container_isolated-3] [DEBUG] [1762964965.301832752] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.301876406] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.301910651] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981549 0.000013 0.191210 -0.006742 [component_container_isolated-3] -0.001706 0.999961 0.008690 0.060082 [component_container_isolated-3] -0.191202 -0.008856 0.981511 0.017049 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.301963432] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.517,11.023,-0.100} [component_container_isolated-3] [DEBUG] [1762964965.301994952] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {-0.521,11.020,-0.095} [component_container_isolated-3] [DEBUG] [1762964965.302046390] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.302887046] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.302959534] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.303000663] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.303043454] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000001 -0.000107 -0.000079 [component_container_isolated-3] 0.000001 1.000000 -0.000120 -0.000013 [component_container_isolated-3] 0.000107 0.000120 1.000000 -0.000235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.303067039] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.000,-0.000} {0.014,-0.012,0.000} [component_container_isolated-3] [DEBUG] [1762964965.303114610] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.303155158] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.303188141] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979109 0.000038 0.203335 -0.006612 [component_container_isolated-3] 0.002388 0.999929 -0.011681 0.059747 [component_container_isolated-3] -0.203321 0.011923 0.979040 0.018421 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.303208660] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.731,0.140} [component_container_isolated-3] [DEBUG] [1762964965.303238557] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {0.684,11.743,0.140} [component_container_isolated-3] [DEBUG] [1762964965.303289003] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.310233105] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.310288350] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.310327726] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.310373343] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000294 0.000230 -0.000829 [component_container_isolated-3] 0.000294 1.000000 -0.000076 -0.001822 [component_container_isolated-3] -0.000230 0.000076 1.000000 0.001262 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.310398972] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,-0.000,0.000} {0.000,-0.001,-0.002} [component_container_isolated-3] [DEBUG] [1762964965.310448957] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.310493232] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.310532537] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 0.000024 0.185121 -0.006724 [component_container_isolated-3] -0.000105 1.000000 0.000426 0.060461 [component_container_isolated-3] -0.185121 -0.000438 0.982716 0.017241 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.310556382] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.026,10.668,-0.006} [component_container_isolated-3] [DEBUG] [1762964965.310586760] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,0.000,-0.000} {-0.025,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.310637086] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.322979337] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.323034182] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.323078016] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.323123322] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000008 -0.000030 -0.000078 [component_container_isolated-3] -0.000008 1.000000 -0.000068 0.000121 [component_container_isolated-3] 0.000030 0.000068 1.000000 -0.000021 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.323148901] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.000} {0.006,-0.000,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.323197103] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.323238121] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.323273549] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879401 0.000017 0.476081 -0.001174 [component_container_isolated-3] -0.004698 0.999952 0.008641 0.060153 [component_container_isolated-3] -0.476058 -0.009835 0.879359 0.018245 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.323294689] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,0.000} {-0.641,28.428,-0.306} [component_container_isolated-3] [DEBUG] [1762964965.323327602] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.323379521] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.333629516] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.333691314] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.333729477] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.333773341] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000086 0.000057 0.000244 [component_container_isolated-3] 0.000086 1.000000 0.000025 -0.000659 [component_container_isolated-3] -0.000057 -0.000025 1.000000 0.000358 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.333798329] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,-0.000,0.000} {0.003,0.006,0.001} [component_container_isolated-3] [DEBUG] [1762964965.333847152] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.333892559] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.333961480] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 -0.000076 0.191265 -0.006706 [component_container_isolated-3] -0.001621 0.999961 0.008715 0.059941 [component_container_isolated-3] -0.191258 -0.008864 0.981500 0.017068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.333987590] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.517,11.026,-0.095} [component_container_isolated-3] [DEBUG] [1762964965.334020573] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,0.000,-0.000} {-0.521,11.020,-0.095} [component_container_isolated-3] [DEBUG] [1762964965.334073765] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.341544993] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.341607392] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.341646687] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.341690661] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000006 0.000074 0.000064 [component_container_isolated-3] -0.000006 1.000000 0.000051 -0.000057 [component_container_isolated-3] -0.000074 -0.000051 1.000000 -0.000090 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.341724446] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,-0.000,-0.000} {-0.003,0.003,-0.002} [component_container_isolated-3] [DEBUG] [1762964965.341775674] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.341823545] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.341863231] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000020 0.185193 -0.006726 [component_container_isolated-3] -0.000111 1.000000 0.000477 0.060378 [component_container_isolated-3] -0.185193 -0.000490 0.982702 0.017263 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.341887838] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.029,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964965.341940609] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,0.000,-0.000} {-0.025,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.341995894] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.346110312] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.346163373] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.346204331] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.346250199] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000069 -0.000095 0.000118 [component_container_isolated-3] 0.000069 1.000000 -0.000191 -0.000147 [component_container_isolated-3] 0.000095 0.000191 1.000000 -0.000167 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.346276269] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,-0.000} {0.017,-0.006,-0.001} [component_container_isolated-3] [DEBUG] [1762964965.346325312] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.346376440] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.346411417] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879447 0.000047 0.475998 -0.001177 [component_container_isolated-3] -0.004627 0.999954 0.008450 0.060134 [component_container_isolated-3] -0.475975 -0.009634 0.879406 0.018232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.346432697] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.628,28.423,-0.301} [component_container_isolated-3] [DEBUG] [1762964965.346461693] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.346509965] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.354872986] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.354961095] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.355000861] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.355043342] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000099 0.000023 -0.000302 [component_container_isolated-3] -0.000099 1.000000 0.000036 0.000233 [component_container_isolated-3] -0.000023 -0.000036 1.000000 0.000237 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.355067287] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,0.000,-0.000} {0.012,-0.011,-0.006} [component_container_isolated-3] [DEBUG] [1762964965.355115329] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.355164563] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.355201804] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979105 0.000127 0.203357 -0.006699 [component_container_isolated-3] 0.002289 0.999930 -0.011645 0.059763 [component_container_isolated-3] -0.203345 0.011867 0.979035 0.018455 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.355224287] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.733,0.134} [component_container_isolated-3] [DEBUG] [1762964965.355256789] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {0.684,11.743,0.140} [component_container_isolated-3] [DEBUG] [1762964965.355310452] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.365581447] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.365658494] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.365709581] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.365760729] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000036 0.000021 0.000109 [component_container_isolated-3] -0.000036 1.000000 0.000038 0.000092 [component_container_isolated-3] -0.000021 -0.000038 1.000000 -0.000124 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.365790466] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,-0.000,-0.000} {0.001,0.007,-0.001} [component_container_isolated-3] [DEBUG] [1762964965.365843547] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.365892942] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.365980379] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 -0.000048 0.191285 -0.006664 [component_container_isolated-3] -0.001657 0.999960 0.008753 0.059906 [component_container_isolated-3] -0.191278 -0.008908 0.981495 0.017058 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.366005988] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.520,11.027,-0.097} [component_container_isolated-3] [DEBUG] [1762964965.366036576] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.000,0.000} {-0.521,11.020,-0.095} [component_container_isolated-3] [DEBUG] [1762964965.366088355] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.373070008] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.373126556] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.373165400] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.373209755] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000076 0.000030 -0.000066 [component_container_isolated-3] 0.000076 1.000000 -0.000055 0.000044 [component_container_isolated-3] -0.000030 0.000055 1.000000 0.000110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.373235154] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,-0.000,0.000} {0.000,0.005,0.002} [component_container_isolated-3] [DEBUG] [1762964965.373285860] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.373332580] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.373372486] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 -0.000044 0.185223 -0.006737 [component_container_isolated-3] -0.000035 1.000000 0.000423 0.060339 [component_container_isolated-3] -0.185223 -0.000422 0.982697 0.017306 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.373396602] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.025,10.674,-0.002} [component_container_isolated-3] [DEBUG] [1762964965.373428853] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,0.000,-0.000} {-0.025,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.373479911] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.381579770] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.381629685] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.381667678] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.381709367] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000067 -0.000002 0.000122 [component_container_isolated-3] 0.000067 1.000000 -0.000048 -0.000229 [component_container_isolated-3] 0.000002 0.000048 1.000000 -0.000344 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.381733744] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.000,-0.001} {0.014,-0.011,-0.002} [component_container_isolated-3] [DEBUG] [1762964965.381781826] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.381822153] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.381855677] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979105 0.000070 0.203356 -0.006750 [component_container_isolated-3] 0.002357 0.999929 -0.011693 0.059741 [component_container_isolated-3] -0.203342 0.011928 0.979035 0.018424 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.381877999] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.732,0.138} [component_container_isolated-3] [DEBUG] [1762964965.381910291] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,-0.000,0.001} {0.684,11.743,0.140} [component_container_isolated-3] [DEBUG] [1762964965.381999311] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.383790993] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.383855566] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.383898067] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.383977058] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000036 0.000021 0.000109 [component_container_isolated-3] -0.000036 1.000000 0.000038 0.000092 [component_container_isolated-3] -0.000021 -0.000038 1.000000 -0.000124 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.384004300] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,-0.000,-0.000} {-0.001,0.008,-0.003} [component_container_isolated-3] [DEBUG] [1762964965.384059856] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.384102698] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.384141823] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 -0.000048 0.191285 -0.006664 [component_container_isolated-3] -0.001657 0.999960 0.008753 0.059906 [component_container_isolated-3] -0.191278 -0.008908 0.981495 0.017058 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.384164907] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.520,11.027,-0.097} [component_container_isolated-3] [DEBUG] [1762964965.384196247] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.000,0.000} {-0.518,11.019,-0.093} [component_container_isolated-3] [DEBUG] [1762964965.384245731] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.385177891] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.385252143] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.385295286] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.385347946] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000089 0.000042 -0.000076 [component_container_isolated-3] -0.000089 1.000000 0.000201 0.000139 [component_container_isolated-3] -0.000042 -0.000201 1.000000 0.000060 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.385379396] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,-0.000} {0.005,-0.003,-0.006} [component_container_isolated-3] [DEBUG] [1762964965.385431556] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.385477053] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.385518422] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879427 0.000030 0.476034 -0.001183 [component_container_isolated-3] -0.004717 0.999951 0.008651 0.060143 [component_container_isolated-3] -0.476011 -0.009854 0.879384 0.018213 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.385537438] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.642,28.425,-0.307} [component_container_isolated-3] [DEBUG] [1762964965.385559380] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.385599206] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.404033351] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.404088165] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.404130055] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.404173909] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000045 -0.000109 0.000148 [component_container_isolated-3] -0.000045 1.000000 0.000095 -0.000051 [component_container_isolated-3] 0.000109 -0.000095 1.000000 -0.000090 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.404199598] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,-0.000,-0.000} {-0.005,-0.002,-0.000} [component_container_isolated-3] [DEBUG] [1762964965.404249103] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.404291504] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.404326040] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 -0.000017 0.185115 -0.006729 [component_container_isolated-3] -0.000080 1.000000 0.000517 0.060297 [component_container_isolated-3] -0.185115 -0.000523 0.982717 0.017318 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.404349294] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.031,10.668,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.404382247] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,0.000,-0.000} {-0.025,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.404432623] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.414595332] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.414651920] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.414693299] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.414736872] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000132 0.000127 0.000164 [component_container_isolated-3] 0.000132 1.000000 0.000073 -0.000429 [component_container_isolated-3] -0.000127 -0.000073 1.000000 0.000495 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.414764665] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.000,-0.000} {0.010,-0.004,0.006} [component_container_isolated-3] [DEBUG] [1762964965.414815191] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.414865608] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.414905344] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 -0.000074 0.203480 -0.006762 [component_container_isolated-3] 0.002491 0.999929 -0.011620 0.059629 [component_container_isolated-3] -0.203465 0.011884 0.979010 0.018483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.414970638] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.740,0.146} [component_container_isolated-3] [DEBUG] [1762964965.415005094] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {0.684,11.743,0.140} [component_container_isolated-3] [DEBUG] [1762964965.415066902] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.419681735] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.419742241] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.419781907] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.419826702] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000050 0.000022 -0.000109 [component_container_isolated-3] 0.000050 1.000000 0.000042 -0.000069 [component_container_isolated-3] -0.000022 -0.000042 1.000000 0.000061 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.419855848] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,-0.000} {0.003,-0.002,-0.003} [component_container_isolated-3] [DEBUG] [1762964965.419904932] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.419980536] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.420019310] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879416 -0.000034 0.476054 -0.001200 [component_container_isolated-3] -0.004667 0.999951 0.008693 0.060139 [component_container_isolated-3] -0.476031 -0.009866 0.879373 0.018219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.420043797] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.426,-0.304} [component_container_isolated-3] [DEBUG] [1762964965.420077351] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.420126715] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.424018477] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.424070557] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.424109191] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.424154307] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000045 -0.000109 0.000148 [component_container_isolated-3] -0.000045 1.000000 0.000095 -0.000051 [component_container_isolated-3] 0.000109 -0.000095 1.000000 -0.000090 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.424179585] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,-0.000,-0.000} {-0.010,-0.008,-0.003} [component_container_isolated-3] [DEBUG] [1762964965.424227106] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.424269346] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.424304724] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 -0.000017 0.185115 -0.006729 [component_container_isolated-3] -0.000080 1.000000 0.000517 0.060297 [component_container_isolated-3] -0.185115 -0.000523 0.982717 0.017318 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.424327958] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.031,10.668,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.424360981] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,0.000,-0.000} {-0.020,10.676,-0.002} [component_container_isolated-3] [DEBUG] [1762964965.424413251] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.433838141] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.433899127] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.433993117] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.434042070] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000060 0.000025 -0.000187 [component_container_isolated-3] -0.000060 1.000000 0.000207 0.000445 [component_container_isolated-3] -0.000025 -0.000207 1.000000 0.000084 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.434067819] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.000,-0.000} {-0.013,0.010,-0.007} [component_container_isolated-3] [DEBUG] [1762964965.434120590] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.434163702] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.434198379] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000028 0.191310 -0.006649 [component_container_isolated-3] -0.001718 0.999958 0.008959 0.059931 [component_container_isolated-3] -0.191302 -0.009123 0.981489 0.017053 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.434221793] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.533,11.029,-0.100} [component_container_isolated-3] [DEBUG] [1762964965.434252161] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.001,0.000} {-0.518,11.019,-0.093} [component_container_isolated-3] [DEBUG] [1762964965.434302457] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.441990670] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.442042820] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.442081543] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.442123514] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000132 0.000127 0.000164 [component_container_isolated-3] 0.000132 1.000000 0.000073 -0.000429 [component_container_isolated-3] -0.000127 -0.000073 1.000000 0.000495 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.442147800] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.001,0.000} {0.006,0.004,0.013} [component_container_isolated-3] [DEBUG] [1762964965.442198146] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.442242000] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.442277788] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 -0.000074 0.203480 -0.006762 [component_container_isolated-3] 0.002491 0.999929 -0.011620 0.059629 [component_container_isolated-3] -0.203465 0.011884 0.979010 0.018483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.442298849] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.740,0.146} [component_container_isolated-3] [DEBUG] [1762964965.442328405] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.001,-0.000} {0.687,11.736,0.132} [component_container_isolated-3] [DEBUG] [1762964965.442375645] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.447966392] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.448017921] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.448055583] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.448098905] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000121 0.000098 -0.000042 [component_container_isolated-3] 0.000121 1.000000 -0.000013 -0.000270 [component_container_isolated-3] -0.000098 0.000013 1.000000 0.000158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.448123803] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,0.000} {0.003,0.003,0.004} [component_container_isolated-3] [DEBUG] [1762964965.448170502] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.448212382] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.448251687] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879370 -0.000134 0.476140 -0.001208 [component_container_isolated-3] -0.004547 0.999952 0.008680 0.060088 [component_container_isolated-3] -0.476118 -0.009797 0.879327 0.018250 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.448274501] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.638,28.432,-0.296} [component_container_isolated-3] [DEBUG] [1762964965.448306762] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,0.000,-0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.448357659] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.449138631] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.449183737] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.449219876] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.449260353] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000060 0.000025 -0.000187 [component_container_isolated-3] -0.000060 1.000000 0.000207 0.000445 [component_container_isolated-3] -0.000025 -0.000207 1.000000 0.000084 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.449284189] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.001,-0.000} {-0.025,0.011,-0.010} [component_container_isolated-3] [DEBUG] [1762964965.449330357] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.449373299] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.449411722] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000028 0.191310 -0.006649 [component_container_isolated-3] -0.001718 0.999958 0.008959 0.059931 [component_container_isolated-3] -0.191302 -0.009123 0.981489 0.017053 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.449435117] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.533,11.029,-0.100} [component_container_isolated-3] [DEBUG] [1762964965.449466407] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.001,0.000} {-0.506,11.018,-0.090} [component_container_isolated-3] [DEBUG] [1762964965.449515190] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.466190877] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.466241794] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.466277312] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.466316496] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000132 0.000127 0.000164 [component_container_isolated-3] 0.000132 1.000000 0.000073 -0.000429 [component_container_isolated-3] -0.000127 -0.000073 1.000000 0.000495 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.466339981] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.001,0.001} {0.002,0.011,0.021} [component_container_isolated-3] [DEBUG] [1762964965.466387001] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.466430785] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.466468487] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 -0.000074 0.203480 -0.006762 [component_container_isolated-3] 0.002491 0.999929 -0.011620 0.059629 [component_container_isolated-3] -0.203465 0.011884 0.979010 0.018483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.466491040] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.740,0.146} [component_container_isolated-3] [DEBUG] [1762964965.466522810] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.001,-0.001} {0.689,11.729,0.124} [component_container_isolated-3] [DEBUG] [1762964965.466584989] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.471439520] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.471491489] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.471529071] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.471571973] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000070 -0.000011 -0.000099 [component_container_isolated-3] 0.000070 1.000000 0.000121 0.000010 [component_container_isolated-3] 0.000011 -0.000121 1.000000 -0.000036 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.471596550] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,-0.000,-0.000} {-0.017,-0.009,0.001} [component_container_isolated-3] [DEBUG] [1762964965.471644071] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.471686923] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.471726308] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982719 -0.000108 0.185105 -0.006740 [component_container_isolated-3] -0.000010 1.000000 0.000638 0.060264 [component_container_isolated-3] -0.185105 -0.000629 0.982719 0.017326 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.471759601] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.037,10.667,-0.001} [component_container_isolated-3] [DEBUG] [1762964965.471792474] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,0.000,-0.000} {-0.020,10.676,-0.002} [component_container_isolated-3] [DEBUG] [1762964965.471845175] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.489173297] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.489230727] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.489269882] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.489316681] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000075 -0.000106 0.000026 [component_container_isolated-3] -0.000075 1.000000 -0.000073 0.000198 [component_container_isolated-3] 0.000106 0.000073 1.000000 -0.000135 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.489343492] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,-0.000} {0.008,-0.003,-0.001} [component_container_isolated-3] [DEBUG] [1762964965.489396404] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.489441540] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.489482728] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 -0.000034 0.476047 -0.001213 [component_container_isolated-3] -0.004621 0.999952 0.008607 0.060081 [component_container_isolated-3] -0.476025 -0.009769 0.879378 0.018256 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.489506594] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.636,28.426,-0.301} [component_container_isolated-3] [DEBUG] [1762964965.489537353] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.489597437] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.499285048] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.499350183] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.499391963] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.499436858] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000006 -0.000069 -0.000441 [component_container_isolated-3] 0.000006 1.000000 -0.000249 0.000395 [component_container_isolated-3] 0.000069 0.000249 1.000000 0.000320 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.499464381] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.001,0.000} {-0.011,0.007,-0.010} [component_container_isolated-3] [DEBUG] [1762964965.499513655] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.499558090] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.499594850] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 0.000014 0.191242 -0.006709 [component_container_isolated-3] -0.001712 0.999961 0.008710 0.060026 [component_container_isolated-3] -0.191234 -0.008877 0.981504 0.017147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.499617834] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.518,11.025,-0.100} [component_container_isolated-3] [DEBUG] [1762964965.499649474] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.001,-0.000} {-0.506,11.018,-0.090} [component_container_isolated-3] [DEBUG] [1762964965.499711763] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.499759905] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.499733565] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.499799270] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.500371654] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000132 0.000127 0.000164 [component_container_isolated-3] 0.000132 1.000000 0.000073 -0.000429 [component_container_isolated-3] -0.000127 -0.000073 1.000000 0.000495 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.500401711] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.002,0.001} {-0.002,0.018,0.029} [component_container_isolated-3] [DEBUG] [1762964965.500442028] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.500474149] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.500498917] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 -0.000074 0.203480 -0.006762 [component_container_isolated-3] 0.002491 0.999929 -0.011620 0.059629 [component_container_isolated-3] -0.203465 0.011884 0.979010 0.018483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.500514667] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.740,0.146} [component_container_isolated-3] [DEBUG] [1762964965.500534965] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.001} {0.692,11.722,0.116} [component_container_isolated-3] [DEBUG] [1762964965.500570553] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.504661717] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.504719517] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.504760335] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.504804399] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000060 0.000152 -0.000017 [component_container_isolated-3] -0.000060 1.000000 -0.000198 0.000043 [component_container_isolated-3] -0.000152 0.000198 1.000000 0.000114 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.504829607] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,-0.000,-0.000} {-0.006,0.000,-0.002} [component_container_isolated-3] [DEBUG] [1762964965.504878681] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.504950338] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.504988330] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982690 -0.000013 0.185255 -0.006735 [component_container_isolated-3] -0.000070 1.000000 0.000440 0.060233 [component_container_isolated-3] -0.185255 -0.000445 0.982690 0.017365 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.505009230] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.026,10.676,-0.004} [component_container_isolated-3] [DEBUG] [1762964965.505039218] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,0.000,-0.000} {-0.020,10.676,-0.002} [component_container_isolated-3] [DEBUG] [1762964965.505090165] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.517100101] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.517151950] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.517191736] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.517235299] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000006 -0.000069 -0.000441 [component_container_isolated-3] 0.000006 1.000000 -0.000249 0.000395 [component_container_isolated-3] 0.000069 0.000249 1.000000 0.000320 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.517260607] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,0.001} {0.004,0.003,-0.010} [component_container_isolated-3] [DEBUG] [1762964965.517309280] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.517351541] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.517386247] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 0.000014 0.191242 -0.006709 [component_container_isolated-3] -0.001712 0.999961 0.008710 0.060026 [component_container_isolated-3] -0.191234 -0.008877 0.981504 0.017147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.517408109] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.518,11.025,-0.100} [component_container_isolated-3] [DEBUG] [1762964965.517439078] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,-0.001} {-0.520,11.022,-0.090} [component_container_isolated-3] [DEBUG] [1762964965.517490607] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.521360487] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.521415282] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.521454166] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.521498060] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000097 0.000031 0.000051 [component_container_isolated-3] -0.000097 1.000000 0.000304 0.000195 [component_container_isolated-3] -0.000031 -0.000304 1.000000 -0.000052 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.521523258] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.010,-0.001,-0.006} [component_container_isolated-3] [DEBUG] [1762964965.521571350] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.521616226] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.521656472] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879405 -0.000094 0.476074 -0.001223 [component_container_isolated-3] -0.004718 0.999949 0.008912 0.060107 [component_container_isolated-3] -0.476051 -0.010083 0.879360 0.018236 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.521680238] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.657,28.428,-0.307} [component_container_isolated-3] [DEBUG] [1762964965.521713682] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.521777624] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.539963154] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.540014913] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.540053496] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.540096108] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000094 -0.000092 0.000175 [component_container_isolated-3] 0.000094 1.000000 0.000060 -0.000059 [component_container_isolated-3] 0.000092 -0.000060 1.000000 -0.000147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.540120635] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,-0.000,-0.000} {-0.009,-0.005,0.003} [component_container_isolated-3] [DEBUG] [1762964965.540177744] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.540255302] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.540297192] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 -0.000116 0.185165 -0.006727 [component_container_isolated-3] 0.000024 1.000000 0.000500 0.060200 [component_container_isolated-3] -0.185165 -0.000487 0.982708 0.017365 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.540321528] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.028,10.671,0.001} [component_container_isolated-3] [DEBUG] [1762964965.540353710] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.020,10.676,-0.002} [component_container_isolated-3] [DEBUG] [1762964965.540405118] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.550103990] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.550158334] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.550197489] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.550240802] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000039 -0.000132 0.000002 [component_container_isolated-3] -0.000039 1.000000 -0.000043 0.000119 [component_container_isolated-3] 0.000132 0.000043 1.000000 -0.000281 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.550265348] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.007,-0.008,-0.008} [component_container_isolated-3] [DEBUG] [1762964965.550312559] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.550352134] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.550387792] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879468 -0.000038 0.475958 -0.001251 [component_container_isolated-3] -0.004756 0.999949 0.008869 0.060138 [component_container_isolated-3] -0.475934 -0.010063 0.879423 0.018192 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.550408913] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.656,28.420,-0.310} [component_container_isolated-3] [DEBUG] [1762964965.550438589] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.550491921] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.554045498] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.554102517] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.554143535] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.554189583] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000006 -0.000069 -0.000441 [component_container_isolated-3] 0.000006 1.000000 -0.000249 0.000395 [component_container_isolated-3] 0.000069 0.000249 1.000000 0.000320 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.554215332] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,0.001} {0.018,-0.001,-0.009} [component_container_isolated-3] [DEBUG] [1762964965.554268453] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.554315273] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.554355389] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 0.000014 0.191242 -0.006709 [component_container_isolated-3] -0.001712 0.999961 0.008710 0.060026 [component_container_isolated-3] -0.191234 -0.008877 0.981504 0.017147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.554379325] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.518,11.025,-0.100} [component_container_isolated-3] [DEBUG] [1762964965.554410304] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,-0.001} {-0.534,11.026,-0.090} [component_container_isolated-3] [DEBUG] [1762964965.554459408] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.560293570] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.560344918] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.560384143] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.560427325] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000069 -0.000136 0.000127 [component_container_isolated-3] -0.000069 1.000000 0.000056 0.000213 [component_container_isolated-3] 0.000136 -0.000056 1.000000 -0.000493 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.560452543] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.002,0.001} {-0.005,0.010,0.025} [component_container_isolated-3] [DEBUG] [1762964965.560500695] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.560541894] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.560580688] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979107 -0.000018 0.203347 -0.006770 [component_container_isolated-3] 0.002421 0.999930 -0.011564 0.059600 [component_container_isolated-3] -0.203332 0.011815 0.979038 0.018429 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.560603722] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.732,0.142} [component_container_isolated-3] [DEBUG] [1762964965.560635323] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.001,-0.001} {0.692,11.722,0.116} [component_container_isolated-3] [DEBUG] [1762964965.560683705] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.575221509] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.575268999] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.575307443] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.575351226] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000069 -0.000136 0.000127 [component_container_isolated-3] -0.000069 1.000000 0.000056 0.000213 [component_container_isolated-3] 0.000136 -0.000056 1.000000 -0.000493 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.575376835] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.001,0.000} {-0.009,0.003,0.021} [component_container_isolated-3] [DEBUG] [1762964965.575423795] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.575464162] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.575502315] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979107 -0.000018 0.203347 -0.006770 [component_container_isolated-3] 0.002421 0.999930 -0.011564 0.059600 [component_container_isolated-3] -0.203332 0.011815 0.979038 0.018429 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.575525229] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.732,0.142} [component_container_isolated-3] [DEBUG] [1762964965.575556248] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.001,-0.000} {0.696,11.730,0.120} [component_container_isolated-3] [DEBUG] [1762964965.575605061] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.575974066] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.576025644] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.576064288] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.576108483] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000363 -0.000247 0.000643 [component_container_isolated-3] -0.000363 1.000000 -0.000019 0.001902 [component_container_isolated-3] 0.000247 0.000019 1.000000 -0.001126 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.576136085] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,-0.001} {-0.008,-0.019,-0.018} [component_container_isolated-3] [DEBUG] [1762964965.576192142] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.576237830] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.576273868] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982753 0.000244 0.184922 -0.006605 [component_container_isolated-3] -0.000339 1.000000 0.000481 0.060885 [component_container_isolated-3] -0.184921 -0.000535 0.982753 0.016985 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.576295199] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.001} {-0.031,10.657,-0.020} [component_container_isolated-3] [DEBUG] [1762964965.576325487] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,-0.001,0.001} {-0.020,10.676,-0.002} [component_container_isolated-3] [DEBUG] [1762964965.576378077] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.579222850] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.579272966] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.579313533] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.579357177] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000009 -0.000021 0.000012 [component_container_isolated-3] 0.000009 1.000000 -0.000154 -0.000029 [component_container_isolated-3] 0.000021 0.000154 1.000000 0.000022 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.579383828] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,-0.000} {0.002,-0.010,-0.008} [component_container_isolated-3] [DEBUG] [1762964965.579432721] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.579474611] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.579514628] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879478 0.000028 0.475939 -0.001262 [component_container_isolated-3] -0.004747 0.999951 0.008714 0.060153 [component_container_isolated-3] -0.475916 -0.009923 0.879435 0.018179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.579538423] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.646,28.419,-0.309} [component_container_isolated-3] [DEBUG] [1762964965.579569803] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.579618446] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.581623255] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.581677177] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.581719098] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.581764464] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000006 -0.000069 -0.000441 [component_container_isolated-3] 0.000006 1.000000 -0.000249 0.000395 [component_container_isolated-3] 0.000069 0.000249 1.000000 0.000320 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.581790975] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,0.001} {0.032,-0.005,-0.009} [component_container_isolated-3] [DEBUG] [1762964965.581842253] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.581886788] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.581950580] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 0.000014 0.191242 -0.006709 [component_container_isolated-3] -0.001712 0.999961 0.008710 0.060026 [component_container_isolated-3] -0.191234 -0.008877 0.981504 0.017147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.581974525] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.518,11.025,-0.100} [component_container_isolated-3] [DEBUG] [1762964965.582005865] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.003,-0.001} {-0.549,11.030,-0.091} [component_container_isolated-3] [DEBUG] [1762964965.582058295] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.589219892] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.589269687] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.589309854] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.589354529] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000363 -0.000247 0.000643 [component_container_isolated-3] -0.000363 1.000000 -0.000019 0.001902 [component_container_isolated-3] 0.000247 0.000019 1.000000 -0.001126 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.589379066] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.004,-0.002} {-0.007,-0.033,-0.038} [component_container_isolated-3] [DEBUG] [1762964965.589427278] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.589469399] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.589504005] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982753 0.000244 0.184922 -0.006605 [component_container_isolated-3] -0.000339 1.000000 0.000481 0.060885 [component_container_isolated-3] -0.184921 -0.000535 0.982753 0.016985 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.589524744] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.001} {-0.031,10.657,-0.020} [component_container_isolated-3] [DEBUG] [1762964965.589555122] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,0.002} {-0.017,10.690,0.019} [component_container_isolated-3] [DEBUG] [1762964965.589608274] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.615064409] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.615111018] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.615153078] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.615199888] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000002 0.000148 0.000073 [component_container_isolated-3] 0.000002 1.000000 -0.000030 0.000246 [component_container_isolated-3] -0.000148 0.000030 1.000000 0.000535 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.615224946] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.001,0.001} {-0.007,0.011,0.021} [component_container_isolated-3] [DEBUG] [1762964965.615274430] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.615315929] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.615350425] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 -0.000014 0.203491 -0.006744 [component_container_isolated-3] 0.002424 0.999930 -0.011594 0.059607 [component_container_isolated-3] -0.203477 0.011845 0.979008 0.018496 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.615371526] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.740,0.142} [component_container_isolated-3] [DEBUG] [1762964965.615400701] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.001,-0.001} {0.696,11.730,0.120} [component_container_isolated-3] [DEBUG] [1762964965.615451348] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.618312312] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.618367657] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.618407674] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.618450566] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000041 -0.000023 0.000127 [component_container_isolated-3] 0.000041 1.000000 0.000070 -0.000126 [component_container_isolated-3] 0.000023 -0.000070 1.000000 -0.000077 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.618475654] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,-0.000} {-0.002,-0.011,-0.006} [component_container_isolated-3] [DEBUG] [1762964965.618549675] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.618594060] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.618630139] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879489 -0.000041 0.475919 -0.001271 [component_container_isolated-3] -0.004706 0.999950 0.008784 0.060158 [component_container_isolated-3] -0.475896 -0.009966 0.879445 0.018139 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.618651610] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.649,28.418,-0.307} [component_container_isolated-3] [DEBUG] [1762964965.618684412] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.618747713] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.632186077] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.632244529] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.632283203] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.632326135] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000063 -0.000109 -0.000553 [component_container_isolated-3] 0.000063 1.000000 -0.000001 -0.000945 [component_container_isolated-3] 0.000109 0.000001 1.000000 0.000067 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.632350341] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.001,0.001} {0.032,-0.011,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.632398262] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.632443339] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.632480740] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981564 -0.000048 0.191135 -0.006898 [component_container_isolated-3] -0.001647 0.999961 0.008710 0.059869 [component_container_isolated-3] -0.191128 -0.008864 0.981525 0.017233 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.632503153] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.517,11.019,-0.096} [component_container_isolated-3] [DEBUG] [1762964965.632532719] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.002,-0.002} {-0.549,11.030,-0.091} [component_container_isolated-3] [DEBUG] [1762964965.632582304] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.643104799] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.643156688] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.643194851] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.643236942] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000242 0.000300 -0.000916 [component_container_isolated-3] 0.000242 1.000000 -0.000068 -0.001816 [component_container_isolated-3] -0.000300 0.000068 1.000000 0.001193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.643261699] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,-0.001} {-0.003,-0.016,-0.024} [component_container_isolated-3] [DEBUG] [1762964965.643309240] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.643368232] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.643407778] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000019 0.185217 -0.006684 [component_container_isolated-3] -0.000097 1.000000 0.000413 0.060553 [component_container_isolated-3] -0.185217 -0.000424 0.982698 0.017147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.643431183] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.000} {-0.025,10.674,-0.006} [component_container_isolated-3] [DEBUG] [1762964965.643463554] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,-0.001,0.001} {-0.017,10.690,0.019} [component_container_isolated-3] [DEBUG] [1762964965.643518279] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.654826295] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.654884997] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.654961433] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.655008152] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000007 -0.000026 -0.000024 [component_container_isolated-3] 0.000007 1.000000 -0.000027 -0.000252 [component_container_isolated-3] 0.000026 0.000027 1.000000 -0.000193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.655034282] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.001,0.001} {-0.005,0.010,0.021} [component_container_isolated-3] [DEBUG] [1762964965.655084017] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.655124424] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.655159441] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 -0.000016 0.203466 -0.006738 [component_container_isolated-3] 0.002431 0.999929 -0.011621 0.059575 [component_container_isolated-3] -0.203451 0.011872 0.979013 0.018504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.655192614] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.739,0.142} [component_container_isolated-3] [DEBUG] [1762964965.655222341] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.001,-0.001} {0.696,11.730,0.120} [component_container_isolated-3] [DEBUG] [1762964965.655270633] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.657744788] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.657795074] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.657834369] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.657877662] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000060 -0.000005 0.000051 [component_container_isolated-3] 0.000060 1.000000 -0.000131 -0.000038 [component_container_isolated-3] 0.000005 0.000131 1.000000 0.000026 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.657902800] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,-0.000} {0.005,-0.011,-0.002} [component_container_isolated-3] [DEBUG] [1762964965.657988343] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.658032788] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.658072274] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879491 -0.000032 0.475915 -0.001267 [component_container_isolated-3] -0.004646 0.999952 0.008653 0.060155 [component_container_isolated-3] -0.475892 -0.009822 0.879449 0.018119 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.658106439] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.640,28.417,-0.303} [component_container_isolated-3] [DEBUG] [1762964965.658137087] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.658185861] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.659820853] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.659872802] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.659913099] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.659988193] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000242 0.000300 -0.000916 [component_container_isolated-3] 0.000242 1.000000 -0.000068 -0.001816 [component_container_isolated-3] -0.000300 0.000068 1.000000 0.001193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.660012950] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.000,-0.000} {0.000,0.001,-0.011} [component_container_isolated-3] [DEBUG] [1762964965.660062384] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.660106168] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.660140584] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000019 0.185217 -0.006684 [component_container_isolated-3] -0.000097 1.000000 0.000413 0.060553 [component_container_isolated-3] -0.185217 -0.000424 0.982698 0.017147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.660163207] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.000} {-0.025,10.674,-0.006} [component_container_isolated-3] [DEBUG] [1762964965.660195589] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,0.001,-0.000} {-0.023,10.673,0.005} [component_container_isolated-3] [DEBUG] [1762964965.660253319] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.667366223] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.667417300] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.667454722] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.667498335] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000134 0.000107 0.000191 [component_container_isolated-3] 0.000134 1.000000 0.000035 -0.000530 [component_container_isolated-3] -0.000107 -0.000035 1.000000 0.000088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.667523253] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.001,0.001} {0.030,-0.005,0.002} [component_container_isolated-3] [DEBUG] [1762964965.667571385] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.667612393] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.667647370] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 -0.000186 0.191240 -0.006949 [component_container_isolated-3] -0.001514 0.999961 0.008745 0.059646 [component_container_isolated-3] -0.191234 -0.008873 0.981504 0.017298 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.667669813] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.518,11.025,-0.088} [component_container_isolated-3] [DEBUG] [1762964965.667714037] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.001,-0.001} {-0.549,11.030,-0.091} [component_container_isolated-3] [DEBUG] [1762964965.667770325] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.681184322] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.681234097] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.681272390] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.681316114] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000129 -0.000253 -0.000034 [component_container_isolated-3] -0.000129 1.000000 0.000018 0.000566 [component_container_isolated-3] 0.000253 -0.000018 1.000000 -0.000518 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.681341031] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.001,0.000} {-0.006,-0.005,0.014} [component_container_isolated-3] [DEBUG] [1762964965.681387851] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.681427987] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.681461822] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979134 0.000107 0.203218 -0.006755 [component_container_isolated-3] 0.002299 0.999930 -0.011603 0.059661 [component_container_isolated-3] -0.203205 0.011828 0.979065 0.018404 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.681482812] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.692,11.724,0.135} [component_container_isolated-3] [DEBUG] [1762964965.681511898] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.001,-0.000} {0.696,11.730,0.120} [component_container_isolated-3] [DEBUG] [1762964965.681558296] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.681645813] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.681690098] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.681726798] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.681768177] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000134 0.000107 0.000191 [component_container_isolated-3] 0.000134 1.000000 0.000035 -0.000530 [component_container_isolated-3] -0.000107 -0.000035 1.000000 0.000088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.681794297] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.000,0.001} {0.028,0.001,0.010} [component_container_isolated-3] [DEBUG] [1762964965.681852638] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.681905539] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.681979471] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 -0.000186 0.191240 -0.006949 [component_container_isolated-3] -0.001514 0.999961 0.008745 0.059646 [component_container_isolated-3] -0.191234 -0.008873 0.981504 0.017298 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.682003005] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.518,11.025,-0.088} [component_container_isolated-3] [DEBUG] [1762964965.682033394] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.001,-0.002} {-0.548,11.024,-0.098} [component_container_isolated-3] [DEBUG] [1762964965.682083800] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.683208127] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.683254676] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.683293590] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.683335400] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000152 0.000108 -0.000196 [component_container_isolated-3] 0.000152 1.000000 -0.000149 -0.000389 [component_container_isolated-3] -0.000108 0.000149 1.000000 0.000335 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.683358494] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,-0.000} {0.014,-0.005,0.007} [component_container_isolated-3] [DEBUG] [1762964965.683404863] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.683444729] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.683479084] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879440 -0.000095 0.476010 -0.001267 [component_container_isolated-3] -0.004495 0.999954 0.008504 0.060078 [component_container_isolated-3] -0.475989 -0.009619 0.879399 0.018152 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.683500004] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.627,28.424,-0.293} [component_container_isolated-3] [DEBUG] [1762964965.683531835] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,0.000,-0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.683584045] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.688477059] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.688527536] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.688565568] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.688611055] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000242 0.000300 -0.000916 [component_container_isolated-3] 0.000242 1.000000 -0.000068 -0.001816 [component_container_isolated-3] -0.000300 0.000068 1.000000 0.001193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.688636895] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.001} {0.004,0.018,0.003} [component_container_isolated-3] [DEBUG] [1762964965.688685477] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.688729301] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.688768366] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000019 0.185217 -0.006684 [component_container_isolated-3] -0.000097 1.000000 0.000413 0.060553 [component_container_isolated-3] -0.185217 -0.000424 0.982698 0.017147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.688792281] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.000} {-0.025,10.674,-0.006} [component_container_isolated-3] [DEBUG] [1762964965.688825455] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.002,-0.002} {-0.030,10.656,-0.009} [component_container_isolated-3] [DEBUG] [1762964965.688875781] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.715437297] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.715485950] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.715522981] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.715565031] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000129 -0.000253 -0.000034 [component_container_isolated-3] -0.000129 1.000000 0.000018 0.000566 [component_container_isolated-3] 0.000253 -0.000018 1.000000 -0.000518 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.715589628] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.000,-0.000} {-0.007,-0.020,0.007} [component_container_isolated-3] [DEBUG] [1762964965.715635946] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.715676083] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.715714206] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979134 0.000107 0.203218 -0.006755 [component_container_isolated-3] 0.002299 0.999930 -0.011603 0.059661 [component_container_isolated-3] -0.203205 0.011828 0.979065 0.018404 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.715736568] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.692,11.724,0.135} [component_container_isolated-3] [DEBUG] [1762964965.715769000] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.000,0.000} {0.698,11.744,0.128} [component_container_isolated-3] [DEBUG] [1762964965.715820809] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.725977857] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.726030808] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.726071295] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.726115920] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000166 0.000010 0.000305 [component_container_isolated-3] -0.000166 1.000000 0.000242 0.000299 [component_container_isolated-3] -0.000010 -0.000242 1.000000 -0.000044 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.726140578] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,-0.000} {-0.000,-0.004,-0.003} [component_container_isolated-3] [DEBUG] [1762964965.726188709] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.726229638] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.726264444] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879435 -0.000064 0.476019 -0.001228 [component_container_isolated-3] -0.004662 0.999951 0.008747 0.060079 [component_container_isolated-3] -0.475996 -0.009911 0.879392 0.018120 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.726285745] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.646,28.424,-0.304} [component_container_isolated-3] [DEBUG] [1762964965.726314901] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,0.000} {-0.644,28.429,-0.300} [component_container_isolated-3] [DEBUG] [1762964965.726365918] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.728615103] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.728664518] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.728701899] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.728745262] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000242 0.000300 -0.000916 [component_container_isolated-3] 0.000242 1.000000 -0.000068 -0.001816 [component_container_isolated-3] -0.000300 0.000068 1.000000 0.001193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.728769448] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.002} {0.008,0.035,0.017} [component_container_isolated-3] [DEBUG] [1762964965.728817059] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.728860763] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.728900068] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000019 0.185217 -0.006684 [component_container_isolated-3] -0.000097 1.000000 0.000413 0.060553 [component_container_isolated-3] -0.185217 -0.000424 0.982698 0.017147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.728965212] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.000} {-0.025,10.674,-0.006} [component_container_isolated-3] [DEBUG] [1762964965.729000069] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.004,-0.003} {-0.036,10.638,-0.023} [component_container_isolated-3] [DEBUG] [1762964965.729056296] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.735763195] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.735819632] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.735855180] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.735896700] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000202 -0.000114 0.000504 [component_container_isolated-3] -0.000202 1.000000 -0.000010 0.001397 [component_container_isolated-3] 0.000114 0.000010 1.000000 -0.000794 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.735948529] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,0.001} {0.029,-0.005,-0.002} [component_container_isolated-3] [DEBUG] [1762964965.735998454] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.736041266] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.736080070] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981565 0.000014 0.191128 -0.006939 [component_container_isolated-3] -0.001715 0.999960 0.008735 0.059885 [component_container_isolated-3] -0.191121 -0.008901 0.981526 0.017182 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.736103164] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.520,11.018,-0.100} [component_container_isolated-3] [DEBUG] [1762964965.736135836] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,-0.001} {-0.548,11.024,-0.098} [component_container_isolated-3] [DEBUG] [1762964965.736187815] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.744064207] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.744115806] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.744154740] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.744198825] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000166 0.000010 0.000305 [component_container_isolated-3] -0.000166 1.000000 0.000242 0.000299 [component_container_isolated-3] -0.000010 -0.000242 1.000000 -0.000044 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.744223702] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,-0.000} {-0.014,-0.004,-0.012} [component_container_isolated-3] [DEBUG] [1762964965.744270221] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.744309997] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.744344332] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879435 -0.000064 0.476019 -0.001228 [component_container_isolated-3] -0.004662 0.999951 0.008747 0.060079 [component_container_isolated-3] -0.475996 -0.009911 0.879392 0.018120 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.744365343] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.646,28.424,-0.304} [component_container_isolated-3] [DEBUG] [1762964965.744394398] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,0.000} {-0.625,28.428,-0.290} [component_container_isolated-3] [DEBUG] [1762964965.744444353] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.748882429] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.748971219] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.749008319] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.749050350] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000202 -0.000114 0.000504 [component_container_isolated-3] -0.000202 1.000000 -0.000010 0.001397 [component_container_isolated-3] 0.000114 0.000010 1.000000 -0.000794 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.749073654] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.003,-0.000} {0.029,-0.012,-0.013} [component_container_isolated-3] [DEBUG] [1762964965.749121155] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.749167523] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.749205656] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981565 0.000014 0.191128 -0.006939 [component_container_isolated-3] -0.001715 0.999960 0.008735 0.059885 [component_container_isolated-3] -0.191121 -0.008901 0.981526 0.017182 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.749228249] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.520,11.018,-0.100} [component_container_isolated-3] [DEBUG] [1762964965.749260471] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,0.000} {-0.546,11.030,-0.087} [component_container_isolated-3] [DEBUG] [1762964965.749313612] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.751613194] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.751663400] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.751701894] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.751747711] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000244 0.000355 0.000170 [component_container_isolated-3] 0.000244 1.000000 0.000126 -0.000778 [component_container_isolated-3] -0.000355 -0.000126 1.000000 0.001007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.751773050] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.001,0.001} {-0.015,0.001,0.020} [component_container_isolated-3] [DEBUG] [1762964965.751822544] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.751863612] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.751896786] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979061 -0.000157 0.203565 -0.006700 [component_container_isolated-3] 0.002547 0.999931 -0.011476 0.059539 [component_container_isolated-3] -0.203549 0.011754 0.978994 0.018581 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.751917295] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.745,0.149} [component_container_isolated-3] [DEBUG] [1762964965.751982870] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.001,-0.000} {0.698,11.744,0.128} [component_container_isolated-3] [DEBUG] [1762964965.752033116] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.765279213] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.765326513] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.765362031] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.765403270] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000244 0.000355 0.000170 [component_container_isolated-3] 0.000244 1.000000 0.000126 -0.000778 [component_container_isolated-3] -0.000355 -0.000126 1.000000 0.001007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.765427636] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.002,0.002} {-0.022,0.021,0.034} [component_container_isolated-3] [DEBUG] [1762964965.765475588] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.765517959] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.765555140] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979061 -0.000157 0.203565 -0.006700 [component_container_isolated-3] 0.002547 0.999931 -0.011476 0.059539 [component_container_isolated-3] -0.203549 0.011754 0.978994 0.018581 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.765577222] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.745,0.149} [component_container_isolated-3] [DEBUG] [1762964965.765609594] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.001} {0.703,11.724,0.114} [component_container_isolated-3] [DEBUG] [1762964965.765662044] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.771523538] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.771566711] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.771609632] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.771653456] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000242 0.000300 -0.000916 [component_container_isolated-3] 0.000242 1.000000 -0.000068 -0.001816 [component_container_isolated-3] -0.000300 0.000068 1.000000 0.001193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.771677793] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.005,0.003} {0.012,0.053,0.031} [component_container_isolated-3] [DEBUG] [1762964965.771726496] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.771768987] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.771802571] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000019 0.185217 -0.006684 [component_container_isolated-3] -0.000097 1.000000 0.000413 0.060553 [component_container_isolated-3] -0.185217 -0.000424 0.982698 0.017147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.771824052] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.000} {-0.025,10.674,-0.006} [component_container_isolated-3] [DEBUG] [1762964965.771855953] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.006,-0.004} {-0.043,10.621,-0.037} [component_container_isolated-3] [DEBUG] [1762964965.771909175] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.789467377] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.789521911] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.789558290] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.789599579] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000031 0.000029 -0.000350 [component_container_isolated-3] -0.000031 1.000000 -0.000079 0.000036 [component_container_isolated-3] -0.000029 0.000079 1.000000 0.000076 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.789622743] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,-0.000} {-0.010,-0.002,-0.014} [component_container_isolated-3] [DEBUG] [1762964965.789670705] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.789711643] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.789749626] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879421 0.000001 0.476044 -0.001239 [component_container_isolated-3] -0.004693 0.999951 0.008668 0.060081 [component_container_isolated-3] -0.476021 -0.009857 0.879379 0.018147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.789773561] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.642,28.426,-0.306} [component_container_isolated-3] [DEBUG] [1762964965.789806003] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,0.000} {-0.625,28.428,-0.290} [component_container_isolated-3] [DEBUG] [1762964965.789857792] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.798745215] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.798817623] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.798858391] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.798903778] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000006 -0.000057 0.000437 [component_container_isolated-3] -0.000006 1.000000 0.000113 -0.000377 [component_container_isolated-3] 0.000057 -0.000113 1.000000 -0.000400 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.798954535] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.003,-0.001} {0.023,-0.015,-0.014} [component_container_isolated-3] [DEBUG] [1762964965.799008838] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.799056620] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.799097107] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981576 -0.000002 0.191072 -0.006862 [component_container_isolated-3] -0.001721 0.999959 0.008848 0.059895 [component_container_isolated-3] -0.191065 -0.009013 0.981536 0.017009 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.799121834] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.526,11.015,-0.100} [component_container_isolated-3] [DEBUG] [1762964965.799154998] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,0.000} {-0.546,11.030,-0.087} [component_container_isolated-3] [DEBUG] [1762964965.799203580] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.804870152] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.804943723] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.804986625] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.805034446] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000117 -0.000047 -0.000090 [component_container_isolated-3] 0.000117 1.000000 0.000147 -0.000365 [component_container_isolated-3] 0.000047 -0.000147 1.000000 -0.000011 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.805071627] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.006,0.003} {0.004,0.050,0.038} [component_container_isolated-3] [DEBUG] [1762964965.805121362] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.805164665] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.805200202] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 -0.000124 0.185171 -0.006735 [component_container_isolated-3] 0.000020 1.000000 0.000560 0.060350 [component_container_isolated-3] -0.185171 -0.000547 0.982706 0.017189 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.805222645] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.032,10.671,0.001} [component_container_isolated-3] [DEBUG] [1762964965.805253023] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.006,-0.004} {-0.043,10.621,-0.037} [component_container_isolated-3] [DEBUG] [1762964965.805317336] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.822456989] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.822516883] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.822555767] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.822597928] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000127 0.000011 0.000145 [component_container_isolated-3] -0.000127 1.000000 0.000063 0.000287 [component_container_isolated-3] -0.000011 -0.000063 1.000000 -0.000130 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.822621603] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.001,0.002} {-0.026,0.022,0.027} [component_container_isolated-3] [DEBUG] [1762964965.822669945] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.822709621] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.822743195] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979059 -0.000045 0.203575 -0.006648 [component_container_isolated-3] 0.002419 0.999932 -0.011413 0.059531 [component_container_isolated-3] -0.203561 0.011667 0.978993 0.018599 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.822764636] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.683,11.745,0.142} [component_container_isolated-3] [DEBUG] [1762964965.822794614] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.001,-0.001} {0.703,11.724,0.114} [component_container_isolated-3] [DEBUG] [1762964965.822847194] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.823677139] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.823723407] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.823760188] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.823802108] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000074 0.000085 0.000208 [component_container_isolated-3] 0.000074 1.000000 -0.000011 -0.000101 [component_container_isolated-3] -0.000085 0.000011 1.000000 0.000071 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.823825903] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.000} {-0.009,0.003,-0.010} [component_container_isolated-3] [DEBUG] [1762964965.823871640] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.823911246] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.823980498] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879381 -0.000059 0.476119 -0.001221 [component_container_isolated-3] -0.004620 0.999952 0.008657 0.060070 [component_container_isolated-3] -0.476097 -0.009812 0.879338 0.018162 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.824003723] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.639,28.431,-0.301} [component_container_isolated-3] [DEBUG] [1762964965.824036515] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,0.000} {-0.625,28.428,-0.290} [component_container_isolated-3] [DEBUG] [1762964965.824092542] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.836151542] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.836211326] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.836250802] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.836293313] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000074 0.000085 0.000208 [component_container_isolated-3] 0.000074 1.000000 -0.000011 -0.000101 [component_container_isolated-3] -0.000085 0.000011 1.000000 0.000071 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.836318160] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.008,0.007,-0.006} [component_container_isolated-3] [DEBUG] [1762964965.836366893] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.836410797] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.836449200] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879381 -0.000059 0.476119 -0.001221 [component_container_isolated-3] -0.004620 0.999952 0.008657 0.060070 [component_container_isolated-3] -0.476097 -0.009812 0.879338 0.018162 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.836473757] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.639,28.431,-0.301} [component_container_isolated-3] [DEBUG] [1762964965.836505147] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.628,28.423,-0.294} [component_container_isolated-3] [DEBUG] [1762964965.836563930] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.837334411] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.837388544] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.837427399] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.837470771] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000177 0.000146 -0.000356 [component_container_isolated-3] 0.000177 1.000000 -0.000180 -0.000508 [component_container_isolated-3] -0.000146 0.000180 1.000000 0.000948 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.837495960] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,0.000} {0.033,-0.007,-0.003} [component_container_isolated-3] [DEBUG] [1762964965.837544452] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.837592043] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.837631268] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981548 -0.000141 0.191215 -0.006838 [component_container_isolated-3] -0.001545 0.999961 0.008667 0.059796 [component_container_isolated-3] -0.191209 -0.008802 0.981510 0.017127 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.837656276] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.514,11.023,-0.090} [component_container_isolated-3] [DEBUG] [1762964965.837690090] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,-0.000} {-0.546,11.030,-0.087} [component_container_isolated-3] [DEBUG] [1762964965.837740687] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.840781755] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.840834165] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.840873870] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.840954815] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000113 0.000061 0.000135 [component_container_isolated-3] -0.000113 1.000000 -0.000072 0.000332 [component_container_isolated-3] -0.000061 0.000072 1.000000 0.000056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.840985063] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.005,0.004} {0.008,0.053,0.031} [component_container_isolated-3] [DEBUG] [1762964965.841040419] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.841090494] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.841129679] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982695 0.000001 0.185231 -0.006740 [component_container_isolated-3] -0.000093 1.000000 0.000488 0.060292 [component_container_isolated-3] -0.185231 -0.000497 0.982695 0.017232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.841154005] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.029,10.675,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.841184854] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.006,-0.004} {-0.043,10.621,-0.037} [component_container_isolated-3] [DEBUG] [1762964965.841236713] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.846663327] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.846718011] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.846753660] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.846793425] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000038 -0.000002 -0.000119 [component_container_isolated-3] 0.000038 1.000000 -0.000016 -0.000043 [component_container_isolated-3] 0.000002 0.000016 1.000000 0.000158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.846816169] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.002,0.002} {-0.025,0.022,0.029} [component_container_isolated-3] [DEBUG] [1762964965.846860353] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.846898546] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.846969221] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979060 -0.000080 0.203574 -0.006621 [component_container_isolated-3] 0.002458 0.999932 -0.011429 0.059519 [component_container_isolated-3] -0.203559 0.011690 0.978993 0.018658 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.846991163] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.684,11.745,0.144} [component_container_isolated-3] [DEBUG] [1762964965.847020499] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.001,-0.001} {0.703,11.724,0.114} [component_container_isolated-3] [DEBUG] [1762964965.847071366] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.848815998] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.848871584] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.848965033] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.849010970] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000177 0.000146 -0.000356 [component_container_isolated-3] 0.000177 1.000000 -0.000180 -0.000508 [component_container_isolated-3] -0.000146 0.000180 1.000000 0.000948 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.849036028] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,0.001} {0.044,0.002,0.007} [component_container_isolated-3] [DEBUG] [1762964965.849114158] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.849164924] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.849204600] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981548 -0.000141 0.191215 -0.006838 [component_container_isolated-3] -0.001545 0.999961 0.008667 0.059796 [component_container_isolated-3] -0.191209 -0.008802 0.981510 0.017127 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.849228095] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.514,11.023,-0.090} [component_container_isolated-3] [DEBUG] [1762964965.849258734] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,-0.001} {-0.559,11.022,-0.097} [component_container_isolated-3] [DEBUG] [1762964965.849307076] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.869386683] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.869443682] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.869487977] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.869534746] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000031 -0.000049 0.000037 [component_container_isolated-3] -0.000031 1.000000 -0.000103 0.000107 [component_container_isolated-3] 0.000049 0.000103 1.000000 0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.869561457] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.005,0.004} {0.014,0.051,0.030} [component_container_isolated-3] [DEBUG] [1762964965.869613096] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.869657861] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.869694952] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 0.000050 0.185183 -0.006744 [component_container_isolated-3] -0.000124 1.000000 0.000385 0.060264 [component_container_isolated-3] -0.185183 -0.000402 0.982704 0.017271 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.869718146] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.023,10.672,-0.007} [component_container_isolated-3] [DEBUG] [1762964965.869751179] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.006,-0.004} {-0.043,10.621,-0.037} [component_container_isolated-3] [DEBUG] [1762964965.869803509] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.870551217] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.870597425] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.870634787] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.870676346] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000038 -0.000002 -0.000119 [component_container_isolated-3] 0.000038 1.000000 -0.000016 -0.000043 [component_container_isolated-3] 0.000002 0.000016 1.000000 0.000158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.870700021] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.002,0.002} {-0.024,0.022,0.032} [component_container_isolated-3] [DEBUG] [1762964965.870746009] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.870785414] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.870820141] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979060 -0.000080 0.203574 -0.006621 [component_container_isolated-3] 0.002458 0.999932 -0.011429 0.059519 [component_container_isolated-3] -0.203559 0.011690 0.978993 0.018658 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.870842383] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.684,11.745,0.144} [component_container_isolated-3] [DEBUG] [1762964965.870875897] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.001,-0.001} {0.701,11.724,0.111} [component_container_isolated-3] [DEBUG] [1762964965.870983052] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.891503551] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.891568184] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.891610265] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.891654710] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000066 0.000051 -0.000087 [component_container_isolated-3] 0.000066 1.000000 -0.000001 -0.000233 [component_container_isolated-3] -0.000051 0.000001 1.000000 0.000123 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.891680559] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.000} {-0.008,0.010,-0.002} [component_container_isolated-3] [DEBUG] [1762964965.891730735] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.891772374] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.891807271] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879357 -0.000117 0.476164 -0.001207 [component_container_isolated-3] -0.004554 0.999952 0.008656 0.060022 [component_container_isolated-3] -0.476142 -0.009780 0.879314 0.018197 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.891830335] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.637,28.434,-0.297} [component_container_isolated-3] [DEBUG] [1762964965.891862587] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.628,28.423,-0.294} [component_container_isolated-3] [DEBUG] [1762964965.891912241] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.906860850] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.906912689] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.906988343] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.907033129] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000159 -0.000063 -0.000156 [component_container_isolated-3] -0.000159 1.000000 0.000030 0.000880 [component_container_isolated-3] 0.000063 -0.000030 1.000000 -0.000484 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.907057305] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.003,0.001} {0.042,-0.002,-0.002} [component_container_isolated-3] [DEBUG] [1762964965.907106960] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.907151445] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.907186692] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981560 0.000009 0.191153 -0.006853 [component_container_isolated-3] -0.001703 0.999961 0.008698 0.059940 [component_container_isolated-3] -0.191146 -0.008863 0.981522 0.017088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.907208564] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.517,11.020,-0.099} [component_container_isolated-3] [DEBUG] [1762964965.907241426] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,-0.001} {-0.559,11.022,-0.097} [component_container_isolated-3] [DEBUG] [1762964965.907292364] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.913331738] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.913377806] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.913409757] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.913444613] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000032 0.000049 0.000035 [component_container_isolated-3] 0.000032 1.000000 0.000026 -0.000049 [component_container_isolated-3] -0.000049 -0.000026 1.000000 -0.000017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.913465062] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.005,0.004} {0.012,0.053,0.031} [component_container_isolated-3] [DEBUG] [1762964965.913503135] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.913545135] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.913591183] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982695 0.000014 0.185231 -0.006747 [component_container_isolated-3] -0.000092 1.000000 0.000411 0.060242 [component_container_isolated-3] -0.185231 -0.000421 0.982695 0.017296 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.913617223] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.025,10.675,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.913648883] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.006,-0.004} {-0.043,10.621,-0.037} [component_container_isolated-3] [DEBUG] [1762964965.913703317] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.916481112] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.916530987] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.916570473] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.916612713] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000159 -0.000063 -0.000156 [component_container_isolated-3] -0.000159 1.000000 0.000030 0.000880 [component_container_isolated-3] 0.000063 -0.000030 1.000000 -0.000484 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.916637070] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,0.000} {0.040,-0.006,-0.011} [component_container_isolated-3] [DEBUG] [1762964965.916684400] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.916727382] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.916761698] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981560 0.000009 0.191153 -0.006853 [component_container_isolated-3] -0.001703 0.999961 0.008698 0.059940 [component_container_isolated-3] -0.191146 -0.008863 0.981522 0.017088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.916783269] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.517,11.020,-0.099} [component_container_isolated-3] [DEBUG] [1762964965.916814218] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.004,-0.001} {-0.555,11.025,-0.088} [component_container_isolated-3] [DEBUG] [1762964965.916865296] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.921408943] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.921466343] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.921504255] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.921547428] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000032 -0.000013 0.000066 [component_container_isolated-3] -0.000032 1.000000 -0.000073 -0.000033 [component_container_isolated-3] 0.000013 0.000073 1.000000 -0.000145 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.921572125] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.002,0.002} {-0.020,0.021,0.030} [component_container_isolated-3] [DEBUG] [1762964965.921620838] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.921665884] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.921700670] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979062 -0.000034 0.203561 -0.006592 [component_container_isolated-3] 0.002426 0.999931 -0.011501 0.059504 [component_container_isolated-3] -0.203547 0.011754 0.978995 0.018689 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.921724506] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.744,0.142} [component_container_isolated-3] [DEBUG] [1762964965.921757158] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.001,-0.001} {0.701,11.724,0.111} [component_container_isolated-3] [DEBUG] [1762964965.921808396] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.922776755] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.922822553] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.922860375] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.922903557] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000175 -0.000100 0.000128 [component_container_isolated-3] -0.000175 1.000000 0.000174 0.000413 [component_container_isolated-3] 0.000100 -0.000174 1.000000 -0.000248 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.922964394] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,-0.000} {-0.018,0.005,-0.012} [component_container_isolated-3] [DEBUG] [1762964965.923016082] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.923059595] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.923099562] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879404 -0.000045 0.476076 -0.001192 [component_container_isolated-3] -0.004729 0.999950 0.008830 0.060055 [component_container_isolated-3] -0.476053 -0.010016 0.879360 0.018177 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.923123407] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.653,28.428,-0.308} [component_container_isolated-3] [DEBUG] [1762964965.923155849] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.628,28.423,-0.294} [component_container_isolated-3] [DEBUG] [1762964965.923206436] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.937783915] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.937843669] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.937885519] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.937950573] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000001 0.000064 0.000041 [component_container_isolated-3] -0.000001 1.000000 0.000007 -0.000055 [component_container_isolated-3] -0.000064 -0.000007 1.000000 -0.000014 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.937977475] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.005,0.004} {0.012,0.057,0.031} [component_container_isolated-3] [DEBUG] [1762964965.938027831] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.938070743] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.938109387] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982683 0.000014 0.185294 -0.006744 [component_container_isolated-3] -0.000093 1.000000 0.000417 0.060214 [component_container_isolated-3] -0.185294 -0.000427 0.982683 0.017318 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.938136659] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.025,10.678,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.938168610] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.006,-0.004} {-0.043,10.621,-0.037} [component_container_isolated-3] [DEBUG] [1762964965.938211352] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.946506173] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.946558953] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.946596786] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.946641671] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000031 -0.000020 -0.000374 [component_container_isolated-3] 0.000031 1.000000 -0.000005 -0.000398 [component_container_isolated-3] 0.000020 0.000005 1.000000 -0.000003 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.946666218] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.002,0.002} {-0.019,0.020,0.031} [component_container_isolated-3] [DEBUG] [1762964965.946713559] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.946753896] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.946788432] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979066 -0.000063 0.203542 -0.006626 [component_container_isolated-3] 0.002456 0.999931 -0.011506 0.059406 [component_container_isolated-3] -0.203527 0.011765 0.978999 0.018717 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.946812117] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.743,0.144} [component_container_isolated-3] [DEBUG] [1762964965.946845060] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.001} {0.701,11.724,0.111} [component_container_isolated-3] [DEBUG] [1762964965.946896258] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.947982632] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.948027969] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.948066603] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.948109445] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000047 0.000019 -0.000037 [component_container_isolated-3] 0.000047 1.000000 0.000000 -0.000143 [component_container_isolated-3] -0.000019 -0.000000 1.000000 0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.948133450] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,-0.000} {-0.018,0.006,-0.009} [component_container_isolated-3] [DEBUG] [1762964965.948180019] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.948221218] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.948256135] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879395 -0.000087 0.476093 -0.001188 [component_container_isolated-3] -0.004682 0.999950 0.008830 0.060052 [component_container_isolated-3] -0.476070 -0.009994 0.879351 0.018175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.948276464] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.651,28.429,-0.305} [component_container_isolated-3] [DEBUG] [1762964965.948308465] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,0.000} {-0.628,28.423,-0.294} [component_container_isolated-3] [DEBUG] [1762964965.948360223] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.958382293] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.958438581] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.958479329] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.958522501] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000001 0.000064 0.000041 [component_container_isolated-3] -0.000001 1.000000 0.000007 -0.000055 [component_container_isolated-3] -0.000064 -0.000007 1.000000 -0.000014 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.958547148] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.006,0.004} {0.012,0.061,0.031} [component_container_isolated-3] [DEBUG] [1762964965.958595400] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.958637240] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.958671165] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982683 0.000014 0.185294 -0.006744 [component_container_isolated-3] -0.000093 1.000000 0.000417 0.060214 [component_container_isolated-3] -0.185294 -0.000427 0.982683 0.017318 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.958692736] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.025,10.678,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.958724347] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.006,-0.004} {-0.042,10.617,-0.037} [component_container_isolated-3] [DEBUG] [1762964965.958775745] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.972646404] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.972705918] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.972745894] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.972788486] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000047 0.000019 -0.000037 [component_container_isolated-3] 0.000047 1.000000 0.000000 -0.000143 [component_container_isolated-3] -0.000019 -0.000000 1.000000 0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.972812712] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,-0.000} {-0.018,0.007,-0.007} [component_container_isolated-3] [DEBUG] [1762964965.972860263] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.972904467] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.972961065] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879395 -0.000087 0.476093 -0.001188 [component_container_isolated-3] -0.004682 0.999950 0.008830 0.060052 [component_container_isolated-3] -0.476070 -0.009994 0.879351 0.018175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.972984560] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.651,28.429,-0.305} [component_container_isolated-3] [DEBUG] [1762964965.973016361] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,0.000} {-0.629,28.422,-0.297} [component_container_isolated-3] [DEBUG] [1762964965.973066907] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.979892072] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.979976192] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.980014105] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.980056416] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000057 0.000046 0.000085 [component_container_isolated-3] -0.000057 1.000000 -0.000075 0.000326 [component_container_isolated-3] -0.000046 0.000075 1.000000 0.000294 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.980080892] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.002,0.002} {-0.015,0.022,0.028} [component_container_isolated-3] [DEBUG] [1762964965.980129876] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.980176485] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.980215409] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979057 0.000008 0.203586 -0.006614 [component_container_isolated-3] 0.002400 0.999930 -0.011581 0.059390 [component_container_isolated-3] -0.203572 0.011827 0.978989 0.018801 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.980238233] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.746,0.140} [component_container_isolated-3] [DEBUG] [1762964965.980271306] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.001,-0.002} {0.701,11.724,0.111} [component_container_isolated-3] [DEBUG] [1762964965.980321332] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.987015756] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.987065421] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.987105928] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.987150504] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000098 -0.000243 0.000787 [component_container_isolated-3] 0.000098 1.000000 0.000086 -0.000841 [component_container_isolated-3] 0.000243 -0.000086 1.000000 -0.001191 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.987175251] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.003,-0.001} {0.035,-0.020,-0.006} [component_container_isolated-3] [DEBUG] [1762964965.987224054] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.987267858] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.987302223] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981607 -0.000104 0.190915 -0.006772 [component_container_isolated-3] -0.001603 0.999960 0.008784 0.059821 [component_container_isolated-3] -0.190908 -0.008928 0.981567 0.016604 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.987323634] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.521,11.006,-0.094} [component_container_isolated-3] [DEBUG] [1762964965.987353652] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,0.000} {-0.555,11.025,-0.088} [component_container_isolated-3] [DEBUG] [1762964965.987408677] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.989548714] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.989595753] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.989632464] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.989674253] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000001 0.000064 0.000041 [component_container_isolated-3] -0.000001 1.000000 0.000007 -0.000055 [component_container_isolated-3] -0.000064 -0.000007 1.000000 -0.000014 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.989698820] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.006,0.003} {0.011,0.064,0.031} [component_container_isolated-3] [DEBUG] [1762964965.989746231] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.989791497] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.989830872] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982683 0.000014 0.185294 -0.006744 [component_container_isolated-3] -0.000093 1.000000 0.000417 0.060214 [component_container_isolated-3] -0.185294 -0.000427 0.982683 0.017318 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.989878032] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.025,10.678,-0.005} [component_container_isolated-3] [DEBUG] [1762964965.989908972] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.006,-0.004} {-0.042,10.614,-0.037} [component_container_isolated-3] [DEBUG] [1762964965.989994775] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964965.992492856] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964965.992539495] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964965.992575284] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964965.992615971] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000098 -0.000243 0.000787 [component_container_isolated-3] 0.000098 1.000000 0.000086 -0.000841 [component_container_isolated-3] 0.000243 -0.000086 1.000000 -0.001191 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964965.992639636] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.002,-0.002} {0.030,-0.033,-0.000} [component_container_isolated-3] [DEBUG] [1762964965.992686857] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964965.992732143] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964965.992770045] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981607 -0.000104 0.190915 -0.006772 [component_container_isolated-3] -0.001603 0.999960 0.008784 0.059821 [component_container_isolated-3] -0.190908 -0.008928 0.981567 0.016604 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964965.992792659] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.521,11.006,-0.094} [component_container_isolated-3] [DEBUG] [1762964965.992824479] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.002,0.002} {-0.551,11.039,-0.094} [component_container_isolated-3] [DEBUG] [1762964965.992874064] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.006584568] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.006643040] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.006680281] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.006721850] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000047 0.000019 -0.000037 [component_container_isolated-3] 0.000047 1.000000 0.000000 -0.000143 [component_container_isolated-3] -0.000019 -0.000000 1.000000 0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.006745545] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.018,0.008,-0.004} [component_container_isolated-3] [DEBUG] [1762964966.006792866] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.006832431] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.006868811] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879395 -0.000087 0.476093 -0.001188 [component_container_isolated-3] -0.004682 0.999950 0.008830 0.060052 [component_container_isolated-3] -0.476070 -0.009994 0.879351 0.018175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.006891624] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.651,28.429,-0.305} [component_container_isolated-3] [DEBUG] [1762964966.006960115] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,0.000} {-0.631,28.421,-0.301} [component_container_isolated-3] [DEBUG] [1762964966.007028255] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.012812893] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.012867857] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.012905028] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.012974681] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000055 -0.000080 -0.000001 [component_container_isolated-3] 0.000055 1.000000 0.000112 0.000296 [component_container_isolated-3] 0.000080 -0.000112 1.000000 -0.000450 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.013000361] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.001,0.002} {-0.021,0.018,0.031} [component_container_isolated-3] [DEBUG] [1762964966.013049785] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.013094019] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.013132413] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 -0.000068 0.203509 -0.006628 [component_container_isolated-3] 0.002454 0.999931 -0.011469 0.059430 [component_container_isolated-3] -0.203494 0.011728 0.979006 0.018790 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.013155767] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.686,11.741,0.144} [component_container_isolated-3] [DEBUG] [1762964966.013188209] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.001,-0.001} {0.701,11.724,0.111} [component_container_isolated-3] [DEBUG] [1762964966.013251781] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.013886543] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.013956627] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.013995972] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.014037992] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000098 -0.000243 0.000787 [component_container_isolated-3] 0.000098 1.000000 0.000086 -0.000841 [component_container_isolated-3] 0.000243 -0.000086 1.000000 -0.001191 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.014062589] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.001,-0.003} {0.025,-0.047,0.005} [component_container_isolated-3] [DEBUG] [1762964966.014111202] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.014163482] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.014201264] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981607 -0.000104 0.190915 -0.006772 [component_container_isolated-3] -0.001603 0.999960 0.008784 0.059821 [component_container_isolated-3] -0.190908 -0.008928 0.981567 0.016604 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.014223967] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.521,11.006,-0.094} [component_container_isolated-3] [DEBUG] [1762964966.014254135] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.001,0.003} {-0.548,11.053,-0.099} [component_container_isolated-3] [DEBUG] [1762964966.014303780] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.030433944] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.030484892] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.030524107] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.030569824] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000001 0.000064 0.000041 [component_container_isolated-3] -0.000001 1.000000 0.000007 -0.000055 [component_container_isolated-3] -0.000064 -0.000007 1.000000 -0.000014 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.030594090] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.006,0.003} {0.011,0.068,0.031} [component_container_isolated-3] [DEBUG] [1762964966.030640389] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.030680836] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.030715562] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982683 0.000014 0.185294 -0.006744 [component_container_isolated-3] -0.000093 1.000000 0.000417 0.060214 [component_container_isolated-3] -0.185294 -0.000427 0.982683 0.017318 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.030736152] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.025,10.678,-0.005} [component_container_isolated-3] [DEBUG] [1762964966.030765838] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.006,-0.004} {-0.042,10.610,-0.037} [component_container_isolated-3] [DEBUG] [1762964966.030814832] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.044397542] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.044457266] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.044494667] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.044535505] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000047 0.000019 -0.000037 [component_container_isolated-3] 0.000047 1.000000 0.000000 -0.000143 [component_container_isolated-3] -0.000019 -0.000000 1.000000 0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.044559341] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.018,0.009,-0.001} [component_container_isolated-3] [DEBUG] [1762964966.044606481] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.044646457] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.044681263] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879395 -0.000087 0.476093 -0.001188 [component_container_isolated-3] -0.004682 0.999950 0.008830 0.060052 [component_container_isolated-3] -0.476070 -0.009994 0.879351 0.018175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.044704408] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.651,28.429,-0.305} [component_container_isolated-3] [DEBUG] [1762964966.044734285] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.632,28.420,-0.304} [component_container_isolated-3] [DEBUG] [1762964966.044783298] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.054093468] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.054154926] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.054195674] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.054238756] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000064 -0.000017 0.000093 [component_container_isolated-3] -0.000064 1.000000 -0.000021 0.000009 [component_container_isolated-3] 0.000017 0.000021 1.000000 -0.000022 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.054263092] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.001,0.002} {-0.020,0.017,0.028} [component_container_isolated-3] [DEBUG] [1762964966.054310673] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.054351551] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.054386528] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 -0.000001 0.203492 -0.006623 [component_container_isolated-3] 0.002389 0.999931 -0.011490 0.059452 [component_container_isolated-3] -0.203478 0.011735 0.979009 0.018783 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.054408650] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.687,11.740,0.140} [component_container_isolated-3] [DEBUG] [1762964966.054441102] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.001,-0.001} {0.701,11.724,0.111} [component_container_isolated-3] [DEBUG] [1762964966.054491819] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.066132380] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.066193867] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.066230848] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.066272608] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000007 0.000034 -0.000466 [component_container_isolated-3] 0.000007 1.000000 -0.000135 -0.000308 [component_container_isolated-3] -0.000034 0.000135 1.000000 0.000633 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.066296814] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.001,-0.003} {0.033,-0.045,0.006} [component_container_isolated-3] [DEBUG] [1762964966.066343784] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.066385974] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.066419909] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981600 -0.000085 0.190949 -0.006772 [component_container_isolated-3] -0.001596 0.999961 0.008649 0.059695 [component_container_isolated-3] -0.190942 -0.008795 0.981562 0.016557 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.066441721] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.001} {-0.513,11.008,-0.093} [component_container_isolated-3] [DEBUG] [1762964966.066483801] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.001,0.002} {-0.548,11.053,-0.099} [component_container_isolated-3] [DEBUG] [1762964966.066445838] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.066596416] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.066641292] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.066687370] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000047 0.000019 -0.000037 [component_container_isolated-3] 0.000047 1.000000 0.000000 -0.000143 [component_container_isolated-3] -0.000019 -0.000000 1.000000 0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.066712678] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.018,0.010,0.002} [component_container_isolated-3] [DEBUG] [1762964966.066772803] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.066822277] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.066540730] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.066861142] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879395 -0.000087 0.476093 -0.001188 [component_container_isolated-3] -0.004682 0.999950 0.008830 0.060052 [component_container_isolated-3] -0.476070 -0.009994 0.879351 0.018175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.066969168] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.651,28.429,-0.305} [component_container_isolated-3] [DEBUG] [1762964966.066993274] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.633,28.419,-0.307} [component_container_isolated-3] [DEBUG] [1762964966.067037659] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.073255102] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.073313284] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.073352448] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.073397625] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000020 -0.000160 -0.000070 [component_container_isolated-3] -0.000020 1.000000 0.000004 0.000001 [component_container_isolated-3] 0.000160 -0.000004 1.000000 0.000007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.073423484] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.006,0.003} {0.011,0.059,0.030} [component_container_isolated-3] [DEBUG] [1762964966.073471025] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.073513887] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.073556598] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 0.000033 0.185137 -0.006751 [component_container_isolated-3] -0.000113 1.000000 0.000422 0.060192 [component_container_isolated-3] -0.185137 -0.000435 0.982713 0.017337 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.073581115] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.025,10.669,-0.007} [component_container_isolated-3] [DEBUG] [1762964966.073614419] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.006,-0.004} {-0.042,10.610,-0.037} [component_container_isolated-3] [DEBUG] [1762964966.073666628] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.083831070] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.083899691] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.083971047] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.084020812] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000007 0.000034 -0.000466 [component_container_isolated-3] 0.000007 1.000000 -0.000135 -0.000308 [component_container_isolated-3] -0.000034 0.000135 1.000000 0.000633 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.084049367] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.000,-0.002} {0.041,-0.043,0.006} [component_container_isolated-3] [DEBUG] [1762964966.084100114] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.084144809] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.084184375] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981600 -0.000085 0.190949 -0.006772 [component_container_isolated-3] -0.001596 0.999961 0.008649 0.059695 [component_container_isolated-3] -0.190942 -0.008795 0.981562 0.016557 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.084209122] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.001} {-0.513,11.008,-0.093} [component_container_isolated-3] [DEBUG] [1762964966.084241784] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.001,0.001} {-0.555,11.051,-0.100} [component_container_isolated-3] [DEBUG] [1762964966.084303282] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.090024809] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.090099982] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.090142593] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.090194663] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000020 -0.000160 -0.000070 [component_container_isolated-3] -0.000020 1.000000 0.000004 0.000001 [component_container_isolated-3] 0.000160 -0.000004 1.000000 0.000007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.090224139] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.006,0.003} {0.010,0.050,0.029} [component_container_isolated-3] [DEBUG] [1762964966.090279816] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.090325533] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.090365008] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 0.000033 0.185137 -0.006751 [component_container_isolated-3] -0.000113 1.000000 0.000422 0.060192 [component_container_isolated-3] -0.185137 -0.000435 0.982713 0.017337 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.090389525] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.025,10.669,-0.007} [component_container_isolated-3] [DEBUG] [1762964966.090420825] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.006,-0.004} {-0.041,10.619,-0.036} [component_container_isolated-3] [DEBUG] [1762964966.090471542] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.091050197] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.091111444] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.091151580] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.091197117] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000039 0.000048 -0.000419 [component_container_isolated-3] -0.000039 1.000000 -0.000026 -0.000136 [component_container_isolated-3] -0.000048 0.000026 1.000000 0.000361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.091224069] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.001,0.002} {-0.019,0.020,0.025} [component_container_isolated-3] [DEBUG] [1762964966.091276840] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.091320703] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.091358946] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 0.000042 0.203539 -0.006684 [component_container_isolated-3] 0.002351 0.999931 -0.011515 0.059455 [component_container_isolated-3] -0.203525 0.011753 0.978999 0.018855 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.091381570] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.743,0.138} [component_container_isolated-3] [DEBUG] [1762964966.091411868] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.001,-0.001} {0.701,11.724,0.111} [component_container_isolated-3] [DEBUG] [1762964966.091459999] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.107247420] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.107306152] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.107341850] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.107383389] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000039 0.000048 -0.000419 [component_container_isolated-3] -0.000039 1.000000 -0.000026 -0.000136 [component_container_isolated-3] -0.000048 0.000026 1.000000 0.000361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.107407385] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.002,0.002} {-0.017,0.022,0.023} [component_container_isolated-3] [DEBUG] [1762964966.107455327] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.107495073] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.107532735] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 0.000042 0.203539 -0.006684 [component_container_isolated-3] 0.002351 0.999931 -0.011515 0.059455 [component_container_isolated-3] -0.203525 0.011753 0.978999 0.018855 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.107555809] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.743,0.138} [component_container_isolated-3] [DEBUG] [1762964966.107587579] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.001,-0.002} {0.700,11.721,0.114} [component_container_isolated-3] [DEBUG] [1762964966.107638857] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.112888182] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.112973425] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.113023440] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.113075420] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000005 -0.000045 -0.000045 [component_container_isolated-3] -0.000005 1.000000 -0.000247 0.000071 [component_container_isolated-3] 0.000045 0.000247 1.000000 0.000115 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.113097552] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.000} {-0.004,0.007,0.001} [component_container_isolated-3] [DEBUG] [1762964966.113139873] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.113176413] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.113202653] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879417 0.000035 0.476053 -0.001174 [component_container_isolated-3] -0.004686 0.999952 0.008583 0.060055 [component_container_isolated-3] -0.476030 -0.009779 0.879375 0.018199 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.113221689] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.426,-0.305} [component_container_isolated-3] [DEBUG] [1762964966.113243050] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.633,28.419,-0.307} [component_container_isolated-3] [DEBUG] [1762964966.113279399] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.132106695] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.132168172] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.132208880] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.132254217] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000127 0.000095 -0.000182 [component_container_isolated-3] -0.000127 1.000000 0.000183 0.000810 [component_container_isolated-3] -0.000095 -0.000183 1.000000 0.000309 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.132280136] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.001,-0.002} {0.030,-0.038,-0.001} [component_container_isolated-3] [DEBUG] [1762964966.132329320] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.132373404] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.132414372] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981582 0.000005 0.191042 -0.006784 [component_container_isolated-3] -0.001724 0.999960 0.008832 0.059774 [component_container_isolated-3] -0.191034 -0.008998 0.981542 0.016568 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.132439541] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.001} {-0.525,11.013,-0.101} [component_container_isolated-3] [DEBUG] [1762964966.132471972] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,0.001} {-0.555,11.051,-0.100} [component_container_isolated-3] [DEBUG] [1762964966.132522178] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.137991123] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.138051358] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.138091094] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.138135538] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000044 0.000025 0.000202 [component_container_isolated-3] 0.000044 1.000000 0.000055 -0.000020 [component_container_isolated-3] -0.000025 -0.000055 1.000000 -0.000029 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.138161558] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.006,0.003} {0.007,0.051,0.031} [component_container_isolated-3] [DEBUG] [1762964966.138214359] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.138260838] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.138299962] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 -0.000021 0.185161 -0.006732 [component_container_isolated-3] -0.000069 1.000000 0.000477 0.060170 [component_container_isolated-3] -0.185161 -0.000481 0.982708 0.017347 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.138325762] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.028,10.671,-0.004} [component_container_isolated-3] [DEBUG] [1762964966.138363464] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.006,-0.004} {-0.041,10.619,-0.036} [component_container_isolated-3] [DEBUG] [1762964966.138408209] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.140101874] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.140145788] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.140182959] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.140225089] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000014 -0.000016 0.000008 [component_container_isolated-3] -0.000014 1.000000 0.000010 -0.000013 [component_container_isolated-3] 0.000016 -0.000010 1.000000 0.000048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.140248574] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.000} {-0.005,0.007,0.000} [component_container_isolated-3] [DEBUG] [1762964966.140293420] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.140333386] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.140371288] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879424 0.000043 0.476039 -0.001165 [component_container_isolated-3] -0.004700 0.999952 0.008593 0.060059 [component_container_isolated-3] -0.476016 -0.009794 0.879382 0.018211 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.140393942] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.426,-0.306} [component_container_isolated-3] [DEBUG] [1762964966.140426053] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.633,28.419,-0.307} [component_container_isolated-3] [DEBUG] [1762964966.140474786] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.147846654] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.147908332] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.147989066] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.148049001] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000199 0.000144 0.000157 [component_container_isolated-3] 0.000199 1.000000 0.000021 -0.000292 [component_container_isolated-3] -0.000144 -0.000021 1.000000 0.000336 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.148084338] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.002,0.003} {-0.019,0.031,0.035} [component_container_isolated-3] [DEBUG] [1762964966.148165493] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.148229826] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.148278690] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979038 -0.000157 0.203680 -0.006690 [component_container_isolated-3] 0.002551 0.999931 -0.011494 0.059408 [component_container_isolated-3] -0.203664 0.011772 0.978970 0.018968 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.148310881] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.689,11.751,0.149} [component_container_isolated-3] [DEBUG] [1762964966.148351949] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.700,11.721,0.114} [component_container_isolated-3] [DEBUG] [1762964966.148428506] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.162198383] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.162248919] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.162286471] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.162329694] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000042 -0.000087 0.000881 [component_container_isolated-3] -0.000042 1.000000 -0.000137 0.000465 [component_container_isolated-3] 0.000087 0.000137 1.000000 -0.000647 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.162354270] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.002,-0.002} {0.038,-0.043,-0.004} [component_container_isolated-3] [DEBUG] [1762964966.162404086] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.162451135] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.162490711] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981599 0.000073 0.190956 -0.006603 [component_container_isolated-3] -0.001765 0.999961 0.008695 0.059923 [component_container_isolated-3] -0.190948 -0.008872 0.981560 0.016405 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.162514326] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.001} {-0.518,11.008,-0.103} [component_container_isolated-3] [DEBUG] [1762964966.162545666] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.002,0.002} {-0.555,11.051,-0.100} [component_container_isolated-3] [DEBUG] [1762964966.162594900] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.167898629] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.167976357] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.168025200] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.168081979] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000199 0.000144 0.000157 [component_container_isolated-3] 0.000199 1.000000 0.000021 -0.000292 [component_container_isolated-3] -0.000144 -0.000021 1.000000 0.000336 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.168116605] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.002,0.003} {-0.020,0.039,0.046} [component_container_isolated-3] [DEBUG] [1762964966.168198632] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.168268665] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.168327718] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979038 -0.000157 0.203680 -0.006690 [component_container_isolated-3] 0.002551 0.999931 -0.011494 0.059408 [component_container_isolated-3] -0.203664 0.011772 0.978970 0.018968 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.168364488] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.689,11.751,0.149} [component_container_isolated-3] [DEBUG] [1762964966.168406879] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.699,11.713,0.102} [component_container_isolated-3] [DEBUG] [1762964966.168484588] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.172342475] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.172402660] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.172448097] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.172501199] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000033 0.000090 -0.000196 [component_container_isolated-3] -0.000033 1.000000 -0.000126 0.000000 [component_container_isolated-3] -0.000090 0.000126 1.000000 -0.000008 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.172531997] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.006,0.003} {0.014,0.056,0.030} [component_container_isolated-3] [DEBUG] [1762964966.172593645] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.172657297] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.172711981] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982691 0.000035 0.185250 -0.006737 [component_container_isolated-3] -0.000102 1.000000 0.000351 0.060149 [component_container_isolated-3] -0.185250 -0.000364 0.982691 0.017370 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.172745265] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.021,10.676,-0.006} [component_container_isolated-3] [DEBUG] [1762964966.172785782] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.006,-0.004} {-0.041,10.619,-0.036} [component_container_isolated-3] [DEBUG] [1762964966.172859553] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.187480425] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.187530361] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.187569766] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.187613499] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000043 0.000028 -0.000011 [component_container_isolated-3] 0.000043 1.000000 -0.000011 -0.000073 [component_container_isolated-3] -0.000028 0.000011 1.000000 -0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.187638698] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.000} {-0.004,0.008,0.003} [component_container_isolated-3] [DEBUG] [1762964966.187686950] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.187728629] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.187768095] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 0.000010 0.476064 -0.001161 [component_container_isolated-3] -0.004657 0.999952 0.008582 0.060054 [component_container_isolated-3] -0.476041 -0.009764 0.879369 0.018221 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.187791780] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.636,28.427,-0.303} [component_container_isolated-3] [DEBUG] [1762964966.187824593] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.633,28.419,-0.307} [component_container_isolated-3] [DEBUG] [1762964966.187874718] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.195808650] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.195861180] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.195899103] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.195981059] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000030 0.000258 -0.000724 [component_container_isolated-3] -0.000030 1.000000 0.000044 0.000334 [component_container_isolated-3] -0.000258 -0.000044 1.000000 0.000814 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.196007470] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.002,-0.001} {0.036,-0.028,-0.005} [component_container_isolated-3] [DEBUG] [1762964966.196056844] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.196103824] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.196142387] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981549 0.000093 0.191209 -0.006622 [component_container_isolated-3] -0.001797 0.999960 0.008739 0.060090 [component_container_isolated-3] -0.191201 -0.008921 0.981510 0.016504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.196166113] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.001} {-0.521,11.023,-0.105} [component_container_isolated-3] [DEBUG] [1762964966.196198435] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,0.001} {-0.555,11.051,-0.100} [component_container_isolated-3] [DEBUG] [1762964966.196247558] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.207478206] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.207530606] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.207568960] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.207612763] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000199 0.000144 0.000157 [component_container_isolated-3] 0.000199 1.000000 0.000021 -0.000292 [component_container_isolated-3] -0.000144 -0.000021 1.000000 0.000336 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.207637841] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.002,0.003} {-0.021,0.047,0.057} [component_container_isolated-3] [DEBUG] [1762964966.207686394] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.207728745] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.207764914] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979038 -0.000157 0.203680 -0.006690 [component_container_isolated-3] 0.002551 0.999931 -0.011494 0.059408 [component_container_isolated-3] -0.203664 0.011772 0.978970 0.018968 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.207787818] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.689,11.751,0.149} [component_container_isolated-3] [DEBUG] [1762964966.207821051] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.003} {0.698,11.705,0.090} [component_container_isolated-3] [DEBUG] [1762964966.207876767] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.208782387] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.208836120] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.208877448] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.208956770] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000202 -0.000355 -0.000329 [component_container_isolated-3] 0.000202 1.000000 -0.000099 -0.001063 [component_container_isolated-3] 0.000355 0.000099 1.000000 -0.001055 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.208984393] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.007,0.002} {0.020,0.036,0.041} [component_container_isolated-3] [DEBUG] [1762964966.209034739] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.209080196] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.209115583] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982757 -0.000146 0.184901 -0.006875 [component_container_isolated-3] 0.000101 1.000000 0.000252 0.059761 [component_container_isolated-3] -0.184901 -0.000229 0.982757 0.017101 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.209139920] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.013,10.655,0.006} [component_container_isolated-3] [DEBUG] [1762964966.209174165] [zed_multi.front]: +++ Diff [map -> odom] - {0.003,0.006,-0.003} {-0.041,10.619,-0.036} [component_container_isolated-3] [DEBUG] [1762964966.209225924] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.212405897] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.212460892] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.212501800] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.212544371] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000021 0.000053 0.000053 [component_container_isolated-3] -0.000021 1.000000 -0.000068 0.000143 [component_container_isolated-3] -0.000053 0.000068 1.000000 0.000135 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.212569590] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.000} {-0.000,0.011,0.002} [component_container_isolated-3] [DEBUG] [1762964966.212617731] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.212657457] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.212691653] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879386 0.000060 0.476110 -0.001138 [component_container_isolated-3] -0.004678 0.999953 0.008513 0.060067 [component_container_isolated-3] -0.476087 -0.009714 0.879344 0.018245 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.212713354] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.633,28.430,-0.305} [component_container_isolated-3] [DEBUG] [1762964966.212745485] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.000} {-0.633,28.419,-0.307} [component_container_isolated-3] [DEBUG] [1762964966.212797825] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.229971633] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.230023282] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.230061986] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.230104497] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000199 0.000144 0.000157 [component_container_isolated-3] 0.000199 1.000000 0.000021 -0.000292 [component_container_isolated-3] -0.000144 -0.000021 1.000000 0.000336 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.230153691] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.004} {-0.022,0.055,0.069} [component_container_isolated-3] [DEBUG] [1762964966.230207273] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.230253241] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.230292055] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979038 -0.000157 0.203680 -0.006690 [component_container_isolated-3] 0.002551 0.999931 -0.011494 0.059408 [component_container_isolated-3] -0.203664 0.011772 0.978970 0.018968 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.230314278] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.689,11.751,0.149} [component_container_isolated-3] [DEBUG] [1762964966.230344555] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.003} {0.697,11.697,0.078} [component_container_isolated-3] [DEBUG] [1762964966.230393539] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.232301382] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.232351538] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.232393268] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.232438705] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000241 -0.000050 -0.000129 [component_container_isolated-3] 0.000241 1.000000 0.000090 -0.001483 [component_container_isolated-3] 0.000050 -0.000090 1.000000 0.000081 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.232467029] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.001,-0.001} {0.030,-0.031,0.009} [component_container_isolated-3] [DEBUG] [1762964966.232520070] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.232567491] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.232705705] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981559 -0.000160 0.191160 -0.006665 [component_container_isolated-3] -0.001556 0.999960 0.008829 0.059804 [component_container_isolated-3] -0.191154 -0.008964 0.981519 0.016562 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.232728498] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.001} {-0.523,11.020,-0.091} [component_container_isolated-3] [DEBUG] [1762964966.232758806] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.001,0.001} {-0.555,11.051,-0.100} [component_container_isolated-3] [DEBUG] [1762964966.232807038] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.236977783] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.237029753] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.237104295] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.237149521] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000190 0.000298 0.000184 [component_container_isolated-3] -0.000190 1.000000 0.000158 0.001085 [component_container_isolated-3] -0.000298 -0.000158 1.000000 0.001134 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.237174289] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.006,0.004} {0.011,0.053,0.030} [component_container_isolated-3] [DEBUG] [1762964966.237222721] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.237268589] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.237306351] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000012 0.185195 -0.006852 [component_container_isolated-3] -0.000090 1.000000 0.000410 0.059831 [component_container_isolated-3] -0.185195 -0.000419 0.982702 0.017240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.237327902] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.024,10.672,-0.005} [component_container_isolated-3] [DEBUG] [1762964966.237375032] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.005,-0.004} {-0.041,10.619,-0.036} [component_container_isolated-3] [DEBUG] [1762964966.237429726] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.248549202] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.248599298] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.248639294] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.248682627] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000003 -0.000047 0.000053 [component_container_isolated-3] -0.000003 1.000000 -0.000032 -0.000088 [component_container_isolated-3] 0.000047 0.000032 1.000000 -0.000155 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.248733303] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.000} {0.001,0.009,0.002} [component_container_isolated-3] [DEBUG] [1762964966.248788328] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.248831761] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.248868121] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879408 0.000079 0.476069 -0.001126 [component_container_isolated-3] -0.004681 0.999953 0.008482 0.060068 [component_container_isolated-3] -0.476046 -0.009688 0.879367 0.018245 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.248890363] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.631,28.428,-0.305} [component_container_isolated-3] [DEBUG] [1762964966.248943986] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.633,28.419,-0.307} [component_container_isolated-3] [DEBUG] [1762964966.248994412] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.266979810] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.267032270] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.267071365] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.267114307] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000131 0.000045 -0.000360 [component_container_isolated-3] -0.000131 1.000000 -0.000089 0.000454 [component_container_isolated-3] -0.000045 0.000089 1.000000 0.000234 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.267138854] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.001,-0.001} {0.036,-0.028,0.001} [component_container_isolated-3] [DEBUG] [1762964966.267228625] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.267273461] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.267329909] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981550 -0.000015 0.191205 -0.006748 [component_container_isolated-3] -0.001687 0.999960 0.008740 0.059798 [component_container_isolated-3] -0.191197 -0.008902 0.981511 0.016671 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.267354756] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.520,11.023,-0.099} [component_container_isolated-3] [DEBUG] [1762964966.267385976] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.001,0.001} {-0.555,11.051,-0.100} [component_container_isolated-3] [DEBUG] [1762964966.267437264] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.273623548] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.273677250] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.273716135] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.273760369] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000001 -0.000011 0.000319 [component_container_isolated-3] 0.000001 1.000000 0.000104 0.000002 [component_container_isolated-3] 0.000011 -0.000104 1.000000 -0.000088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.273785607] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.006,0.003} {0.005,0.053,0.030} [component_container_isolated-3] [DEBUG] [1762964966.273833028] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.273874347] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.273909454] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 -0.000008 0.185184 -0.006816 [component_container_isolated-3] -0.000089 1.000000 0.000513 0.059853 [component_container_isolated-3] -0.185184 -0.000521 0.982704 0.017256 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.273972725] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.030,10.672,-0.005} [component_container_isolated-3] [DEBUG] [1762964966.274004756] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.005,-0.004} {-0.041,10.619,-0.036} [component_container_isolated-3] [DEBUG] [1762964966.274055803] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.286026935] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.286083473] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.286122087] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.286163726] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000047 -0.000117 -0.000011 [component_container_isolated-3] -0.000047 1.000000 0.000055 0.000124 [component_container_isolated-3] 0.000117 -0.000055 1.000000 -0.000307 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.286187482] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.003} {-0.025,0.049,0.066} [component_container_isolated-3] [DEBUG] [1762964966.286235023] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.286280059] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.286318783] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979061 -0.000122 0.203566 -0.006698 [component_container_isolated-3] 0.002503 0.999931 -0.011439 0.059398 [component_container_isolated-3] -0.203550 0.011709 0.978994 0.018994 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.286341215] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.685,11.745,0.146} [component_container_isolated-3] [DEBUG] [1762964966.286371593] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.003} {0.697,11.697,0.078} [component_container_isolated-3] [DEBUG] [1762964966.286420397] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.289568870] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.289623774] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.289661947] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.289704168] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000001 0.000007 -0.000066 [component_container_isolated-3] 0.000001 1.000000 0.000181 -0.000123 [component_container_isolated-3] -0.000007 -0.000181 1.000000 0.000008 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.289728675] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.000} {-0.009,0.009,0.002} [component_container_isolated-3] [DEBUG] [1762964966.289774492] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.289814699] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.289848704] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879404 -0.000008 0.476076 -0.001126 [component_container_isolated-3] -0.004680 0.999951 0.008663 0.060055 [component_container_isolated-3] -0.476053 -0.009847 0.879362 0.018238 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.289870496] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.428,-0.305} [component_container_isolated-3] [DEBUG] [1762964966.289904180] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.633,28.419,-0.307} [component_container_isolated-3] [DEBUG] [1762964966.289994562] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.296569279] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.296626478] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.296662948] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.296705960] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000028 -0.000131 0.000179 [component_container_isolated-3] -0.000028 1.000000 -0.000132 0.000437 [component_container_isolated-3] 0.000131 0.000132 1.000000 -0.000143 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.296730306] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.001,-0.001} {0.043,-0.036,-0.000} [component_container_isolated-3] [DEBUG] [1762964966.296777897] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.296824967] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.296863460] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981575 0.000038 0.191076 -0.006777 [component_container_isolated-3] -0.001714 0.999961 0.008608 0.059878 [component_container_isolated-3] -0.191068 -0.008777 0.981538 0.016721 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.296886484] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.512,11.015,-0.100} [component_container_isolated-3] [DEBUG] [1762964966.296948503] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,0.001} {-0.555,11.051,-0.100} [component_container_isolated-3] [DEBUG] [1762964966.297004219] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.302588504] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.302651655] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.302692082] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.302737789] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000018 -0.000045 -0.000224 [component_container_isolated-3] -0.000018 1.000000 -0.000011 -0.000020 [component_container_isolated-3] 0.000045 0.000011 1.000000 -0.000020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.302763178] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.006,0.003} {0.006,0.050,0.029} [component_container_isolated-3] [DEBUG] [1762964966.302812462] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.302855684] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.302894057] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000012 0.185140 -0.006821 [component_container_isolated-3] -0.000107 1.000000 0.000502 0.059864 [component_container_isolated-3] -0.185140 -0.000513 0.982712 0.017279 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.302918033] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.030,10.669,-0.006} [component_container_isolated-3] [DEBUG] [1762964966.302980533] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.005,-0.004} {-0.041,10.619,-0.036} [component_container_isolated-3] [DEBUG] [1762964966.303032372] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.308802381] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.308854791] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.308893745] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.308970592] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000001 0.000007 -0.000066 [component_container_isolated-3] 0.000001 1.000000 0.000181 -0.000123 [component_container_isolated-3] -0.000007 -0.000181 1.000000 0.000008 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.308996562] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.000} {-0.019,0.009,0.002} [component_container_isolated-3] [DEBUG] [1762964966.309044072] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.309084790] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.309119587] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879404 -0.000008 0.476076 -0.001126 [component_container_isolated-3] -0.004680 0.999951 0.008663 0.060055 [component_container_isolated-3] -0.476053 -0.009847 0.879362 0.018238 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.309140066] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.428,-0.305} [component_container_isolated-3] [DEBUG] [1762964966.309169392] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.623,28.419,-0.307} [component_container_isolated-3] [DEBUG] [1762964966.309217013] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.318916446] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.319012891] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.319052817] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.319099115] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000002 -0.000104 0.000369 [component_container_isolated-3] 0.000002 1.000000 -0.000098 -0.000126 [component_container_isolated-3] 0.000104 0.000098 1.000000 -0.000373 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.319125185] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.003} {-0.020,0.043,0.066} [component_container_isolated-3] [DEBUG] [1762964966.319175361] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.319218002] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.319258069] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 -0.000103 0.203463 -0.006666 [component_container_isolated-3] 0.002503 0.999930 -0.011538 0.059371 [component_container_isolated-3] -0.203448 0.011806 0.979015 0.018947 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.319282075] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.691,11.739,0.146} [component_container_isolated-3] [DEBUG] [1762964966.319313244] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.002,-0.002} {0.697,11.697,0.078} [component_container_isolated-3] [DEBUG] [1762964966.319361977] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.331707103] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.331771206] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.331814468] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.331862220] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000035 0.000115 -0.000173 [component_container_isolated-3] -0.000035 1.000000 0.000136 0.000064 [component_container_isolated-3] -0.000115 -0.000136 1.000000 0.000204 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.331890403] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.001} {0.035,-0.029,-0.003} [component_container_isolated-3] [DEBUG] [1762964966.331977971] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.332026964] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.332065828] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981553 0.000046 0.191189 -0.006819 [component_container_isolated-3] -0.001750 0.999960 0.008744 0.059929 [component_container_isolated-3] -0.191181 -0.008917 0.981514 0.016793 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.332089253] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.521,11.022,-0.102} [component_container_isolated-3] [DEBUG] [1762964966.332120232] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,0.001} {-0.555,11.051,-0.100} [component_container_isolated-3] [DEBUG] [1762964966.332170118] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.336980314] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.337030660] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.337072721] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.337117115] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000001 0.000007 -0.000066 [component_container_isolated-3] 0.000001 1.000000 0.000181 -0.000123 [component_container_isolated-3] -0.000007 -0.000181 1.000000 0.000008 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.337143876] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.000} {-0.030,0.010,0.002} [component_container_isolated-3] [DEBUG] [1762964966.337199503] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.337243857] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.337281920] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879404 -0.000008 0.476076 -0.001126 [component_container_isolated-3] -0.004680 0.999951 0.008663 0.060055 [component_container_isolated-3] -0.476053 -0.009847 0.879362 0.018238 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.337304934] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.428,-0.305} [component_container_isolated-3] [DEBUG] [1762964966.337337666] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.000} {-0.613,28.418,-0.307} [component_container_isolated-3] [DEBUG] [1762964966.337386259] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.338062681] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.338110262] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.338146030] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.338183361] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000108 -0.000084 -0.000657 [component_container_isolated-3] 0.000108 1.000000 -0.000159 -0.000696 [component_container_isolated-3] 0.000084 0.000159 1.000000 -0.000888 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.338204672] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.004,-0.006,0.003} {0.015,0.045,0.035} [component_container_isolated-3] [DEBUG] [1762964966.338245490] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.338280116] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.338307679] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982728 -0.000065 0.185057 -0.007035 [component_container_isolated-3] 0.000001 1.000000 0.000343 0.059716 [component_container_isolated-3] -0.185057 -0.000337 0.982728 0.017124 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.338325212] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.020,10.664,0.000} [component_container_isolated-3] [DEBUG] [1762964966.338347455] [zed_multi.front]: +++ Diff [map -> odom] - {0.003,0.006,-0.004} {-0.041,10.619,-0.036} [component_container_isolated-3] [DEBUG] [1762964966.338385968] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.363366836] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.363429295] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.363469602] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.363515880] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000056 -0.000188 0.000195 [component_container_isolated-3] -0.000056 1.000000 0.000071 0.000508 [component_container_isolated-3] 0.000188 -0.000071 1.000000 -0.000411 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.363541079] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.002,0.003} {-0.024,0.032,0.063} [component_container_isolated-3] [DEBUG] [1762964966.363591876] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.363636721] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.363677068] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979121 -0.000063 0.203279 -0.006632 [component_container_isolated-3] 0.002445 0.999931 -0.011468 0.059442 [component_container_isolated-3] -0.203264 0.011725 0.979054 0.018812 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.363701425] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.686,11.728,0.143} [component_container_isolated-3] [DEBUG] [1762964966.363735350] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.002,-0.002} {0.697,11.697,0.078} [component_container_isolated-3] [DEBUG] [1762964966.363784564] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.365833827] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.365887830] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.365953786] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.366001447] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000069 -0.000126 0.000410 [component_container_isolated-3] 0.000069 1.000000 -0.000018 -0.000306 [component_container_isolated-3] 0.000126 0.000018 1.000000 -0.000379 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.366027026] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.001,-0.001} {0.036,-0.037,0.001} [component_container_isolated-3] [DEBUG] [1762964966.366081089] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.366129141] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.366168967] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981577 -0.000018 0.191065 -0.006817 [component_container_isolated-3] -0.001680 0.999960 0.008726 0.059933 [component_container_isolated-3] -0.191058 -0.008886 0.981539 0.016798 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.366191380] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.519,11.015,-0.098} [component_container_isolated-3] [DEBUG] [1762964966.366223622] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.001,0.001} {-0.555,11.051,-0.100} [component_container_isolated-3] [DEBUG] [1762964966.366275330] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.373269237] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.373319583] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.373360772] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.373407150] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000058 -0.000142 0.000240 [component_container_isolated-3] 0.000058 1.000000 0.000034 -0.000218 [component_container_isolated-3] 0.000142 -0.000034 1.000000 -0.000082 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.373432669] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.007,0.002} {0.013,0.037,0.039} [component_container_isolated-3] [DEBUG] [1762964966.373480541] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.373522020] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.373556856] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982754 -0.000128 0.184917 -0.007095 [component_container_isolated-3] 0.000060 1.000000 0.000377 0.059603 [component_container_isolated-3] -0.184917 -0.000360 0.982754 0.017045 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.373578287] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.021,10.656,0.003} [component_container_isolated-3] [DEBUG] [1762964966.373608735] [zed_multi.front]: +++ Diff [map -> odom] - {0.003,0.006,-0.004} {-0.041,10.619,-0.036} [component_container_isolated-3] [DEBUG] [1762964966.373659452] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.379419863] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.379469939] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.379510306] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.379554390] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000035 0.000084 -0.000010 [component_container_isolated-3] -0.000035 1.000000 -0.000048 0.000233 [component_container_isolated-3] -0.000084 0.000048 1.000000 0.000115 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.379583025] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.000} {-0.027,0.015,-0.000} [component_container_isolated-3] [DEBUG] [1762964966.379632589] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.379673357] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.379707513] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879365 0.000045 0.476149 -0.001111 [component_container_isolated-3] -0.004716 0.999952 0.008615 0.060074 [component_container_isolated-3] -0.476126 -0.009822 0.879322 0.018256 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.379729675] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,0.000} {-0.640,28.433,-0.307} [component_container_isolated-3] [DEBUG] [1762964966.379758991] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.000} {-0.613,28.418,-0.307} [component_container_isolated-3] [DEBUG] [1762964966.379812493] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.388165716] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.388218376] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.388255106] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.388296956] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000079 -0.000022 0.000012 [component_container_isolated-3] -0.000079 1.000000 -0.000098 0.000053 [component_container_isolated-3] 0.000022 0.000098 1.000000 -0.000110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.388322185] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.002,0.002} {-0.018,0.031,0.058} [component_container_isolated-3] [DEBUG] [1762964966.388368443] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.388412798] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.388452333] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979125 0.000034 0.203257 -0.006609 [component_container_isolated-3] 0.002366 0.999930 -0.011566 0.059482 [component_container_isolated-3] -0.203243 0.011805 0.979057 0.018730 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.388475778] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.727,0.138} [component_container_isolated-3] [DEBUG] [1762964966.388507999] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.002,-0.002} {0.697,11.697,0.078} [component_container_isolated-3] [DEBUG] [1762964966.388560540] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.396706016] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.396758235] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.396797540] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.396841384] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000079 -0.000022 0.000012 [component_container_isolated-3] -0.000079 1.000000 -0.000098 0.000053 [component_container_isolated-3] 0.000022 0.000098 1.000000 -0.000110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.396866592] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.002,0.002} {-0.012,0.029,0.054} [component_container_isolated-3] [DEBUG] [1762964966.396915516] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.396997683] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.397036988] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979125 0.000034 0.203257 -0.006609 [component_container_isolated-3] 0.002366 0.999930 -0.011566 0.059482 [component_container_isolated-3] -0.203243 0.011805 0.979057 0.018730 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.397061014] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.727,0.138} [component_container_isolated-3] [DEBUG] [1762964966.397094007] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.002,-0.002} {0.692,11.698,0.083} [component_container_isolated-3] [DEBUG] [1762964966.397146096] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.398056615] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.398111139] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.398153821] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.398198496] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000030 0.000052 0.000142 [component_container_isolated-3] -0.000030 1.000000 -0.000028 0.000219 [component_container_isolated-3] -0.000052 0.000028 1.000000 0.000070 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.398223944] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.001,-0.001} {0.038,-0.034,-0.000} [component_container_isolated-3] [DEBUG] [1762964966.398272467] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.398315489] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.398351238] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981567 0.000017 0.191116 -0.006788 [component_container_isolated-3] -0.001711 0.999961 0.008698 0.059966 [component_container_isolated-3] -0.191108 -0.008865 0.981529 0.016803 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.398375534] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.517,11.017,-0.100} [component_container_isolated-3] [DEBUG] [1762964966.398407645] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.002,0.001} {-0.555,11.051,-0.100} [component_container_isolated-3] [DEBUG] [1762964966.398457420] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.405387635] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.405438553] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.405482376] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.405527042] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000153 0.000367 0.000461 [component_container_isolated-3] -0.000153 1.000000 -0.000009 0.000965 [component_container_isolated-3] -0.000367 0.000009 1.000000 0.001112 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.405551077] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.006,0.004} {0.013,0.058,0.030} [component_container_isolated-3] [DEBUG] [1762964966.405596775] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.405637743] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.405672249] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982686 0.000024 0.185278 -0.007006 [component_container_isolated-3] -0.000094 1.000000 0.000369 0.059725 [component_container_isolated-3] -0.185278 -0.000380 0.982686 0.017227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.405693149] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.022,10.677,-0.005} [component_container_isolated-3] [DEBUG] [1762964966.405727194] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.005,-0.004} {-0.041,10.619,-0.036} [component_container_isolated-3] [DEBUG] [1762964966.405779935] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.414077321] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.414130492] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.414170659] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.414219071] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000072 -0.000090 0.000203 [component_container_isolated-3] 0.000072 1.000000 -0.000083 -0.000095 [component_container_isolated-3] 0.000090 0.000083 1.000000 -0.000231 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.414245862] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.000} {-0.022,0.009,0.004} [component_container_isolated-3] [DEBUG] [1762964966.414294716] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.414335854] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.414372524] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879408 0.000022 0.476070 -0.001093 [component_container_isolated-3] -0.004644 0.999953 0.008532 0.060074 [component_container_isolated-3] -0.476047 -0.009714 0.879366 0.018234 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.414393865] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.633,28.428,-0.303} [component_container_isolated-3] [DEBUG] [1762964966.414423782] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.613,28.418,-0.307} [component_container_isolated-3] [DEBUG] [1762964966.414476363] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.424904057] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.424989100] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.425028916] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.425073691] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000153 0.000367 0.000461 [component_container_isolated-3] -0.000153 1.000000 -0.000009 0.000965 [component_container_isolated-3] -0.000367 0.000009 1.000000 0.001112 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.425097827] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.005,0.005} {0.014,0.079,0.021} [component_container_isolated-3] [DEBUG] [1762964966.425145628] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.425186907] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.425221864] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982686 0.000024 0.185278 -0.007006 [component_container_isolated-3] -0.000094 1.000000 0.000369 0.059725 [component_container_isolated-3] -0.185278 -0.000380 0.982686 0.017227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.425243085] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.022,10.677,-0.005} [component_container_isolated-3] [DEBUG] [1762964966.425273453] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.004,-0.005} {-0.040,10.598,-0.027} [component_container_isolated-3] [DEBUG] [1762964966.425321154] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.430662765] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.430718130] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.430759650] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.430805638] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000006 -0.000112 0.000102 [component_container_isolated-3] -0.000006 1.000000 0.000105 -0.000347 [component_container_isolated-3] 0.000112 -0.000105 1.000000 -0.000261 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.430832649] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.001,-0.002} {0.032,-0.040,-0.001} [component_container_isolated-3] [DEBUG] [1762964966.430882534] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.430955905] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.430999067] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981589 0.000003 0.191006 -0.006764 [component_container_isolated-3] -0.001716 0.999960 0.008804 0.059943 [component_container_isolated-3] -0.190998 -0.008970 0.981549 0.016764 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.431023804] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.524,11.011,-0.100} [component_container_isolated-3] [DEBUG] [1762964966.431057348] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.001,0.001} {-0.555,11.051,-0.100} [component_container_isolated-3] [DEBUG] [1762964966.431108556] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.447612154] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.447662560] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.447699822] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.447742633] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000124 0.000067 -0.000171 [component_container_isolated-3] 0.000124 1.000000 -0.000117 -0.000576 [component_container_isolated-3] -0.000067 0.000117 1.000000 0.000009 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.447768593] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.002} {-0.006,0.033,0.061} [component_container_isolated-3] [DEBUG] [1762964966.447815192] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.447859677] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.447897269] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979112 -0.000063 0.203322 -0.006606 [component_container_isolated-3] 0.002490 0.999929 -0.011682 0.059412 [component_container_isolated-3] -0.203307 0.011944 0.979042 0.018685 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.447948306] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.699,11.730,0.146} [component_container_isolated-3] [DEBUG] [1762964966.447985808] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.692,11.698,0.083} [component_container_isolated-3] [DEBUG] [1762964966.448042997] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.449488698] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.449538443] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.449578459] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.449622213] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000001 -0.000018 -0.000075 [component_container_isolated-3] 0.000001 1.000000 0.000092 0.000027 [component_container_isolated-3] 0.000018 -0.000092 1.000000 0.000034 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.449648623] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.000} {-0.027,0.008,0.004} [component_container_isolated-3] [DEBUG] [1762964966.449696665] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.449738024] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.449772450] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879416 -0.000023 0.476054 -0.001088 [component_container_isolated-3] -0.004642 0.999952 0.008625 0.060079 [component_container_isolated-3] -0.476031 -0.009795 0.879374 0.018220 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.449793841] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.426,-0.302} [component_container_isolated-3] [DEBUG] [1762964966.449822706] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.613,28.418,-0.307} [component_container_isolated-3] [DEBUG] [1762964966.449874384] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.460451013] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.460512220] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.460554290] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.460638802] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000153 0.000367 0.000461 [component_container_isolated-3] -0.000153 1.000000 -0.000009 0.000965 [component_container_isolated-3] -0.000367 0.000009 1.000000 0.001112 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.460665372] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {0.014,0.100,0.012} [component_container_isolated-3] [DEBUG] [1762964966.460731629] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.460782065] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.460826099] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982686 0.000024 0.185278 -0.007006 [component_container_isolated-3] -0.000094 1.000000 0.000369 0.059725 [component_container_isolated-3] -0.185278 -0.000380 0.982686 0.017227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.460844635] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.022,10.677,-0.005} [component_container_isolated-3] [DEBUG] [1762964966.460866326] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.039,10.577,-0.018} [component_container_isolated-3] [DEBUG] [1762964966.460907014] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.465394123] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.465450070] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.465490638] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.465538910] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000026 0.000167 -0.000031 [component_container_isolated-3] 0.000026 1.000000 0.000050 0.000429 [component_container_isolated-3] -0.000167 -0.000050 1.000000 0.000533 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.465565611] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.002,-0.001} {0.029,-0.031,0.001} [component_container_isolated-3] [DEBUG] [1762964966.465616568] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.465658829] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.465693775] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981557 -0.000032 0.191170 -0.006729 [component_container_isolated-3] -0.001692 0.999959 0.008854 0.060002 [component_container_isolated-3] -0.191162 -0.009014 0.981517 0.016840 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.465715928] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.526,11.021,-0.099} [component_container_isolated-3] [DEBUG] [1762964966.465748430] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.002,0.001} {-0.555,11.051,-0.100} [component_container_isolated-3] [DEBUG] [1762964966.465801561] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.478879958] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.478973537] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.479013453] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.479056806] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000035 -0.000032 -0.000012 [component_container_isolated-3] -0.000035 1.000000 0.000035 -0.000006 [component_container_isolated-3] 0.000032 -0.000035 1.000000 -0.000038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.479082254] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.000} {-0.029,0.007,0.002} [component_container_isolated-3] [DEBUG] [1762964966.479167798] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.479216491] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.479256036] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 -0.000009 0.476025 -0.001084 [component_container_isolated-3] -0.004677 0.999952 0.008659 0.060083 [component_container_isolated-3] -0.476002 -0.009842 0.879389 0.018206 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.479280052] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.641,28.425,-0.305} [component_container_isolated-3] [DEBUG] [1762964966.479333614] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.613,28.418,-0.307} [component_container_isolated-3] [DEBUG] [1762964966.479383820] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.484585204] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.484641331] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.484682229] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.484734058] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000026 0.000167 -0.000031 [component_container_isolated-3] 0.000026 1.000000 0.000050 0.000429 [component_container_isolated-3] -0.000167 -0.000050 1.000000 0.000533 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.484765167] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.002,-0.001} {0.026,-0.021,0.002} [component_container_isolated-3] [DEBUG] [1762964966.484820243] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.484952164] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.484996068] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981557 -0.000032 0.191170 -0.006729 [component_container_isolated-3] -0.001692 0.999959 0.008854 0.060002 [component_container_isolated-3] -0.191162 -0.009014 0.981517 0.016840 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.485022579] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.526,11.021,-0.099} [component_container_isolated-3] [DEBUG] [1762964966.485063307] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.002,0.000} {-0.553,11.042,-0.101} [component_container_isolated-3] [DEBUG] [1762964966.485126147] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.488776217] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.488831513] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.488872171] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.488916786] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000014 0.000040 -0.000077 [component_container_isolated-3] -0.000014 1.000000 0.000060 0.000089 [component_container_isolated-3] -0.000040 -0.000060 1.000000 0.000149 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.488984425] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.003} {-0.009,0.035,0.060} [component_container_isolated-3] [DEBUG] [1762964966.489084937] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.489132969] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.489174608] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979104 -0.000061 0.203361 -0.006609 [component_container_isolated-3] 0.002476 0.999929 -0.011622 0.059399 [component_container_isolated-3] -0.203346 0.011883 0.979035 0.018642 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.489197512] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.733,0.145} [component_container_isolated-3] [DEBUG] [1762964966.489227529] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.692,11.698,0.083} [component_container_isolated-3] [DEBUG] [1762964966.489277284] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.501574048] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.501627781] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.501670703] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.501715358] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000025 -0.000199 0.000072 [component_container_isolated-3] -0.000025 1.000000 0.000027 0.000031 [component_container_isolated-3] 0.000199 -0.000027 1.000000 -0.000100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.501740085] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {0.013,0.089,0.011} [component_container_isolated-3] [DEBUG] [1762964966.501789540] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.501834085] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.501870194] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982723 0.000044 0.185083 -0.006972 [component_container_isolated-3] -0.000119 1.000000 0.000396 0.059770 [component_container_isolated-3] -0.185083 -0.000411 0.982723 0.017253 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.501893298] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.024,10.666,-0.007} [component_container_isolated-3] [DEBUG] [1762964966.501968832] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.039,10.577,-0.018} [component_container_isolated-3] [DEBUG] [1762964966.502036000] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.504388062] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.504435373] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.504471301] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.504513091] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000035 -0.000032 -0.000012 [component_container_isolated-3] -0.000035 1.000000 0.000035 -0.000006 [component_container_isolated-3] 0.000032 -0.000035 1.000000 -0.000038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.504536676] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,-0.000} {-0.031,0.005,-0.000} [component_container_isolated-3] [DEBUG] [1762964966.504582734] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.504626938] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.504665953] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 -0.000009 0.476025 -0.001084 [component_container_isolated-3] -0.004677 0.999952 0.008659 0.060083 [component_container_isolated-3] -0.476002 -0.009842 0.879389 0.018206 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.504688396] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.641,28.425,-0.305} [component_container_isolated-3] [DEBUG] [1762964966.504720517] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.610,28.420,-0.305} [component_container_isolated-3] [DEBUG] [1762964966.504771955] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.513772013] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.513824834] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.513865953] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.513908624] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000041 0.000276 -0.000762 [component_container_isolated-3] -0.000041 1.000000 0.000056 -0.000076 [component_container_isolated-3] -0.000276 -0.000056 1.000000 0.000892 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.513977275] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.003} {-0.012,0.051,0.058} [component_container_isolated-3] [DEBUG] [1762964966.514027141] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.514067738] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.514101783] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979048 -0.000033 0.203631 -0.006756 [component_container_isolated-3] 0.002439 0.999930 -0.011565 0.059374 [component_container_isolated-3] -0.203617 0.011820 0.978979 0.018856 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.514122883] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.749,0.143} [component_container_isolated-3] [DEBUG] [1762964966.514155305] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.003} {0.692,11.698,0.083} [component_container_isolated-3] [DEBUG] [1762964966.514207214] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.525431560] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.525476857] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.525512264] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.525554134] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000025 -0.000199 0.000072 [component_container_isolated-3] -0.000025 1.000000 0.000027 0.000031 [component_container_isolated-3] 0.000199 -0.000027 1.000000 -0.000100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.525578240] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {0.011,0.077,0.010} [component_container_isolated-3] [DEBUG] [1762964966.525624138] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.525666429] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.525704852] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982723 0.000044 0.185083 -0.006972 [component_container_isolated-3] -0.000119 1.000000 0.000396 0.059770 [component_container_isolated-3] -0.185083 -0.000411 0.982723 0.017253 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.525728417] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.024,10.666,-0.007} [component_container_isolated-3] [DEBUG] [1762964966.525761350] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.037,10.589,-0.017} [component_container_isolated-3] [DEBUG] [1762964966.525813901] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.533646569] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.533703408] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.533744376] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.533788831] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000075 -0.000088 -0.000214 [component_container_isolated-3] 0.000075 1.000000 -0.000160 -0.000747 [component_container_isolated-3] 0.000088 0.000160 1.000000 -0.000284 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.533813979] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.001,-0.001} {0.035,-0.026,0.007} [component_container_isolated-3] [DEBUG] [1762964966.533862371] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.533906055] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.533984364] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981574 -0.000075 0.191084 -0.006739 [component_container_isolated-3] -0.001616 0.999961 0.008694 0.059877 [component_container_isolated-3] -0.191077 -0.008843 0.981535 0.016854 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.534008450] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.516,11.016,-0.094} [component_container_isolated-3] [DEBUG] [1762964966.534039660] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.001,0.001} {-0.553,11.042,-0.101} [component_container_isolated-3] [DEBUG] [1762964966.534092120] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.550505415] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.550557895] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.550596489] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.550640573] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000005 -0.000014 0.000054 [component_container_isolated-3] -0.000005 1.000000 -0.000063 -0.000089 [component_container_isolated-3] 0.000014 0.000063 1.000000 0.000079 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.550664589] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.000} {-0.028,0.004,-0.000} [component_container_isolated-3] [DEBUG] [1762964966.550710537] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.550751676] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.550786742] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879438 0.000025 0.476013 -0.001069 [component_container_isolated-3] -0.004682 0.999952 0.008596 0.060075 [component_container_isolated-3] -0.475990 -0.009789 0.879396 0.018203 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.550808063] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.424,-0.305} [component_container_isolated-3] [DEBUG] [1762964966.550839814] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,0.000} {-0.610,28.420,-0.305} [component_container_isolated-3] [DEBUG] [1762964966.550891873] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.557182437] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.557245197] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.557287147] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.557331812] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000087 -0.000038 0.000346 [component_container_isolated-3] -0.000087 1.000000 0.000031 0.000242 [component_container_isolated-3] 0.000038 -0.000031 1.000000 -0.000210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.557357491] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.002,0.003} {-0.014,0.049,0.053} [component_container_isolated-3] [DEBUG] [1762964966.557404441] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.557445920] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.557481428] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979055 0.000046 0.203594 -0.006777 [component_container_isolated-3] 0.002352 0.999931 -0.011534 0.059384 [component_container_isolated-3] -0.203580 0.011771 0.978987 0.018887 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.557504221] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.746,0.138} [component_container_isolated-3] [DEBUG] [1762964966.557535601] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.003} {0.692,11.698,0.083} [component_container_isolated-3] [DEBUG] [1762964966.557595476] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.570752813] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.570807668] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.570848896] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.570894313] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000009 0.000055 0.000500 [component_container_isolated-3] -0.000009 1.000000 0.000091 0.000189 [component_container_isolated-3] -0.000055 -0.000091 1.000000 -0.000010 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.570942375] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.001,-0.001} {0.030,-0.023,0.006} [component_container_isolated-3] [DEBUG] [1762964966.570995276] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.571043207] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.571083344] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981563 -0.000084 0.191138 -0.006645 [component_container_isolated-3] -0.001625 0.999960 0.008785 0.059857 [component_container_isolated-3] -0.191131 -0.008934 0.981524 0.016832 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.571107100] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.521,11.019,-0.095} [component_container_isolated-3] [DEBUG] [1762964966.571139972] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.002,0.001} {-0.553,11.042,-0.101} [component_container_isolated-3] [DEBUG] [1762964966.571191651] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.572121276] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.572172394] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.572212641] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.572257647] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000028 0.000143 -0.000002 [component_container_isolated-3] 0.000028 1.000000 0.000032 -0.000018 [component_container_isolated-3] -0.000143 -0.000032 1.000000 -0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.572283426] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {0.009,0.086,0.011} [component_container_isolated-3] [DEBUG] [1762964966.572338371] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.572390330] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.572420277] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 0.000010 0.185223 -0.006948 [component_container_isolated-3] -0.000091 1.000000 0.000428 0.059795 [component_container_isolated-3] -0.185223 -0.000437 0.982696 0.017275 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.572438282] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.025,10.674,-0.005} [component_container_isolated-3] [DEBUG] [1762964966.572460544] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.037,10.589,-0.017} [component_container_isolated-3] [DEBUG] [1762964966.572500190] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.581818646] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.581865516] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.581903087] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.581980505] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000055 -0.000188 0.000574 [component_container_isolated-3] 0.000055 1.000000 -0.000046 -0.000009 [component_container_isolated-3] 0.000188 0.000046 1.000000 -0.000578 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.582006585] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.002,0.003} {-0.012,0.038,0.056} [component_container_isolated-3] [DEBUG] [1762964966.582054096] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.582099182] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.582138026] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979094 0.000001 0.203410 -0.006706 [component_container_isolated-3] 0.002405 0.999930 -0.011580 0.059387 [component_container_isolated-3] -0.203396 0.011827 0.979025 0.018789 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.582161391] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.736,0.141} [component_container_isolated-3] [DEBUG] [1762964966.582193823] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.002,-0.002} {0.692,11.698,0.083} [component_container_isolated-3] [DEBUG] [1762964966.582250601] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.585124870] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.585175938] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.585225352] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.585285347] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000009 0.000031 -0.000011 [component_container_isolated-3] -0.000009 1.000000 0.000051 0.000054 [component_container_isolated-3] -0.000031 -0.000051 1.000000 -0.000018 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.585321736] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.000} {-0.031,0.006,-0.001} [component_container_isolated-3] [DEBUG] [1762964966.585390858] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.585447867] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.585500117] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879424 0.000009 0.476040 -0.001061 [component_container_isolated-3] -0.004691 0.999952 0.008648 0.060075 [component_container_isolated-3] -0.476016 -0.009838 0.879381 0.018194 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.585531427] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.641,28.426,-0.306} [component_container_isolated-3] [DEBUG] [1762964966.585574158] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.610,28.420,-0.305} [component_container_isolated-3] [DEBUG] [1762964966.585648891] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.589637308] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.589693275] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.589729985] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.589773708] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000028 0.000143 -0.000002 [component_container_isolated-3] 0.000028 1.000000 0.000032 -0.000018 [component_container_isolated-3] -0.000143 -0.000032 1.000000 -0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.589798455] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {0.008,0.094,0.013} [component_container_isolated-3] [DEBUG] [1762964966.589845575] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.589894629] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.589966015] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 0.000010 0.185223 -0.006948 [component_container_isolated-3] -0.000091 1.000000 0.000428 0.059795 [component_container_isolated-3] -0.185223 -0.000437 0.982696 0.017275 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.589992887] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.025,10.674,-0.005} [component_container_isolated-3] [DEBUG] [1762964966.590026210] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.035,10.580,-0.018} [component_container_isolated-3] [DEBUG] [1762964966.590078631] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.600515693] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.600579875] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.600620122] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.600664727] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000005 -0.000077 -0.000219 [component_container_isolated-3] -0.000005 1.000000 -0.000019 0.000057 [component_container_isolated-3] 0.000077 0.000019 1.000000 -0.000404 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.600690256] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.001,-0.001} {0.031,-0.027,0.006} [component_container_isolated-3] [DEBUG] [1762964966.600740131] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.600782913] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.600819172] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981578 -0.000076 0.191062 -0.006641 [component_container_isolated-3] -0.001629 0.999960 0.008766 0.059845 [component_container_isolated-3] -0.191055 -0.008915 0.981539 0.016754 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.600843128] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.520,11.014,-0.095} [component_container_isolated-3] [DEBUG] [1762964966.600872624] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.002,0.001} {-0.553,11.042,-0.101} [component_container_isolated-3] [DEBUG] [1762964966.600960422] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.606845812] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.606901699] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.606972464] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.607021147] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000009 0.000031 -0.000011 [component_container_isolated-3] -0.000009 1.000000 0.000051 0.000054 [component_container_isolated-3] -0.000031 -0.000051 1.000000 -0.000018 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.607047948] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.000} {-0.034,0.007,-0.001} [component_container_isolated-3] [DEBUG] [1762964966.607099787] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.607142338] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.607181052] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879424 0.000009 0.476040 -0.001061 [component_container_isolated-3] -0.004691 0.999952 0.008648 0.060075 [component_container_isolated-3] -0.476016 -0.009838 0.879381 0.018194 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.607207974] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.641,28.426,-0.306} [component_container_isolated-3] [DEBUG] [1762964966.607239003] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.606,28.418,-0.304} [component_container_isolated-3] [DEBUG] [1762964966.607288547] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.618961650] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.619015533] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.619057293] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.619105585] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000073 0.000028 0.000019 [component_container_isolated-3] 0.000073 1.000000 0.000035 -0.000196 [component_container_isolated-3] -0.000028 -0.000035 1.000000 0.000034 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.619130533] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.003} {-0.014,0.040,0.060} [component_container_isolated-3] [DEBUG] [1762964966.619178925] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.619219372] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.619254379] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979088 -0.000077 0.203437 -0.006675 [component_container_isolated-3] 0.002478 0.999930 -0.011545 0.059365 [component_container_isolated-3] -0.203422 0.011808 0.979020 0.018753 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.619279096] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.737,0.145} [component_container_isolated-3] [DEBUG] [1762964966.619309665] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.002,-0.002} {0.692,11.698,0.083} [component_container_isolated-3] [DEBUG] [1762964966.619358799] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.630706650] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.630758720] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.630795720] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.630839775] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000135 -0.000072 -0.000034 [component_container_isolated-3] -0.000135 1.000000 0.000036 0.000562 [component_container_isolated-3] 0.000072 -0.000036 1.000000 -0.000313 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.630864993] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.002,-0.002} {0.029,-0.031,-0.002} [component_container_isolated-3] [DEBUG] [1762964966.630912533] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.630988599] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.631028675] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981592 0.000049 0.190991 -0.006647 [component_container_isolated-3] -0.001763 0.999960 0.008802 0.059951 [component_container_isolated-3] -0.190983 -0.008977 0.981552 0.016634 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.631052942] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.524,11.010,-0.103} [component_container_isolated-3] [DEBUG] [1762964966.631088740] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.002,0.001} {-0.553,11.042,-0.101} [component_container_isolated-3] [DEBUG] [1762964966.631139006] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.631621217] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.631665451] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.631704195] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.631748650] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000073 0.000028 0.000019 [component_container_isolated-3] 0.000073 1.000000 0.000035 -0.000196 [component_container_isolated-3] -0.000028 -0.000035 1.000000 0.000034 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.631775271] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.003} {-0.016,0.041,0.064} [component_container_isolated-3] [DEBUG] [1762964966.631824956] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.631868189] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.631903646] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979088 -0.000077 0.203437 -0.006675 [component_container_isolated-3] 0.002478 0.999930 -0.011545 0.059365 [component_container_isolated-3] -0.203422 0.011808 0.979020 0.018753 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.631941749] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.737,0.145} [component_container_isolated-3] [DEBUG] [1762964966.631973259] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.002,-0.002} {0.693,11.697,0.079} [component_container_isolated-3] [DEBUG] [1762964966.632024798] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.636290133] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.636340059] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.636377731] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.636421935] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 -0.000084 -0.000041 [component_container_isolated-3] 0.000003 1.000000 0.000012 -0.000033 [component_container_isolated-3] 0.000084 -0.000012 1.000000 -0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.636446622] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {0.007,0.089,0.013} [component_container_isolated-3] [DEBUG] [1762964966.636493412] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.636536694] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.636576350] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000005 0.185140 -0.006931 [component_container_isolated-3] -0.000088 1.000000 0.000440 0.059817 [component_container_isolated-3] -0.185140 -0.000448 0.982712 0.017294 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.636600045] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.026,10.669,-0.005} [component_container_isolated-3] [DEBUG] [1762964966.636633038] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.035,10.580,-0.018} [component_container_isolated-3] [DEBUG] [1762964966.636686050] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.648271996] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.648329185] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.648368831] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.648414338] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000135 -0.000072 -0.000034 [component_container_isolated-3] -0.000135 1.000000 0.000036 0.000562 [component_container_isolated-3] 0.000072 -0.000036 1.000000 -0.000313 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.648439015] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.003,-0.002} {0.027,-0.036,-0.010} [component_container_isolated-3] [DEBUG] [1762964966.648485964] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.648527664] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.648568131] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981592 0.000049 0.190991 -0.006647 [component_container_isolated-3] -0.001763 0.999960 0.008802 0.059951 [component_container_isolated-3] -0.190983 -0.008977 0.981552 0.016634 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.648590915] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.524,11.010,-0.103} [component_container_isolated-3] [DEBUG] [1762964966.648621634] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,0.001} {-0.549,11.046,-0.093} [component_container_isolated-3] [DEBUG] [1762964966.648671499] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.650785336] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.650842785] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.650884445] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.650962043] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000004 -0.000018 -0.000100 [component_container_isolated-3] -0.000004 1.000000 0.000014 0.000063 [component_container_isolated-3] 0.000018 -0.000014 1.000000 -0.000049 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.650991279] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.034,0.006,-0.002} [component_container_isolated-3] [DEBUG] [1762964966.651041956] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.651086321] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.651121548] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879433 0.000006 0.476023 -0.001065 [component_container_isolated-3] -0.004695 0.999951 0.008661 0.060083 [component_container_isolated-3] -0.476000 -0.009852 0.879390 0.018189 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.651145684] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.424,-0.306} [component_container_isolated-3] [DEBUG] [1762964966.651176222] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.606,28.418,-0.304} [component_container_isolated-3] [DEBUG] [1762964966.651224585] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.667833273] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.667888469] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.667957711] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.668004420] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000004 -0.000018 -0.000100 [component_container_isolated-3] -0.000004 1.000000 0.000014 0.000063 [component_container_isolated-3] 0.000018 -0.000014 1.000000 -0.000049 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.668029237] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.035,0.005,-0.002} [component_container_isolated-3] [DEBUG] [1762964966.668077580] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.668120872] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.668160999] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879433 0.000006 0.476023 -0.001065 [component_container_isolated-3] -0.004695 0.999951 0.008661 0.060083 [component_container_isolated-3] -0.476000 -0.009852 0.879390 0.018189 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.668184304] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.424,-0.306} [component_container_isolated-3] [DEBUG] [1762964966.668216445] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.606,28.419,-0.304} [component_container_isolated-3] [DEBUG] [1762964966.668266250] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.672910519] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.672988148] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.673026962] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.673070545] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000025 0.000082 -0.000015 [component_container_isolated-3] -0.000025 1.000000 0.000011 0.000056 [component_container_isolated-3] -0.000082 -0.000011 1.000000 0.000059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.673095112] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {0.006,0.094,0.012} [component_container_isolated-3] [DEBUG] [1762964966.673144717] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.673187098] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.673223457] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 0.000027 0.185221 -0.006913 [component_container_isolated-3] -0.000113 1.000000 0.000451 0.059843 [component_container_isolated-3] -0.185221 -0.000464 0.982697 0.017320 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.673247373] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.027,10.674,-0.007} [component_container_isolated-3] [DEBUG] [1762964966.673280877] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.035,10.580,-0.018} [component_container_isolated-3] [DEBUG] [1762964966.673334469] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.692097753] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.692155573] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.692197142] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.692241387] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000043 -0.000033 -0.000143 [component_container_isolated-3] 0.000043 1.000000 0.000013 0.000064 [component_container_isolated-3] 0.000033 -0.000013 1.000000 -0.000098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.692266605] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.003} {-0.016,0.040,0.067} [component_container_isolated-3] [DEBUG] [1762964966.692316851] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.692357969] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.692396393] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 -0.000122 0.203405 -0.006667 [component_container_isolated-3] 0.002521 0.999930 -0.011533 0.059357 [component_container_isolated-3] -0.203389 0.011804 0.979027 0.018711 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.692422413] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.735,0.147} [component_container_isolated-3] [DEBUG] [1762964966.692454213] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.002,-0.002} {0.693,11.697,0.079} [component_container_isolated-3] [DEBUG] [1762964966.692504950] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.705966008] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.706020892] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.706059546] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.706107558] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000009 -0.000072 0.000118 [component_container_isolated-3] 0.000009 1.000000 -0.000024 -0.000078 [component_container_isolated-3] 0.000072 0.000024 1.000000 -0.000087 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.706133527] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {0.008,0.089,0.012} [component_container_isolated-3] [DEBUG] [1762964966.706180998] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.706223559] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.706258526] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000023 0.185150 -0.006885 [component_container_isolated-3] -0.000104 1.000000 0.000428 0.059859 [component_container_isolated-3] -0.185150 -0.000439 0.982710 0.017333 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.706281189] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.026,10.670,-0.006} [component_container_isolated-3] [DEBUG] [1762964966.706311137] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.004,-0.006} {-0.035,10.580,-0.018} [component_container_isolated-3] [DEBUG] [1762964966.706360200] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.711273744] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.711330362] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.711369817] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.711414202] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000004 -0.000018 -0.000100 [component_container_isolated-3] -0.000004 1.000000 0.000014 0.000063 [component_container_isolated-3] 0.000018 -0.000014 1.000000 -0.000049 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.711440382] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.036,0.004,-0.002} [component_container_isolated-3] [DEBUG] [1762964966.711487953] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.711529472] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.711564179] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879433 0.000006 0.476023 -0.001065 [component_container_isolated-3] -0.004695 0.999951 0.008661 0.060083 [component_container_isolated-3] -0.476000 -0.009852 0.879390 0.018189 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.711586030] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.424,-0.306} [component_container_isolated-3] [DEBUG] [1762964966.711618723] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,0.000,0.000} {-0.605,28.420,-0.303} [component_container_isolated-3] [DEBUG] [1762964966.711672045] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.714566332] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.714620716] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.714658849] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.714701390] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000130 0.000138 -0.000240 [component_container_isolated-3] 0.000130 1.000000 -0.000045 -0.000608 [component_container_isolated-3] -0.000138 0.000045 1.000000 0.000472 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.714726949] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.002,-0.001} {0.030,-0.028,-0.002} [component_container_isolated-3] [DEBUG] [1762964966.714778838] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.714833132] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.714874340] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981566 -0.000070 0.191126 -0.006677 [component_container_isolated-3] -0.001634 0.999960 0.008757 0.059896 [component_container_isolated-3] -0.191119 -0.008907 0.981526 0.016635 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.714898326] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.520,11.018,-0.095} [component_container_isolated-3] [DEBUG] [1762964966.714966416] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,0.001} {-0.549,11.046,-0.093} [component_container_isolated-3] [DEBUG] [1762964966.715020299] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.721370256] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.721417686] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.721466991] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.721511686] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000062 -0.000001 -0.000217 [component_container_isolated-3] -0.000062 1.000000 -0.000018 -0.000069 [component_container_isolated-3] 0.000001 0.000018 1.000000 -0.000057 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.721537616] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.003} {-0.015,0.039,0.063} [component_container_isolated-3] [DEBUG] [1762964966.721587401] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.721630964] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.721665870] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 -0.000058 0.203404 -0.006684 [component_container_isolated-3] 0.002459 0.999930 -0.011551 0.059343 [component_container_isolated-3] -0.203389 0.011809 0.979027 0.018676 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.721686861] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.735,0.144} [component_container_isolated-3] [DEBUG] [1762964966.721716026] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.693,11.697,0.079} [component_container_isolated-3] [DEBUG] [1762964966.721764268] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.732224695] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.732273969] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.732312733] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.732403547] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000062 -0.000001 -0.000217 [component_container_isolated-3] -0.000062 1.000000 -0.000018 -0.000069 [component_container_isolated-3] 0.000001 0.000018 1.000000 -0.000057 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.732432592] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.014,0.039,0.060} [component_container_isolated-3] [DEBUG] [1762964966.732484652] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.732529227] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.732568101] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 -0.000058 0.203404 -0.006684 [component_container_isolated-3] 0.002459 0.999930 -0.011551 0.059343 [component_container_isolated-3] -0.203389 0.011809 0.979027 0.018676 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.732590313] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.735,0.144} [component_container_isolated-3] [DEBUG] [1762964966.732620691] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.002} {0.693,11.697,0.082} [component_container_isolated-3] [DEBUG] [1762964966.732670817] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.735515720] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.735574042] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.735614980] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.735659104] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000072 -0.000001 -0.000148 [component_container_isolated-3] 0.000072 1.000000 -0.000087 -0.000332 [component_container_isolated-3] 0.000001 0.000087 1.000000 0.000071 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.735684002] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.002,-0.001} {0.035,-0.028,0.002} [component_container_isolated-3] [DEBUG] [1762964966.735732965] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.735775877] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.735810674] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981566 -0.000124 0.191126 -0.006717 [component_container_isolated-3] -0.001562 0.999961 0.008669 0.059795 [component_container_isolated-3] -0.191119 -0.008808 0.981527 0.016652 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.735833207] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.514,11.018,-0.091} [component_container_isolated-3] [DEBUG] [1762964966.735864537] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,0.001} {-0.549,11.046,-0.093} [component_container_isolated-3] [DEBUG] [1762964966.735916646] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.748579058] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.748641367] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.748680672] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.748729385] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000072 -0.000001 -0.000148 [component_container_isolated-3] 0.000072 1.000000 -0.000087 -0.000332 [component_container_isolated-3] 0.000001 0.000087 1.000000 0.000071 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.748810340] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.001,-0.001} {0.040,-0.028,0.006} [component_container_isolated-3] [DEBUG] [1762964966.748866978] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.748912876] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.748990534] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981566 -0.000124 0.191126 -0.006717 [component_container_isolated-3] -0.001562 0.999961 0.008669 0.059795 [component_container_isolated-3] -0.191119 -0.008808 0.981527 0.016652 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.749030340] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.514,11.018,-0.091} [component_container_isolated-3] [DEBUG] [1762964966.749060017] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,0.001} {-0.555,11.046,-0.098} [component_container_isolated-3] [DEBUG] [1762964966.749119921] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.749866367] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.749914258] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.749985715] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.750068072] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000056 0.000061 0.000081 [component_container_isolated-3] 0.000056 1.000000 -0.000131 -0.000130 [component_container_isolated-3] -0.000061 0.000131 1.000000 0.000021 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.750095775] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.029,0.008,0.001} [component_container_isolated-3] [DEBUG] [1762964966.750150229] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.750212858] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.750251773] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879404 0.000019 0.476077 -0.001057 [component_container_isolated-3] -0.004639 0.999953 0.008530 0.060071 [component_container_isolated-3] -0.476054 -0.009710 0.879362 0.018190 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.750273995] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.633,28.428,-0.302} [component_container_isolated-3] [DEBUG] [1762964966.750311056] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,0.000,0.000} {-0.605,28.420,-0.303} [component_container_isolated-3] [DEBUG] [1762964966.750372413] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.756906171] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.757034666] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.757076256] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.757134948] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000012 0.000122 -0.000281 [component_container_isolated-3] -0.000012 1.000000 0.000013 0.000056 [component_container_isolated-3] -0.000122 -0.000013 1.000000 0.000064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.757159956] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {0.007,0.096,0.011} [component_container_isolated-3] [DEBUG] [1762964966.757209951] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.757252322] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.757291166] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982688 0.000032 0.185270 -0.006893 [component_container_isolated-3] -0.000116 1.000000 0.000441 0.059878 [component_container_isolated-3] -0.185270 -0.000454 0.982688 0.017356 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.757315172] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.026,10.677,-0.007} [component_container_isolated-3] [DEBUG] [1762964966.757345861] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.035,10.580,-0.018} [component_container_isolated-3] [DEBUG] [1762964966.757394423] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.762897593] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.762969921] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.763010529] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.763056366] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000012 0.000122 -0.000281 [component_container_isolated-3] -0.000012 1.000000 0.000013 0.000056 [component_container_isolated-3] -0.000122 -0.000013 1.000000 0.000064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.763082416] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {0.006,0.103,0.011} [component_container_isolated-3] [DEBUG] [1762964966.763135878] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.763183249] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.763222033] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982688 0.000032 0.185270 -0.006893 [component_container_isolated-3] -0.000116 1.000000 0.000441 0.059878 [component_container_isolated-3] -0.185270 -0.000454 0.982688 0.017356 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.763246299] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.026,10.677,-0.007} [component_container_isolated-3] [DEBUG] [1762964966.763277939] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.034,10.573,-0.018} [component_container_isolated-3] [DEBUG] [1762964966.763336030] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.768108645] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.768158450] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.768195691] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.768241178] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000062 -0.000001 -0.000217 [component_container_isolated-3] -0.000062 1.000000 -0.000018 -0.000069 [component_container_isolated-3] 0.000001 0.000018 1.000000 -0.000057 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.768265404] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.013,0.039,0.056} [component_container_isolated-3] [DEBUG] [1762964966.768311633] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.768352180] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.768389491] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 -0.000058 0.203404 -0.006684 [component_container_isolated-3] 0.002459 0.999930 -0.011551 0.059343 [component_container_isolated-3] -0.203389 0.011809 0.979027 0.018676 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.768412014] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.735,0.144} [component_container_isolated-3] [DEBUG] [1762964966.768444306] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.002} {0.693,11.697,0.086} [component_container_isolated-3] [DEBUG] [1762964966.768497918] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.784513164] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.784568149] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.784612283] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.784670384] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000017 0.000003 -0.000122 [component_container_isolated-3] -0.000017 1.000000 0.000102 0.000078 [component_container_isolated-3] -0.000003 -0.000102 1.000000 0.000106 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.784701413] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.000} {-0.034,0.008,0.000} [component_container_isolated-3] [DEBUG] [1762964966.784761478] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.784807496] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.784843144] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 -0.000015 0.476079 -0.001060 [component_container_isolated-3] -0.004656 0.999952 0.008631 0.060074 [component_container_isolated-3] -0.476057 -0.009807 0.879360 0.018196 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.784865807] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.428,-0.303} [component_container_isolated-3] [DEBUG] [1762964966.784896105] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,0.000,-0.000} {-0.605,28.420,-0.303} [component_container_isolated-3] [DEBUG] [1762964966.784971820] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.795871004] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.795951498] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.795994170] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.796039336] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000012 0.000122 -0.000281 [component_container_isolated-3] -0.000012 1.000000 0.000013 0.000056 [component_container_isolated-3] -0.000122 -0.000013 1.000000 0.000064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.796064033] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.004,0.006} {0.005,0.110,0.010} [component_container_isolated-3] [DEBUG] [1762964966.796119238] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.796172390] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.796212857] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982688 0.000032 0.185270 -0.006893 [component_container_isolated-3] -0.000116 1.000000 0.000441 0.059878 [component_container_isolated-3] -0.185270 -0.000454 0.982688 0.017356 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.796241001] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.026,10.677,-0.007} [component_container_isolated-3] [DEBUG] [1762964966.796277761] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.034,10.566,-0.017} [component_container_isolated-3] [DEBUG] [1762964966.796330121] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.800652826] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.800703473] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.800744071] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.800789417] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000062 -0.000001 -0.000217 [component_container_isolated-3] -0.000062 1.000000 -0.000018 -0.000069 [component_container_isolated-3] 0.000001 0.000018 1.000000 -0.000057 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.800814756] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.012,0.039,0.053} [component_container_isolated-3] [DEBUG] [1762964966.800862647] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.800902593] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.800972146] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 -0.000058 0.203404 -0.006684 [component_container_isolated-3] 0.002459 0.999930 -0.011551 0.059343 [component_container_isolated-3] -0.203389 0.011809 0.979027 0.018676 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.800996633] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.735,0.144} [component_container_isolated-3] [DEBUG] [1762964966.801026460] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.002} {0.692,11.697,0.090} [component_container_isolated-3] [DEBUG] [1762964966.801079632] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.803242582] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.803298128] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.803339477] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.803390575] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000104 -0.000141 0.000299 [component_container_isolated-3] -0.000104 1.000000 0.000094 0.000395 [component_container_isolated-3] 0.000141 -0.000094 1.000000 -0.000537 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.803418669] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.002,-0.002} {0.034,-0.036,0.000} [component_container_isolated-3] [DEBUG] [1762964966.803483402] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.803535201] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.803578955] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981592 -0.000040 0.190987 -0.006726 [component_container_isolated-3] -0.001664 0.999960 0.008764 0.059792 [component_container_isolated-3] -0.190980 -0.008920 0.981553 0.016537 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.803602309] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.001} {-0.521,11.010,-0.097} [component_container_isolated-3] [DEBUG] [1762964966.803633479] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,0.001} {-0.555,11.046,-0.098} [component_container_isolated-3] [DEBUG] [1762964966.803684636] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.809807379] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.809874728] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.809916828] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.810002312] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000017 0.000003 -0.000122 [component_container_isolated-3] -0.000017 1.000000 0.000102 0.000078 [component_container_isolated-3] -0.000003 -0.000102 1.000000 0.000106 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.810033581] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.040,0.008,-0.001} [component_container_isolated-3] [DEBUG] [1762964966.810088737] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.810136688] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.810174050] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 -0.000015 0.476079 -0.001060 [component_container_isolated-3] -0.004656 0.999952 0.008631 0.060074 [component_container_isolated-3] -0.476057 -0.009807 0.879360 0.018196 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.810196843] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.428,-0.303} [component_container_isolated-3] [DEBUG] [1762964966.810228083] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,0.000,-0.000} {-0.598,28.420,-0.302} [component_container_isolated-3] [DEBUG] [1762964966.810275914] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.833975414] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.834042643] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.834062491] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.834117566] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.834082449] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.834203400] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000062 -0.000001 -0.000217 [component_container_isolated-3] -0.000062 1.000000 -0.000018 -0.000069 [component_container_isolated-3] 0.000001 0.000018 1.000000 -0.000057 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.834239409] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.003,0.002} {-0.011,0.039,0.049} [component_container_isolated-3] [DEBUG] [1762964966.834159135] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.834324171] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.834381300] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000042 0.000265 -0.000448 [component_container_isolated-3] 0.000042 1.000000 -0.000058 0.000014 [component_container_isolated-3] -0.000265 0.000058 1.000000 0.001244 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.834436485] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.001} {0.038,-0.021,0.003} [component_container_isolated-3] [DEBUG] [1762964966.834497912] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.834419473] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.834542678] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.834618423] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 -0.000058 0.203404 -0.006684 [component_container_isolated-3] 0.002459 0.999930 -0.011551 0.059343 [component_container_isolated-3] -0.203389 0.011809 0.979027 0.018676 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.834652387] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.735,0.144} [component_container_isolated-3] [DEBUG] [1762964966.834691692] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.002} {0.692,11.697,0.093} [component_container_isolated-3] [DEBUG] [1762964966.834635756] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 -0.000070 0.191248 -0.006747 [component_container_isolated-3] -0.001624 0.999961 0.008705 0.059792 [component_container_isolated-3] -0.191241 -0.008855 0.981503 0.016827 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.834762818] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.517,11.025,-0.095} [component_container_isolated-3] [DEBUG] [1762964966.834787926] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,0.000} {-0.555,11.046,-0.098} [component_container_isolated-3] [DEBUG] [1762964966.834767698] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.834838082] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.839912874] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.839989410] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.840028214] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.840071837] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000008 -0.000069 0.000119 [component_container_isolated-3] 0.000008 1.000000 -0.000041 0.000026 [component_container_isolated-3] 0.000069 0.000041 1.000000 -0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.840095963] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.003,0.006} {0.008,0.106,0.010} [component_container_isolated-3] [DEBUG] [1762964966.840145879] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.840189011] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.840225320] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000032 0.185202 -0.006887 [component_container_isolated-3] -0.000108 1.000000 0.000400 0.059896 [component_container_isolated-3] -0.185202 -0.000413 0.982700 0.017372 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.840249216] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.024,10.673,-0.006} [component_container_isolated-3] [DEBUG] [1762964966.840283131] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.034,10.566,-0.017} [component_container_isolated-3] [DEBUG] [1762964966.840336583] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.853183788] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.853238412] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.853278749] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.853324737] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000017 -0.000112 -0.000069 [component_container_isolated-3] 0.000017 1.000000 0.000146 -0.000122 [component_container_isolated-3] 0.000112 -0.000146 1.000000 -0.000241 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.853349645] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.048,0.002,0.000} [component_container_isolated-3] [DEBUG] [1762964966.853397706] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.853439907] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.853474503] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879455 -0.000099 0.475981 -0.001091 [component_container_isolated-3] -0.004638 0.999951 0.008777 0.060062 [component_container_isolated-3] -0.475959 -0.009927 0.879412 0.018174 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.853495944] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.647,28.422,-0.302} [component_container_isolated-3] [DEBUG] [1762964966.853524629] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,0.000,-0.000} {-0.598,28.420,-0.302} [component_container_isolated-3] [DEBUG] [1762964966.853573973] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.869054106] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.869112838] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.869152254] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.869195236] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000104 0.000193 -0.000825 [component_container_isolated-3] 0.000104 1.000000 -0.000034 -0.000699 [component_container_isolated-3] -0.000193 0.000034 1.000000 0.001179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.869220334] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.001,0.001} {0.040,-0.010,0.009} [component_container_isolated-3] [DEBUG] [1762964966.869269818] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.869313432] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.869353739] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981505 -0.000166 0.191438 -0.006948 [component_container_isolated-3] -0.001522 0.999961 0.008671 0.059622 [component_container_isolated-3] -0.191432 -0.008802 0.981467 0.017493 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.869378356] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.514,11.036,-0.089} [component_container_isolated-3] [DEBUG] [1762964966.869410347] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,-0.000} {-0.555,11.046,-0.098} [component_container_isolated-3] [DEBUG] [1762964966.869461595] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.876818054] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.876871997] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.876910009] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.876982217] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000057 -0.000110 -0.000154 [component_container_isolated-3] 0.000057 1.000000 0.000113 -0.000027 [component_container_isolated-3] 0.000110 -0.000113 1.000000 -0.000041 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.877007936] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.004,0.006} {0.001,0.100,0.014} [component_container_isolated-3] [DEBUG] [1762964966.877057481] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.877100523] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.877138756] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982721 -0.000045 0.185094 -0.006907 [component_container_isolated-3] -0.000051 1.000000 0.000512 0.059911 [component_container_isolated-3] -0.185094 -0.000513 0.982721 0.017378 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.877162121] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.667,-0.003} [component_container_isolated-3] [DEBUG] [1762964966.877195154] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.034,10.566,-0.017} [component_container_isolated-3] [DEBUG] [1762964966.877244568] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.881836177] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.881883397] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.881972758] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.882021812] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000032 0.000008 0.000103 [component_container_isolated-3] -0.000032 1.000000 -0.000109 0.000106 [component_container_isolated-3] -0.000008 0.000109 1.000000 -0.000041 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.882046639] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.042,0.002,-0.002} [component_container_isolated-3] [DEBUG] [1762964966.882095101] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.882135899] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.882174984] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879452 -0.000019 0.475989 -0.001096 [component_container_isolated-3] -0.004670 0.999952 0.008669 0.060062 [component_container_isolated-3] -0.475966 -0.009846 0.879409 0.018160 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.882197958] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.641,28.422,-0.304} [component_container_isolated-3] [DEBUG] [1762964966.882230099] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,0.000,0.000} {-0.598,28.420,-0.302} [component_container_isolated-3] [DEBUG] [1762964966.882278412] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.895119846] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.895183247] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.895220588] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.895262869] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000026 0.000031 0.000483 [component_container_isolated-3] -0.000026 1.000000 0.000079 0.000234 [component_container_isolated-3] -0.000031 -0.000079 1.000000 0.000033 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.895287346] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.016,0.041,0.048} [component_container_isolated-3] [DEBUG] [1762964966.895335497] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.895379111] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.895418065] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979089 -0.000048 0.203434 -0.006607 [component_container_isolated-3] 0.002433 0.999931 -0.011471 0.059362 [component_container_isolated-3] -0.203420 0.011726 0.979021 0.018629 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.895441550] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.686,11.737,0.142} [component_container_isolated-3] [DEBUG] [1762964966.895474343] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.002} {0.692,11.697,0.093} [component_container_isolated-3] [DEBUG] [1762964966.895524819] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.898345917] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.898395581] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.898435989] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.898485112] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000019 -0.000078 0.000672 [component_container_isolated-3] 0.000019 1.000000 -0.000011 -0.000324 [component_container_isolated-3] 0.000078 0.000011 1.000000 -0.000594 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.898511803] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.001,-0.000} {0.040,-0.014,0.010} [component_container_isolated-3] [DEBUG] [1762964966.898562370] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.898605833] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.898641361] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981520 -0.000182 0.191361 -0.006963 [component_container_isolated-3] -0.001502 0.999961 0.008660 0.059457 [component_container_isolated-3] -0.191355 -0.008787 0.981481 0.017603 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.898664174] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.513,11.032,-0.088} [component_container_isolated-3] [DEBUG] [1762964966.898697217] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.001,0.000} {-0.555,11.046,-0.098} [component_container_isolated-3] [DEBUG] [1762964966.898750770] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.903487436] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.903541759] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.903585733] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.903627774] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000026 0.000031 0.000483 [component_container_isolated-3] -0.000026 1.000000 0.000079 0.000234 [component_container_isolated-3] -0.000031 -0.000079 1.000000 0.000033 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.903651940] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.002} {-0.020,0.043,0.046} [component_container_isolated-3] [DEBUG] [1762964966.903704560] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.903744396] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.903780816] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979089 -0.000048 0.203434 -0.006607 [component_container_isolated-3] 0.002433 0.999931 -0.011471 0.059362 [component_container_isolated-3] -0.203420 0.011726 0.979021 0.018629 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.903803730] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.686,11.737,0.142} [component_container_isolated-3] [DEBUG] [1762964966.903836763] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.697,11.695,0.095} [component_container_isolated-3] [DEBUG] [1762964966.903889934] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.904766318] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.904839698] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.904894813] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.904980307] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000023 0.000010 -0.000196 [component_container_isolated-3] 0.000023 1.000000 -0.000075 -0.000754 [component_container_isolated-3] -0.000010 0.000075 1.000000 -0.000393 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.905012428] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.004,0.005} {0.005,0.101,0.015} [component_container_isolated-3] [DEBUG] [1762964966.905064958] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.905112970] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.905159499] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982719 -0.000054 0.185104 -0.006960 [component_container_isolated-3] -0.000027 1.000000 0.000437 0.059747 [component_container_isolated-3] -0.185104 -0.000435 0.982719 0.017334 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.905186010] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.025,10.667,-0.002} [component_container_isolated-3] [DEBUG] [1762964966.905209865] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.004,-0.006} {-0.034,10.566,-0.017} [component_container_isolated-3] [DEBUG] [1762964966.905253789] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.915104301] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.915153525] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.915193411] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.915237936] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000033 0.000047 -0.000123 [component_container_isolated-3] -0.000033 1.000000 0.000120 0.000052 [component_container_isolated-3] -0.000047 -0.000120 1.000000 0.000009 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.915264697] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.049,0.005,-0.004} [component_container_isolated-3] [DEBUG] [1762964966.915313040] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.915357475] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.915396469] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 -0.000048 0.476030 -0.001117 [component_container_isolated-3] -0.004703 0.999950 0.008788 0.060070 [component_container_isolated-3] -0.476007 -0.009967 0.879385 0.018147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.915420816] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.649,28.425,-0.306} [component_container_isolated-3] [DEBUG] [1762964966.915452125] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,0.000,-0.000} {-0.598,28.420,-0.302} [component_container_isolated-3] [DEBUG] [1762964966.915500287] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.936429307] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.936486937] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.936527604] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.936571168] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000254 0.000034 -0.000015 [component_container_isolated-3] -0.000254 1.000000 0.000252 0.001431 [component_container_isolated-3] -0.000034 -0.000252 1.000000 -0.000132 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.936595524] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.000} {0.026,-0.012,-0.005} [component_container_isolated-3] [DEBUG] [1762964966.936642444] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.936684484] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.936719862] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 0.000019 0.191394 -0.006957 [component_container_isolated-3] -0.001757 0.999959 0.008911 0.059725 [component_container_isolated-3] -0.191386 -0.009083 0.981473 0.017629 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.936743527] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.530,11.034,-0.103} [component_container_isolated-3] [DEBUG] [1762964966.936776339] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,0.001} {-0.555,11.046,-0.098} [component_container_isolated-3] [DEBUG] [1762964966.936825684] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.943526901] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.943591174] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.943635499] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.943682649] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000025 0.000081 0.000227 [component_container_isolated-3] 0.000025 1.000000 0.000101 0.000139 [component_container_isolated-3] -0.000081 -0.000101 1.000000 0.000394 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.943708398] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.004,0.006} {-0.000,0.105,0.016} [component_container_isolated-3] [DEBUG] [1762964966.943758253] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.943800344] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.943836342] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 -0.000097 0.185184 -0.006960 [component_container_isolated-3] -0.000002 1.000000 0.000538 0.059714 [component_container_isolated-3] -0.185184 -0.000529 0.982704 0.017357 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.943858885] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.672,-0.000} [component_container_isolated-3] [DEBUG] [1762964966.943889654] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.004,-0.006} {-0.034,10.566,-0.017} [component_container_isolated-3] [DEBUG] [1762964966.944043187] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.951143417] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.951203472] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.951242847] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.951285599] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000048 0.000040 -0.000304 [component_container_isolated-3] -0.000048 1.000000 -0.000132 0.000161 [component_container_isolated-3] -0.000040 0.000132 1.000000 0.000094 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.951309434] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.013,0.045,0.043} [component_container_isolated-3] [DEBUG] [1762964966.951356985] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.951398865] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.951437879] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 0.000026 0.203473 -0.006603 [component_container_isolated-3] 0.002385 0.999930 -0.011603 0.059397 [component_container_isolated-3] -0.203459 0.011845 0.979012 0.018619 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.951460493] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.739,0.140} [component_container_isolated-3] [DEBUG] [1762964966.951490049] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.697,11.695,0.095} [component_container_isolated-3] [DEBUG] [1762964966.951557698] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.952535856] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.952584469] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.952623784] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.952667638] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000049 0.000006 0.000144 [component_container_isolated-3] 0.000049 1.000000 -0.000171 -0.000075 [component_container_isolated-3] -0.000006 0.000171 1.000000 0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.952693618] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.039,0.005,-0.001} [component_container_isolated-3] [DEBUG] [1762964966.952740617] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.952786715] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.952826031] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 -0.000010 0.476035 -0.001116 [component_container_isolated-3] -0.004654 0.999952 0.008617 0.060065 [component_container_isolated-3] -0.476012 -0.009794 0.879384 0.018144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.952849846] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.425,-0.303} [component_container_isolated-3] [DEBUG] [1762964966.952880314] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,0.000,0.000} {-0.598,28.420,-0.302} [component_container_isolated-3] [DEBUG] [1762964966.952952803] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.961711269] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.961764421] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.961801181] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.961843622] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000098 -0.000162 0.000489 [component_container_isolated-3] 0.000098 1.000000 -0.000120 -0.000128 [component_container_isolated-3] 0.000162 0.000120 1.000000 -0.000820 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.961870183] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.002,-0.001} {0.033,-0.021,0.001} [component_container_isolated-3] [DEBUG] [1762964966.961917453] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.961995252] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.962034757] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 -0.000055 0.191235 -0.006918 [component_container_isolated-3] -0.001657 0.999960 0.008792 0.059759 [component_container_isolated-3] -0.191228 -0.008947 0.981505 0.017471 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.962058973] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.522,11.024,-0.097} [component_container_isolated-3] [DEBUG] [1762964966.962091345] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.002,0.001} {-0.555,11.046,-0.098} [component_container_isolated-3] [DEBUG] [1762964966.962142793] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.970783826] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.970836817] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.970873757] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.970914395] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000049 0.000006 0.000144 [component_container_isolated-3] 0.000049 1.000000 -0.000171 -0.000075 [component_container_isolated-3] -0.000006 0.000171 1.000000 0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.970975031] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.030,0.005,0.002} [component_container_isolated-3] [DEBUG] [1762964966.971023443] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.971067698] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.971103636] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 -0.000010 0.476035 -0.001116 [component_container_isolated-3] -0.004654 0.999952 0.008617 0.060065 [component_container_isolated-3] -0.476012 -0.009794 0.879384 0.018144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.971125348] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.425,-0.303} [component_container_isolated-3] [DEBUG] [1762964966.971154894] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,0.000,0.000} {-0.610,28.420,-0.306} [component_container_isolated-3] [DEBUG] [1762964966.971203687] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.975917259] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.975998935] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.976039753] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.976084278] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000102 0.000032 -0.000142 [component_container_isolated-3] -0.000102 1.000000 -0.000235 0.000899 [component_container_isolated-3] -0.000032 0.000235 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.976109306] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.003,0.006} {0.013,0.107,0.011} [component_container_isolated-3] [DEBUG] [1762964966.976158019] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.976200710] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.976235377] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000047 0.185215 -0.006967 [component_container_isolated-3] -0.000105 1.000000 0.000303 0.059885 [component_container_isolated-3] -0.185215 -0.000317 0.982698 0.017395 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.976258972] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.018,10.674,-0.006} [component_container_isolated-3] [DEBUG] [1762964966.976292305] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.003,-0.006} {-0.034,10.566,-0.017} [component_container_isolated-3] [DEBUG] [1762964966.976345126] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.988752511] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.988817746] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.988866098] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.988953555] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000031 -0.000233 0.000272 [component_container_isolated-3] 0.000031 1.000000 -0.000002 0.000071 [component_container_isolated-3] 0.000233 0.000002 1.000000 -0.000525 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.988983242] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.002,0.002} {-0.013,0.032,0.045} [component_container_isolated-3] [DEBUG] [1762964966.989035993] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.989081840] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.989117448] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979128 -0.000004 0.203246 -0.006592 [component_container_isolated-3] 0.002413 0.999930 -0.011605 0.059434 [component_container_isolated-3] -0.203231 0.011853 0.979059 0.018473 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.989139671] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.726,0.141} [component_container_isolated-3] [DEBUG] [1762964966.989169317] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.697,11.695,0.095} [component_container_isolated-3] [DEBUG] [1762964966.989220385] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964966.994839536] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964966.994890063] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964966.994965998] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964966.995011735] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000102 0.000032 -0.000142 [component_container_isolated-3] -0.000102 1.000000 -0.000235 0.000899 [component_container_isolated-3] -0.000032 0.000235 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964966.995036442] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.002,0.006} {0.027,0.109,0.005} [component_container_isolated-3] [DEBUG] [1762964966.995084474] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964966.995125552] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964966.995177702] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000047 0.185215 -0.006967 [component_container_isolated-3] -0.000105 1.000000 0.000303 0.059885 [component_container_isolated-3] -0.185215 -0.000317 0.982698 0.017395 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964966.995199664] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.018,10.674,-0.006} [component_container_isolated-3] [DEBUG] [1762964966.995229631] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.002,-0.006} {-0.046,10.565,-0.011} [component_container_isolated-3] [DEBUG] [1762964966.995303873] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.004425172] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.004486269] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.004525985] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.004569748] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000031 0.000003 -0.000072 [component_container_isolated-3] -0.000031 1.000000 -0.000063 0.000284 [component_container_isolated-3] -0.000003 0.000063 1.000000 0.000173 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.004594766] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.002,-0.001} {0.036,-0.021,-0.001} [component_container_isolated-3] [DEBUG] [1762964967.004644341] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.004689707] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.004729393] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 -0.000013 0.191238 -0.006900 [component_container_isolated-3] -0.001688 0.999960 0.008729 0.059858 [component_container_isolated-3] -0.191230 -0.008891 0.981505 0.017445 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.004754231] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.025,-0.099} [component_container_isolated-3] [DEBUG] [1762964967.004788145] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.003,0.001} {-0.555,11.046,-0.098} [component_container_isolated-3] [DEBUG] [1762964967.004841838] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.006188259] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.006234147] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.006271549] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.006313098] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000049 0.000006 0.000144 [component_container_isolated-3] 0.000049 1.000000 -0.000171 -0.000075 [component_container_isolated-3] -0.000006 0.000171 1.000000 0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.006337094] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.020,0.006,0.005} [component_container_isolated-3] [DEBUG] [1762964967.006382681] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.006422867] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.006457373] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 -0.000010 0.476035 -0.001116 [component_container_isolated-3] -0.004654 0.999952 0.008617 0.060065 [component_container_isolated-3] -0.476012 -0.009794 0.879384 0.018144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.006480237] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.425,-0.303} [component_container_isolated-3] [DEBUG] [1762964967.006548067] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.621,28.419,-0.309} [component_container_isolated-3] [DEBUG] [1762964967.006602020] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.020548945] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.020611504] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.020651350] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.020694192] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000031 0.000003 -0.000072 [component_container_isolated-3] -0.000031 1.000000 -0.000063 0.000284 [component_container_isolated-3] -0.000003 0.000063 1.000000 0.000173 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.020719310] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.003,-0.001} {0.040,-0.021,-0.003} [component_container_isolated-3] [DEBUG] [1762964967.020769897] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.020816556] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.020852464] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 -0.000013 0.191238 -0.006900 [component_container_isolated-3] -0.001688 0.999960 0.008729 0.059858 [component_container_isolated-3] -0.191230 -0.008891 0.981505 0.017445 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.020878995] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.025,-0.099} [component_container_isolated-3] [DEBUG] [1762964967.020912820] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,0.001} {-0.558,11.046,-0.096} [component_container_isolated-3] [DEBUG] [1762964967.021041055] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.029480542] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.029538272] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.029580102] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.029624707] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000035 0.000071 -0.000308 [component_container_isolated-3] 0.000035 1.000000 0.000030 -0.000290 [component_container_isolated-3] -0.000071 -0.000030 1.000000 0.000169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.029650036] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.014,0.036,0.047} [component_container_isolated-3] [DEBUG] [1762964967.029699190] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.029739967] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.029774493] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979113 -0.000044 0.203315 -0.006611 [component_container_isolated-3] 0.002449 0.999930 -0.011575 0.059429 [component_container_isolated-3] -0.203301 0.011831 0.979045 0.018433 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.029796085] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.730,0.143} [component_container_isolated-3] [DEBUG] [1762964967.029839858] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.697,11.695,0.095} [component_container_isolated-3] [DEBUG] [1762964967.029890244] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.037815620] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.037879853] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.037917144] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.037987288] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000049 0.000006 0.000144 [component_container_isolated-3] 0.000049 1.000000 -0.000171 -0.000075 [component_container_isolated-3] -0.000006 0.000171 1.000000 0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.038010673] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,-0.000} {-0.010,0.006,0.008} [component_container_isolated-3] [DEBUG] [1762964967.038057702] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.038098430] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.038132986] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 -0.000010 0.476035 -0.001116 [component_container_isolated-3] -0.004654 0.999952 0.008617 0.060065 [component_container_isolated-3] -0.476012 -0.009794 0.879384 0.018144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.038155830] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.425,-0.303} [component_container_isolated-3] [DEBUG] [1762964967.038188162] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.632,28.419,-0.312} [component_container_isolated-3] [DEBUG] [1762964967.038237856] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.041659180] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.041721469] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.041759682] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.041802023] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000033 -0.000065 0.000174 [component_container_isolated-3] -0.000033 1.000000 0.000156 -0.000285 [component_container_isolated-3] 0.000065 -0.000156 1.000000 0.000064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.041826760] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.003,0.006} {0.018,0.105,0.003} [component_container_isolated-3] [DEBUG] [1762964967.041874542] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.041918165] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.041989551] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000051 0.185150 -0.006960 [component_container_isolated-3] -0.000138 1.000000 0.000459 0.059908 [component_container_isolated-3] -0.185150 -0.000476 0.982710 0.017411 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.042013357] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.028,10.670,-0.008} [component_container_isolated-3] [DEBUG] [1762964967.042047612] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.046,10.565,-0.011} [component_container_isolated-3] [DEBUG] [1762964967.042100223] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.052804185] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.052857386] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.052895489] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.052968599] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000031 0.000003 -0.000072 [component_container_isolated-3] -0.000031 1.000000 -0.000063 0.000284 [component_container_isolated-3] -0.000003 0.000063 1.000000 0.000173 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.052995951] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.003,-0.000} {0.043,-0.021,-0.005} [component_container_isolated-3] [DEBUG] [1762964967.053046688] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.053091133] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.053126300] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 -0.000013 0.191238 -0.006900 [component_container_isolated-3] -0.001688 0.999960 0.008729 0.059858 [component_container_isolated-3] -0.191230 -0.008891 0.981505 0.017445 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.053148061] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.025,-0.099} [component_container_isolated-3] [DEBUG] [1762964967.053178830] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,0.001} {-0.562,11.046,-0.094} [component_container_isolated-3] [DEBUG] [1762964967.053228505] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.058239515] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.058295121] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.058333765] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.058376236] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000088 -0.000051 0.000164 [component_container_isolated-3] 0.000088 1.000000 -0.000094 -0.000205 [component_container_isolated-3] 0.000051 0.000094 1.000000 -0.000195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.058401434] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.002} {-0.009,0.033,0.052} [component_container_isolated-3] [DEBUG] [1762964967.058449636] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.058492678] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.058531763] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979124 -0.000112 0.203266 -0.006615 [component_container_isolated-3] 0.002536 0.999929 -0.011669 0.059392 [component_container_isolated-3] -0.203250 0.011941 0.979054 0.018366 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.058555047] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.699,11.727,0.148} [component_container_isolated-3] [DEBUG] [1762964967.058588461] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.002} {0.697,11.695,0.095} [component_container_isolated-3] [DEBUG] [1762964967.058639799] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.069561928] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.069618907] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.069656719] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.069699110] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000049 0.000006 0.000144 [component_container_isolated-3] 0.000049 1.000000 -0.000171 -0.000075 [component_container_isolated-3] -0.000006 0.000171 1.000000 0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.069723276] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,-0.001,-0.000} {-0.000,0.007,0.011} [component_container_isolated-3] [DEBUG] [1762964967.069769254] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.069810713] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.069845319] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 -0.000010 0.476035 -0.001116 [component_container_isolated-3] -0.004654 0.999952 0.008617 0.060065 [component_container_isolated-3] -0.476012 -0.009794 0.879384 0.018144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.069866389] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.425,-0.303} [component_container_isolated-3] [DEBUG] [1762964967.069898932] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,0.000} {-0.644,28.419,-0.315} [component_container_isolated-3] [DEBUG] [1762964967.069984124] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.076327759] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.076382013] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.076424123] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.076469730] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000033 -0.000065 0.000174 [component_container_isolated-3] -0.000033 1.000000 0.000156 -0.000285 [component_container_isolated-3] 0.000065 -0.000156 1.000000 0.000064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.076495189] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.003,-0.003,0.006} {0.009,0.101,0.001} [component_container_isolated-3] [DEBUG] [1762964967.076544022] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.076587114] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.076624075] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000051 0.185150 -0.006960 [component_container_isolated-3] -0.000138 1.000000 0.000459 0.059908 [component_container_isolated-3] -0.185150 -0.000476 0.982710 0.017411 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.076647800] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.028,10.670,-0.008} [component_container_isolated-3] [DEBUG] [1762964967.076679120] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.037,10.568,-0.009} [component_container_isolated-3] [DEBUG] [1762964967.076729777] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.094045536] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.094104618] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.094142340] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.094184761] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000031 0.000003 -0.000072 [component_container_isolated-3] -0.000031 1.000000 -0.000063 0.000284 [component_container_isolated-3] -0.000003 0.000063 1.000000 0.000173 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.094209629] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.003,-0.000} {0.047,-0.021,-0.006} [component_container_isolated-3] [DEBUG] [1762964967.094257510] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.094300983] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.094338736] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 -0.000013 0.191238 -0.006900 [component_container_isolated-3] -0.001688 0.999960 0.008729 0.059858 [component_container_isolated-3] -0.191230 -0.008891 0.981505 0.017445 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.094363102] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.025,-0.099} [component_container_isolated-3] [DEBUG] [1762964967.094396305] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,0.001} {-0.565,11.045,-0.092} [component_container_isolated-3] [DEBUG] [1762964967.094450289] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.098296183] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.098349545] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.098388009] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.098430810] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000033 -0.000065 0.000174 [component_container_isolated-3] -0.000033 1.000000 0.000156 -0.000285 [component_container_isolated-3] 0.000065 -0.000156 1.000000 0.000064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.098460627] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.003,0.006} {-0.000,0.098,-0.001} [component_container_isolated-3] [DEBUG] [1762964967.098514671] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.098556460] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.098591417] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000051 0.185150 -0.006960 [component_container_isolated-3] -0.000138 1.000000 0.000459 0.059908 [component_container_isolated-3] -0.185150 -0.000476 0.982710 0.017411 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.098613529] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.028,10.670,-0.008} [component_container_isolated-3] [DEBUG] [1762964967.098644909] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.027,10.572,-0.007} [component_container_isolated-3] [DEBUG] [1762964967.098694444] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.099431301] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.099492087] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.099539007] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.099590866] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000170 0.000069 -0.000115 [component_container_isolated-3] -0.000170 1.000000 0.000063 0.000688 [component_container_isolated-3] -0.000069 -0.000063 1.000000 0.000325 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.099623799] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.002,0.002} {-0.013,0.037,0.042} [component_container_isolated-3] [DEBUG] [1762964967.099682721] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.099725333] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.099754188] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979110 0.000042 0.203333 -0.006611 [component_container_isolated-3] 0.002368 0.999930 -0.011606 0.059513 [component_container_isolated-3] -0.203319 0.011845 0.979041 0.018345 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.099772383] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.693,11.731,0.139} [component_container_isolated-3] [DEBUG] [1762964967.099794735] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.697,11.695,0.095} [component_container_isolated-3] [DEBUG] [1762964967.099832768] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.120380259] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.120442187] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.120480350] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.120522630] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000031 0.000003 -0.000072 [component_container_isolated-3] -0.000031 1.000000 -0.000063 0.000284 [component_container_isolated-3] -0.000003 0.000063 1.000000 0.000173 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.120546466] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.003,-0.000} {0.051,-0.021,-0.008} [component_container_isolated-3] [DEBUG] [1762964967.120594878] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.120638472] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.120673228] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 -0.000013 0.191238 -0.006900 [component_container_isolated-3] -0.001688 0.999960 0.008729 0.059858 [component_container_isolated-3] -0.191230 -0.008891 0.981505 0.017445 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.120696643] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.025,-0.099} [component_container_isolated-3] [DEBUG] [1762964967.120729966] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.004,0.000} {-0.568,11.045,-0.090} [component_container_isolated-3] [DEBUG] [1762964967.120782306] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.124862108] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.124957289] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.125000392] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.125045598] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000077 -0.000091 0.000023 [component_container_isolated-3] 0.000077 1.000000 0.000034 -0.000180 [component_container_isolated-3] 0.000091 -0.000034 1.000000 -0.000163 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.125070916] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.002,0.002} {-0.015,0.032,0.047} [component_container_isolated-3] [DEBUG] [1762964967.125121062] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.125168673] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.125206816] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979128 -0.000040 0.203244 -0.006623 [component_container_isolated-3] 0.002443 0.999930 -0.011572 0.059536 [component_container_isolated-3] -0.203229 0.011827 0.979060 0.018314 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.125231774] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.692,11.726,0.143} [component_container_isolated-3] [DEBUG] [1762964967.125263665] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.697,11.695,0.095} [component_container_isolated-3] [DEBUG] [1762964967.125312728] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.126131642] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.126184553] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.126153203] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.126268203] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.126227495] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.126305174] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.126337886] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000115 0.000049 -0.000009 [component_container_isolated-3] -0.000115 1.000000 0.000071 0.000296 [component_container_isolated-3] -0.000049 -0.000071 1.000000 0.000168 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.126394815] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,-0.000,0.000} {-0.004,0.009,0.004} [component_container_isolated-3] [DEBUG] [1762964967.126372542] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000033 -0.000065 0.000174 [component_container_isolated-3] -0.000033 1.000000 0.000156 -0.000285 [component_container_isolated-3] 0.000065 -0.000156 1.000000 0.000064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.126481480] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.003,0.006} {-0.009,0.094,-0.003} [component_container_isolated-3] [DEBUG] [1762964967.126450842] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.126535674] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.126582944] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.126628902] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.126670672] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879403 0.000058 0.476078 -0.001107 [component_container_isolated-3] -0.004769 0.999951 0.008688 0.060113 [component_container_isolated-3] -0.476054 -0.009911 0.879360 0.018143 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.126737840] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.646,28.428,-0.311} [component_container_isolated-3] [DEBUG] [1762964967.126771434] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.644,28.419,-0.315} [component_container_isolated-3] [DEBUG] [1762964967.126711590] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000051 0.185150 -0.006960 [component_container_isolated-3] -0.000138 1.000000 0.000459 0.059908 [component_container_isolated-3] -0.185150 -0.000476 0.982710 0.017411 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.126837150] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.028,10.670,-0.008} [component_container_isolated-3] [DEBUG] [1762964967.126861476] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.003,-0.006} {-0.018,10.576,-0.005} [component_container_isolated-3] [DEBUG] [1762964967.126825247] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.126905570] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.152637472] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.152690834] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.152730009] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.152773422] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000004 0.000034 -0.000084 [component_container_isolated-3] -0.000004 1.000000 0.000005 -0.000059 [component_container_isolated-3] -0.000034 -0.000005 1.000000 -0.000015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.152797818] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.000} {-0.005,0.011,0.004} [component_container_isolated-3] [DEBUG] [1762964967.152846291] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.152887349] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.152968815] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879387 0.000059 0.476108 -0.001112 [component_container_isolated-3] -0.004774 0.999951 0.008693 0.060130 [component_container_isolated-3] -0.476084 -0.009918 0.879344 0.018149 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.152995095] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.646,28.430,-0.311} [component_container_isolated-3] [DEBUG] [1762964967.153026896] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.644,28.419,-0.315} [component_container_isolated-3] [DEBUG] [1762964967.153087962] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.154670985] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.154722263] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.154765987] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.154810151] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000056 -0.000030 -0.000012 [component_container_isolated-3] -0.000056 1.000000 -0.000064 -0.000080 [component_container_isolated-3] 0.000030 0.000064 1.000000 -0.000105 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.154835640] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.011,0.030,0.044} [component_container_isolated-3] [DEBUG] [1762964967.154884353] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.154962472] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.155001396] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979134 0.000028 0.203214 -0.006628 [component_container_isolated-3] 0.002386 0.999929 -0.011636 0.059547 [component_container_isolated-3] -0.203200 0.011878 0.979065 0.018276 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.155024230] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.695,11.724,0.140} [component_container_isolated-3] [DEBUG] [1762964967.155057564] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.697,11.695,0.095} [component_container_isolated-3] [DEBUG] [1762964967.155109693] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.160871277] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.160946570] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.160986988] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.161032585] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000033 -0.000065 0.000174 [component_container_isolated-3] -0.000033 1.000000 0.000156 -0.000285 [component_container_isolated-3] 0.000065 -0.000156 1.000000 0.000064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.161058364] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {-0.018,0.090,-0.005} [component_container_isolated-3] [DEBUG] [1762964967.161107788] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.161153736] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.161193171] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000051 0.185150 -0.006960 [component_container_isolated-3] -0.000138 1.000000 0.000459 0.059908 [component_container_isolated-3] -0.185150 -0.000476 0.982710 0.017411 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.161216897] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.028,10.670,-0.008} [component_container_isolated-3] [DEBUG] [1762964967.161248617] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.004,-0.007} {-0.009,10.580,-0.003} [component_container_isolated-3] [DEBUG] [1762964967.161297681] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.166841979] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.166891213] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.166960987] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.167006473] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000056 -0.000030 -0.000012 [component_container_isolated-3] -0.000056 1.000000 -0.000064 -0.000080 [component_container_isolated-3] 0.000030 0.000064 1.000000 -0.000105 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.167031291] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.007,0.028,0.040} [component_container_isolated-3] [DEBUG] [1762964967.167080906] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.167121964] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.167156680] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979134 0.000028 0.203214 -0.006628 [component_container_isolated-3] 0.002386 0.999929 -0.011636 0.059547 [component_container_isolated-3] -0.203200 0.011878 0.979065 0.018276 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.167178953] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.695,11.724,0.140} [component_container_isolated-3] [DEBUG] [1762964967.167211545] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.694,11.697,0.098} [component_container_isolated-3] [DEBUG] [1762964967.167263434] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.175066476] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.175116922] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.175156588] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.175200843] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000158 -0.000051 -0.000182 [component_container_isolated-3] 0.000158 1.000000 -0.000026 -0.001317 [component_container_isolated-3] 0.000051 0.000026 1.000000 -0.000171 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.175225550] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.000} {0.052,-0.024,0.001} [component_container_isolated-3] [DEBUG] [1762964967.175274633] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.175318157] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.175356009] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981554 -0.000162 0.191187 -0.006916 [component_container_isolated-3] -0.001530 0.999961 0.008703 0.059576 [component_container_isolated-3] -0.191181 -0.008835 0.981515 0.017400 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.175380305] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.516,11.022,-0.089} [component_container_isolated-3] [DEBUG] [1762964967.175412266] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,0.000} {-0.568,11.045,-0.090} [component_container_isolated-3] [DEBUG] [1762964967.175461550] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.183759768] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.183809593] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.183848658] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.183891951] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000028 -0.000038 0.000063 [component_container_isolated-3] -0.000028 1.000000 -0.000093 -0.000043 [component_container_isolated-3] 0.000038 0.000093 1.000000 -0.000045 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.183916878] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,-0.000,-0.000} {0.001,0.009,0.002} [component_container_isolated-3] [DEBUG] [1762964967.184005467] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.184047818] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.184084558] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879405 0.000128 0.476075 -0.001110 [component_container_isolated-3] -0.004801 0.999951 0.008600 0.060141 [component_container_isolated-3] -0.476050 -0.009849 0.879363 0.018151 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.184108133] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.428,-0.313} [component_container_isolated-3] [DEBUG] [1762964967.184140325] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.644,28.419,-0.315} [component_container_isolated-3] [DEBUG] [1762964967.184197935] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.193300609] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.193350414] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.193388216] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.193431158] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000033 -0.000065 0.000174 [component_container_isolated-3] -0.000033 1.000000 0.000156 -0.000285 [component_container_isolated-3] 0.000065 -0.000156 1.000000 0.000064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.193455094] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {-0.027,0.086,-0.007} [component_container_isolated-3] [DEBUG] [1762964967.193502324] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.193544034] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.193578930] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000051 0.185150 -0.006960 [component_container_isolated-3] -0.000138 1.000000 0.000459 0.059908 [component_container_isolated-3] -0.185150 -0.000476 0.982710 0.017411 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.193607465] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.028,10.670,-0.008} [component_container_isolated-3] [DEBUG] [1762964967.193646008] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.004,-0.007} {0.000,10.583,-0.001} [component_container_isolated-3] [DEBUG] [1762964967.193698939] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.202256542] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.202304805] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.202347747] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.202395668] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000146 0.000282 0.000189 [component_container_isolated-3] -0.000146 1.000000 0.000124 0.001137 [component_container_isolated-3] -0.000282 -0.000125 1.000000 0.001228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.202420886] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.003,0.001} {0.045,-0.007,-0.007} [component_container_isolated-3] [DEBUG] [1762964967.202470802] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.202513163] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.202548059] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981500 -0.000043 0.191464 -0.006821 [component_container_isolated-3] -0.001678 0.999960 0.008827 0.059757 [component_container_isolated-3] -0.191456 -0.008985 0.981460 0.017682 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.202570712] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.525,11.038,-0.098} [component_container_isolated-3] [DEBUG] [1762964967.202600449] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.004,-0.000} {-0.568,11.045,-0.090} [component_container_isolated-3] [DEBUG] [1762964967.202648892] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.217800067] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.217852367] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.217888676] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.217962728] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000032 0.000233 -0.000119 [component_container_isolated-3] 0.000032 1.000000 0.000022 -0.000149 [component_container_isolated-3] -0.000233 -0.000022 1.000000 0.000555 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.217989158] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.009,0.041,0.042} [component_container_isolated-3] [DEBUG] [1762964967.218036959] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.218081645] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.218120609] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 -0.000008 0.203442 -0.006629 [component_container_isolated-3] 0.002421 0.999930 -0.011613 0.059537 [component_container_isolated-3] -0.203428 0.011863 0.979018 0.018338 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.218143383] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.694,11.737,0.142} [component_container_isolated-3] [DEBUG] [1762964967.218177728] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.002} {0.694,11.697,0.098} [component_container_isolated-3] [DEBUG] [1762964967.218239376] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.220105079] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.220151999] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.220192205] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.220235348] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000110 0.000039 -0.000007 [component_container_isolated-3] 0.000110 1.000000 0.000106 -0.000147 [component_container_isolated-3] -0.000039 -0.000106 1.000000 0.000054 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.220259905] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,-0.001,0.000} {-0.005,0.011,0.009} [component_container_isolated-3] [DEBUG] [1762964967.220306223] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.220346440] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.220381407] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879386 -0.000019 0.476109 -0.001116 [component_container_isolated-3] -0.004692 0.999951 0.008706 0.060135 [component_container_isolated-3] -0.476086 -0.009889 0.879343 0.018152 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.220402397] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.644,28.430,-0.306} [component_container_isolated-3] [DEBUG] [1762964967.220432304] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,0.000} {-0.644,28.419,-0.315} [component_container_isolated-3] [DEBUG] [1762964967.220499342] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.220813301] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.220860912] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.220900688] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.220972475] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000146 0.000282 0.000189 [component_container_isolated-3] -0.000146 1.000000 0.000124 0.001137 [component_container_isolated-3] -0.000282 -0.000125 1.000000 0.001228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.220999417] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.004,0.002} {0.038,0.009,-0.016} [component_container_isolated-3] [DEBUG] [1762964967.221047118] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.221089078] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.221123764] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981500 -0.000043 0.191464 -0.006821 [component_container_isolated-3] -0.001678 0.999960 0.008827 0.059757 [component_container_isolated-3] -0.191456 -0.008985 0.981460 0.017682 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.221147680] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.525,11.038,-0.098} [component_container_isolated-3] [DEBUG] [1762964967.221177617] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.005,-0.002} {-0.559,11.029,-0.082} [component_container_isolated-3] [DEBUG] [1762964967.221227162] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.241708947] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.241760556] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.241793789] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.241832403] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000145 -0.000178 -0.000686 [component_container_isolated-3] 0.000145 1.000000 0.000053 -0.000693 [component_container_isolated-3] 0.000178 -0.000053 1.000000 -0.001073 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.241853844] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.005,0.005} {-0.030,0.076,0.002} [component_container_isolated-3] [DEBUG] [1762964967.241893850] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.241956931] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.241991777] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982743 -0.000101 0.184976 -0.007176 [component_container_isolated-3] 0.000007 1.000000 0.000511 0.059764 [component_container_isolated-3] -0.184976 -0.000501 0.982743 0.017174 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.242012096] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.660,0.000} [component_container_isolated-3] [DEBUG] [1762964967.242039488] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.005,-0.006} {0.000,10.583,-0.001} [component_container_isolated-3] [DEBUG] [1762964967.242083352] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.242764673] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.242810230] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.242841590] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.242875405] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000110 0.000039 -0.000007 [component_container_isolated-3] 0.000110 1.000000 0.000106 -0.000147 [component_container_isolated-3] -0.000039 -0.000106 1.000000 0.000054 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.242894692] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,-0.001,0.000} {-0.011,0.014,0.015} [component_container_isolated-3] [DEBUG] [1762964967.242946911] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.242982620] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.243009070] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879386 -0.000019 0.476109 -0.001116 [component_container_isolated-3] -0.004692 0.999951 0.008706 0.060135 [component_container_isolated-3] -0.476086 -0.009889 0.879343 0.018152 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.243026453] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.644,28.430,-0.306} [component_container_isolated-3] [DEBUG] [1762964967.243048425] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,0.000} {-0.641,28.416,-0.322} [component_container_isolated-3] [DEBUG] [1762964967.243085456] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.250773638] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.250837651] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.250878188] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.250957620] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000028 -0.000083 0.000008 [component_container_isolated-3] -0.000028 1.000000 -0.000011 0.000001 [component_container_isolated-3] 0.000083 0.000011 1.000000 -0.000157 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.250985523] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.008,0.037,0.041} [component_container_isolated-3] [DEBUG] [1762964967.251035128] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.251076076] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.251117295] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979104 0.000022 0.203361 -0.006637 [component_container_isolated-3] 0.002392 0.999930 -0.011624 0.059531 [component_container_isolated-3] -0.203347 0.011867 0.979035 0.018346 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.251144306] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.694,11.733,0.140} [component_container_isolated-3] [DEBUG] [1762964967.251175786] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.002} {0.694,11.697,0.098} [component_container_isolated-3] [DEBUG] [1762964967.251227575] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.272105277] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.272167926] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.272221368] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.272283597] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000032 -0.000361 0.000236 [component_container_isolated-3] 0.000032 1.000000 -0.000085 -0.000840 [component_container_isolated-3] 0.000361 0.000085 1.000000 -0.001401 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.272321810] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.004,0.001} {0.043,-0.012,-0.014} [component_container_isolated-3] [DEBUG] [1762964967.272391954] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.272457079] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.272512755] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981569 -0.000058 0.191109 -0.006815 [component_container_isolated-3] -0.001643 0.999961 0.008743 0.059648 [component_container_isolated-3] -0.191102 -0.008895 0.981530 0.017410 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.272547591] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.519,11.017,-0.096} [component_container_isolated-3] [DEBUG] [1762964967.272593699] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.004,-0.000} {-0.559,11.029,-0.082} [component_container_isolated-3] [DEBUG] [1762964967.272672670] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.277696835] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.277754345] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.277796455] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.277848024] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000129 0.000202 0.000766 [component_container_isolated-3] -0.000129 1.000000 -0.000243 0.000844 [component_container_isolated-3] -0.000202 0.000243 1.000000 0.000941 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.277877120] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {-0.016,0.088,-0.006} [component_container_isolated-3] [DEBUG] [1762964967.277971370] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.278023860] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.278065229] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000071 0.185174 -0.007084 [component_container_isolated-3] -0.000123 1.000000 0.000268 0.059871 [component_container_isolated-3] -0.185174 -0.000286 0.982706 0.017262 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.278088924] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.017,10.671,-0.007} [component_container_isolated-3] [DEBUG] [1762964967.278121055] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,0.004,-0.007} {0.000,10.583,-0.001} [component_container_isolated-3] [DEBUG] [1762964967.278172854] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.282415286] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.282577807] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.282629455] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.282691534] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000032 -0.000361 0.000236 [component_container_isolated-3] 0.000032 1.000000 -0.000085 -0.000840 [component_container_isolated-3] 0.000361 0.000085 1.000000 -0.001401 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.282728494] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.003,-0.001} {0.048,-0.033,-0.012} [component_container_isolated-3] [DEBUG] [1762964967.282797606] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.282862901] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.282917926] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981569 -0.000058 0.191109 -0.006815 [component_container_isolated-3] -0.001643 0.999961 0.008743 0.059648 [component_container_isolated-3] -0.191102 -0.008895 0.981530 0.017410 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.282984654] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.519,11.017,-0.096} [component_container_isolated-3] [DEBUG] [1762964967.283031714] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.003,0.001} {-0.565,11.050,-0.084} [component_container_isolated-3] [DEBUG] [1762964967.283112828] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.285295777] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.285349780] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.285389757] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.285432849] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000101 0.000135 -0.000302 [component_container_isolated-3] 0.000101 1.000000 0.000029 -0.000169 [component_container_isolated-3] -0.000135 -0.000029 1.000000 0.000424 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.285458698] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.003} {-0.010,0.044,0.046} [component_container_isolated-3] [DEBUG] [1762964967.285507351] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.285548821] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.285586683] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979076 -0.000083 0.203493 -0.006687 [component_container_isolated-3] 0.002495 0.999930 -0.011595 0.059498 [component_container_isolated-3] -0.203478 0.011860 0.979008 0.018449 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.285611550] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.740,0.146} [component_container_isolated-3] [DEBUG] [1762964967.285645956] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.003} {0.694,11.697,0.098} [component_container_isolated-3] [DEBUG] [1762964967.285699318] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.287510617] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.287566474] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.287612562] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.287659021] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000165 -0.000044 0.000027 [component_container_isolated-3] 0.000165 1.000000 -0.000189 -0.000297 [component_container_isolated-3] 0.000044 0.000189 1.000000 0.000015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.287685902] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,-0.001,0.000} {-0.000,0.011,0.024} [component_container_isolated-3] [DEBUG] [1762964967.287737661] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.287782256] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.287819146] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879408 -0.000075 0.476070 -0.001115 [component_container_isolated-3] -0.004526 0.999954 0.008517 0.060073 [component_container_isolated-3] -0.476048 -0.009644 0.879366 0.018169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.287845346] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.628,28.428,-0.295} [component_container_isolated-3] [DEBUG] [1762964967.287879101] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,0.000} {-0.641,28.416,-0.322} [component_container_isolated-3] [DEBUG] [1762964967.287977950] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.295457464] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.295514733] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.295556513] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.295602160] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000129 0.000202 0.000766 [component_container_isolated-3] -0.000129 1.000000 -0.000243 0.000844 [component_container_isolated-3] -0.000202 0.000243 1.000000 0.000941 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.295629332] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.003,0.007} {-0.002,0.099,-0.013} [component_container_isolated-3] [DEBUG] [1762964967.295677955] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.295724734] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.295764981] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000071 0.185174 -0.007084 [component_container_isolated-3] -0.000123 1.000000 0.000268 0.059871 [component_container_isolated-3] -0.185174 -0.000286 0.982706 0.017262 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.295790800] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.017,10.671,-0.007} [component_container_isolated-3] [DEBUG] [1762964967.295825296] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.003,-0.007} {-0.012,10.572,0.006} [component_container_isolated-3] [DEBUG] [1762964967.295875552] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.316441087] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.316496333] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.316539706] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.316585072] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000118 -0.000102 0.000282 [component_container_isolated-3] -0.000118 1.000000 -0.000064 0.000215 [component_container_isolated-3] 0.000102 0.000064 1.000000 -0.000390 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.316611343] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.006,0.039,0.040} [component_container_isolated-3] [DEBUG] [1762964967.316662891] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.316706614] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.316742383] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 0.000046 0.203393 -0.006689 [component_container_isolated-3] 0.002375 0.999929 -0.011659 0.059502 [component_container_isolated-3] -0.203379 0.011898 0.979028 0.018450 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.316765487] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.696,11.735,0.139} [component_container_isolated-3] [DEBUG] [1762964967.316798199] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.694,11.697,0.098} [component_container_isolated-3] [DEBUG] [1762964967.316850028] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.318574572] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.318626371] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.318668992] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.318714419] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000204 -0.000090 -0.000025 [component_container_isolated-3] -0.000204 1.000000 0.000300 0.000475 [component_container_isolated-3] 0.000090 -0.000300 1.000000 -0.000210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.318739777] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,-0.001,-0.000} {-0.018,0.006,0.013} [component_container_isolated-3] [DEBUG] [1762964967.318789051] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.318838496] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.318874966] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879450 -0.000039 0.475991 -0.001125 [component_container_isolated-3] -0.004729 0.999950 0.008818 0.060117 [component_container_isolated-3] -0.475967 -0.010005 0.879406 0.018128 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.318898511] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.652,28.422,-0.308} [component_container_isolated-3] [DEBUG] [1762964967.318960870] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.641,28.416,-0.322} [component_container_isolated-3] [DEBUG] [1762964967.319017147] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.324797165] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.324856699] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.324895353] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.324975205] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000129 0.000202 0.000766 [component_container_isolated-3] -0.000129 1.000000 -0.000243 0.000844 [component_container_isolated-3] -0.000202 0.000243 1.000000 0.000941 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.325003419] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,-0.002,0.008} {0.012,0.111,-0.021} [component_container_isolated-3] [DEBUG] [1762964967.325056020] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.325104112] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.325144910] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000071 0.185174 -0.007084 [component_container_isolated-3] -0.000123 1.000000 0.000268 0.059871 [component_container_isolated-3] -0.185174 -0.000286 0.982706 0.017262 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.325170228] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.017,10.671,-0.007} [component_container_isolated-3] [DEBUG] [1762964967.325204954] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {-0.025,10.560,0.014} [component_container_isolated-3] [DEBUG] [1762964967.325261051] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.334595588] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.334650543] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.334693064] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.334739703] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000090 0.000045 -0.000271 [component_container_isolated-3] 0.000090 1.000000 -0.000095 -0.000293 [component_container_isolated-3] -0.000045 0.000095 1.000000 0.000206 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.334767015] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.002,-0.000} {0.053,-0.030,-0.007} [component_container_isolated-3] [DEBUG] [1762964967.334846166] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.334896443] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.334969873] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981560 -0.000128 0.191153 -0.006813 [component_container_isolated-3] -0.001554 0.999961 0.008648 0.059532 [component_container_isolated-3] -0.191147 -0.008786 0.981522 0.017383 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.334996163] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.513,11.020,-0.091} [component_container_isolated-3] [DEBUG] [1762964967.335028455] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.003,0.001} {-0.565,11.050,-0.084} [component_container_isolated-3] [DEBUG] [1762964967.335081486] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.347297285] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.347351900] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.347394441] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.347438966] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000066 0.000006 0.000112 [component_container_isolated-3] 0.000066 1.000000 0.000017 -0.000186 [component_container_isolated-3] -0.000006 -0.000017 1.000000 0.000035 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.347463974] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.007,0.039,0.043} [component_container_isolated-3] [DEBUG] [1762964967.347512837] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.347555719] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.347592619] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979096 -0.000023 0.203399 -0.006682 [component_container_isolated-3] 0.002442 0.999929 -0.011642 0.059479 [component_container_isolated-3] -0.203384 0.011895 0.979027 0.018450 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.347617136] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.696,11.735,0.143} [component_container_isolated-3] [DEBUG] [1762964967.347650830] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.002} {0.694,11.697,0.098} [component_container_isolated-3] [DEBUG] [1762964967.347703491] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.350822718] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.350882402] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.350963837] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.351011919] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000034 0.000089 0.000016 [component_container_isolated-3] 0.000034 1.000000 -0.000116 -0.000067 [component_container_isolated-3] -0.000089 0.000116 1.000000 0.000154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.351042397] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,-0.001,0.000} {-0.011,0.011,0.015} [component_container_isolated-3] [DEBUG] [1762964967.351098585] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.351158269] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.351198335] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879408 -0.000013 0.476069 -0.001120 [component_container_isolated-3] -0.004696 0.999951 0.008702 0.060124 [component_container_isolated-3] -0.476046 -0.009888 0.879365 0.018136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.351222051] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.644,28.427,-0.306} [component_container_isolated-3] [DEBUG] [1762964967.351253691] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,0.000} {-0.641,28.416,-0.322} [component_container_isolated-3] [DEBUG] [1762964967.351303676] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.369160789] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.369222617] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.369264908] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.369310425] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000154 0.000374 -0.000375 [component_container_isolated-3] -0.000154 1.000000 -0.000019 0.001717 [component_container_isolated-3] -0.000374 0.000019 1.000000 0.001983 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.369337296] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.004,0.002} {0.054,-0.009,-0.016} [component_container_isolated-3] [DEBUG] [1762964967.369388905] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.369433420] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.369470070] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981489 0.000027 0.191521 -0.006721 [component_container_isolated-3] -0.001711 0.999961 0.008628 0.060021 [component_container_isolated-3] -0.191513 -0.008796 0.981451 0.018100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.369495448] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.001} {-0.514,11.041,-0.100} [component_container_isolated-3] [DEBUG] [1762964967.369530205] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.565,11.050,-0.084} [component_container_isolated-3] [DEBUG] [1762964967.369581242] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.374788467] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.374839484] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.374886003] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.374972889] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000046 -0.000033 0.000112 [component_container_isolated-3] 0.000046 1.000000 0.000258 -0.000175 [component_container_isolated-3] 0.000033 -0.000258 1.000000 0.000082 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.375001444] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,-0.002,0.008} {-0.003,0.109,-0.018} [component_container_isolated-3] [DEBUG] [1762964967.375053753] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.375097477] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.375132854] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 -0.000022 0.185142 -0.007036 [component_container_isolated-3] -0.000077 1.000000 0.000526 0.059890 [component_container_isolated-3] -0.185141 -0.000531 0.982712 0.017287 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.375156359] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.669,-0.004} [component_container_isolated-3] [DEBUG] [1762964967.375189553] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,0.002,-0.008} {-0.025,10.560,0.014} [component_container_isolated-3] [DEBUG] [1762964967.375244077] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.386516494] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.386568694] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.386607839] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.386651843] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000049 0.000032 0.000044 [component_container_isolated-3] -0.000049 1.000000 -0.000001 0.000370 [component_container_isolated-3] -0.000032 0.000001 1.000000 0.000090 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.386676370] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.007,0.041,0.041} [component_container_isolated-3] [DEBUG] [1762964967.386724852] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.386767233] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.386806959] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979090 0.000026 0.203430 -0.006665 [component_container_isolated-3] 0.002393 0.999929 -0.011642 0.059520 [component_container_isolated-3] -0.203416 0.011885 0.979020 0.018461 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.386831486] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.696,11.737,0.140} [component_container_isolated-3] [DEBUG] [1762964967.386864740] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.694,11.697,0.098} [component_container_isolated-3] [DEBUG] [1762964967.386915366] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.389630752] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.389802289] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.389843879] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.389889486] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000032 0.000055 0.000084 [component_container_isolated-3] 0.000032 1.000000 -0.000060 -0.000147 [component_container_isolated-3] -0.000055 0.000060 1.000000 0.000153 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.389916377] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,-0.001,0.000} {-0.008,0.014,0.016} [component_container_isolated-3] [DEBUG] [1762964967.390017971] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.390081262] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.390112522] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879382 -0.000012 0.476118 -0.001099 [component_container_isolated-3] -0.004664 0.999952 0.008641 0.060114 [component_container_isolated-3] -0.476095 -0.009820 0.879339 0.018154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.390131047] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.431,-0.304} [component_container_isolated-3] [DEBUG] [1762964967.390153180] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,0.001,0.000} {-0.641,28.416,-0.322} [component_container_isolated-3] [DEBUG] [1762964967.390196051] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.401351045] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.401411981] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.401454002] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.401499368] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000169 -0.000321 0.000160 [component_container_isolated-3] 0.000169 1.000000 -0.000001 -0.001759 [component_container_isolated-3] 0.000321 0.000001 1.000000 -0.001908 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.401525809] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.000} {0.054,-0.027,-0.006} [component_container_isolated-3] [DEBUG] [1762964967.401575564] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.401619397] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.401655136] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981550 -0.000139 0.191206 -0.006817 [component_container_isolated-3] -0.001539 0.999962 0.008628 0.059635 [component_container_isolated-3] -0.191200 -0.008763 0.981512 0.017745 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.401680093] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.512,11.023,-0.090} [component_container_isolated-3] [DEBUG] [1762964967.401715551] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,0.001} {-0.565,11.050,-0.084} [component_container_isolated-3] [DEBUG] [1762964967.401768803] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.403571986] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.403624476] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.403663210] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.403706854] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000032 0.000055 0.000084 [component_container_isolated-3] 0.000032 1.000000 -0.000060 -0.000147 [component_container_isolated-3] -0.000055 0.000060 1.000000 0.000153 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.403732513] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,-0.001,0.000} {-0.004,0.017,0.018} [component_container_isolated-3] [DEBUG] [1762964967.403781396] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.403828476] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.403868492] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879382 -0.000012 0.476118 -0.001099 [component_container_isolated-3] -0.004664 0.999952 0.008641 0.060114 [component_container_isolated-3] -0.476095 -0.009820 0.879339 0.018154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.403892909] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.431,-0.304} [component_container_isolated-3] [DEBUG] [1762964967.403955589] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,0.001,-0.000} {-0.645,28.413,-0.324} [component_container_isolated-3] [DEBUG] [1762964967.404010033] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.408701723] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.408757139] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.408798187] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.408843394] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000065 0.000023 -0.000081 [component_container_isolated-3] 0.000065 1.000000 -0.000088 -0.000018 [component_container_isolated-3] -0.000023 0.000088 1.000000 0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.408870445] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,-0.002,0.008} {0.002,0.110,-0.014} [component_container_isolated-3] [DEBUG] [1762964967.408948624] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.409029870] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.409075096] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 -0.000070 0.185164 -0.007013 [component_container_isolated-3] -0.000011 1.000000 0.000438 0.059899 [component_container_isolated-3] -0.185164 -0.000432 0.982708 0.017319 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.409099573] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.025,10.671,-0.001} [component_container_isolated-3] [DEBUG] [1762964967.409131574] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {-0.025,10.560,0.014} [component_container_isolated-3] [DEBUG] [1762964967.409183313] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.418539681] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.418594265] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.418635985] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.418682544] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000169 -0.000321 0.000160 [component_container_isolated-3] 0.000169 1.000000 -0.000001 -0.001759 [component_container_isolated-3] 0.000321 0.000001 1.000000 -0.001908 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.418709886] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.001,-0.002} {0.054,-0.045,0.004} [component_container_isolated-3] [DEBUG] [1762964967.418758749] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.418806370] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.418847248] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981550 -0.000139 0.191206 -0.006817 [component_container_isolated-3] -0.001539 0.999962 0.008628 0.059635 [component_container_isolated-3] -0.191200 -0.008763 0.981512 0.017745 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.418874050] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.512,11.023,-0.090} [component_container_isolated-3] [DEBUG] [1762964967.418907994] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.001,0.003} {-0.567,11.068,-0.094} [component_container_isolated-3] [DEBUG] [1762964967.418996423] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.427592860] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.427646543] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.427685898] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.427733719] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000055 -0.000108 0.000054 [component_container_isolated-3] 0.000055 1.000000 0.000047 -0.000561 [component_container_isolated-3] 0.000108 -0.000047 1.000000 -0.000665 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.427760841] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.002} {-0.010,0.035,0.044} [component_container_isolated-3] [DEBUG] [1762964967.427814414] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.427860732] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.427901961] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979111 -0.000038 0.203324 -0.006681 [component_container_isolated-3] 0.002447 0.999930 -0.011595 0.059442 [component_container_isolated-3] -0.203309 0.011850 0.979043 0.018322 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.427969079] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.693,11.731,0.143} [component_container_isolated-3] [DEBUG] [1762964967.428000990] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.002} {0.694,11.697,0.098} [component_container_isolated-3] [DEBUG] [1762964967.428053981] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.441099024] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.441153688] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.441193655] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.441237148] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000112 0.000017 0.000027 [component_container_isolated-3] -0.000112 1.000000 0.000002 0.000069 [component_container_isolated-3] -0.000017 -0.000002 1.000000 -0.000044 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.441262907] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,-0.002,0.008} {0.002,0.111,-0.021} [component_container_isolated-3] [DEBUG] [1762964967.441311730] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.441355403] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.441391593] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 0.000040 0.185180 -0.006984 [component_container_isolated-3] -0.000123 1.000000 0.000440 0.059918 [component_container_isolated-3] -0.185180 -0.000455 0.982704 0.017336 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.441415959] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.027,10.672,-0.007} [component_container_isolated-3] [DEBUG] [1762964967.441450715] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {-0.025,10.560,0.014} [component_container_isolated-3] [DEBUG] [1762964967.441505039] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.449470551] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.449527951] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.449572356] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.449618945] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000062 0.000028 -0.000113 [component_container_isolated-3] 0.000062 1.000000 -0.000014 0.000048 [component_container_isolated-3] -0.000028 0.000014 1.000000 0.000229 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.449645966] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.009,0.036,0.047} [component_container_isolated-3] [DEBUG] [1762964967.449697024] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.449740667] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.449776927] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000096 0.203351 -0.006686 [component_container_isolated-3] 0.002510 0.999929 -0.011609 0.059417 [component_container_isolated-3] -0.203336 0.011877 0.979037 0.018298 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.449799640] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.695,11.732,0.147} [component_container_isolated-3] [DEBUG] [1762964967.449833414] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.002} {0.694,11.697,0.098} [component_container_isolated-3] [DEBUG] [1762964967.449887608] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.450995644] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.451048255] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.451090595] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.451135221] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000026 -0.000165 0.000007 [component_container_isolated-3] -0.000026 1.000000 -0.000142 0.000120 [component_container_isolated-3] 0.000165 0.000142 1.000000 -0.000260 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.451160669] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,-0.001,0.000} {0.004,0.008,0.017} [component_container_isolated-3] [DEBUG] [1762964967.451208521] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.451250200] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.451286129] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 0.000078 0.475973 -0.001098 [component_container_isolated-3] -0.004689 0.999953 0.008500 0.060120 [component_container_isolated-3] -0.475950 -0.009707 0.879419 0.018139 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.451310044] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.632,28.421,-0.305} [component_container_isolated-3] [DEBUG] [1762964967.451342166] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,0.001,0.000} {-0.645,28.413,-0.324} [component_container_isolated-3] [DEBUG] [1762964967.451396650] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.468371418] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.468427334] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.468471208] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.468517607] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000105 -0.000145 0.000505 [component_container_isolated-3] -0.000105 1.000000 0.000084 0.000442 [component_container_isolated-3] 0.000145 -0.000084 1.000000 -0.000706 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.468544849] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.001,-0.003} {0.049,-0.054,-0.002} [component_container_isolated-3] [DEBUG] [1762964967.468595606] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.468640181] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.468677141] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981578 -0.000052 0.191064 -0.006795 [component_container_isolated-3] -0.001643 0.999961 0.008713 0.059605 [component_container_isolated-3] -0.191057 -0.008866 0.981539 0.017360 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.468701909] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.518,11.014,-0.096} [component_container_isolated-3] [DEBUG] [1762964967.468734711] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.002,0.003} {-0.567,11.068,-0.094} [component_container_isolated-3] [DEBUG] [1762964967.468787552] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.472953147] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.473007882] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.473050413] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.473097603] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000108 -0.000015 -0.000054 [component_container_isolated-3] 0.000108 1.000000 0.000088 -0.000019 [component_container_isolated-3] 0.000015 -0.000088 1.000000 -0.000057 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.473123703] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,-0.002,0.008} {-0.003,0.110,-0.014} [component_container_isolated-3] [DEBUG] [1762964967.473176815] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.473224816] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.473261015] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982707 -0.000083 0.185165 -0.006976 [component_container_isolated-3] -0.000015 1.000000 0.000528 0.059930 [component_container_isolated-3] -0.185165 -0.000522 0.982707 0.017345 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.473283879] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.671,-0.001} [component_container_isolated-3] [DEBUG] [1762964967.473321411] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {-0.025,10.560,0.014} [component_container_isolated-3] [DEBUG] [1762964967.473377408] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.477503938] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.477560036] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.477601615] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.477646501] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000026 -0.000165 0.000007 [component_container_isolated-3] -0.000026 1.000000 -0.000142 0.000120 [component_container_isolated-3] 0.000165 0.000142 1.000000 -0.000260 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.477673723] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,-0.001,-0.000} {0.012,-0.002,0.015} [component_container_isolated-3] [DEBUG] [1762964967.477726984] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.477771890] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.477813119] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 0.000078 0.475973 -0.001098 [component_container_isolated-3] -0.004689 0.999953 0.008500 0.060120 [component_container_isolated-3] -0.475950 -0.009707 0.879419 0.018139 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.477839008] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.632,28.421,-0.305} [component_container_isolated-3] [DEBUG] [1762964967.477872392] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,0.000} {-0.653,28.423,-0.323} [component_container_isolated-3] [DEBUG] [1762964967.477950451] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.484009773] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.484069607] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.484109483] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.484153187] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000105 -0.000145 0.000505 [component_container_isolated-3] -0.000105 1.000000 0.000084 0.000442 [component_container_isolated-3] 0.000145 -0.000084 1.000000 -0.000706 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.484178746] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.001,-0.004} {0.045,-0.062,-0.009} [component_container_isolated-3] [DEBUG] [1762964967.484238059] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.484288656] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.484329734] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981578 -0.000052 0.191064 -0.006795 [component_container_isolated-3] -0.001643 0.999961 0.008713 0.059605 [component_container_isolated-3] -0.191057 -0.008866 0.981539 0.017360 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.484355173] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.518,11.014,-0.096} [component_container_isolated-3] [DEBUG] [1762964967.484389148] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.002,0.004} {-0.561,11.076,-0.088} [component_container_isolated-3] [DEBUG] [1762964967.484441758] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.485981779] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.486032586] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.486073935] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.486118711] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000075 0.000189 0.000029 [component_container_isolated-3] -0.000075 1.000000 -0.000037 0.000144 [component_container_isolated-3] -0.000189 0.000037 1.000000 0.000660 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.486145512] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.003} {-0.007,0.047,0.043} [component_container_isolated-3] [DEBUG] [1762964967.486194205] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.486235784] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.486273146] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 -0.000015 0.203536 -0.006650 [component_container_isolated-3] 0.002436 0.999929 -0.011646 0.059406 [component_container_isolated-3] -0.203522 0.011898 0.978998 0.018415 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.486297582] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.696,11.743,0.143} [component_container_isolated-3] [DEBUG] [1762964967.486331808] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.002} {0.694,11.697,0.098} [component_container_isolated-3] [DEBUG] [1762964967.486383166] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.508841756] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.508901300] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.508976864] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.509025026] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000093 -0.000021 0.000169 [component_container_isolated-3] -0.000093 1.000000 -0.000095 -0.000043 [component_container_isolated-3] 0.000021 0.000095 1.000000 -0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.509053350] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,-0.002,0.008} {0.002,0.109,-0.020} [component_container_isolated-3] [DEBUG] [1762964967.509105249] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.509155796] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.509197916] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 0.000026 0.185145 -0.006931 [component_container_isolated-3] -0.000108 1.000000 0.000433 0.059937 [component_container_isolated-3] -0.185145 -0.000446 0.982711 0.017354 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.509223786] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.026,10.670,-0.006} [component_container_isolated-3] [DEBUG] [1762964967.509257781] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {-0.025,10.560,0.014} [component_container_isolated-3] [DEBUG] [1762964967.509309650] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.516750259] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.516803982] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.516845591] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.516890477] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000040 -0.000064 -0.000118 [component_container_isolated-3] 0.000040 1.000000 -0.000042 0.000005 [component_container_isolated-3] 0.000064 0.000042 1.000000 -0.000046 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.516916727] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.003} {-0.004,0.043,0.045} [component_container_isolated-3] [DEBUG] [1762964967.516991851] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.517039953] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.517082093] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 -0.000046 0.203473 -0.006655 [component_container_isolated-3] 0.002476 0.999929 -0.011688 0.059398 [component_container_isolated-3] -0.203458 0.011947 0.979011 0.018453 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.517108173] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.699,11.739,0.145} [component_container_isolated-3] [DEBUG] [1762964967.517142519] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.002} {0.694,11.697,0.098} [component_container_isolated-3] [DEBUG] [1762964967.517194788] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.521651981] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.521704842] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.521744477] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.521787239] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000091 0.000090 0.000158 [component_container_isolated-3] -0.000091 1.000000 0.000159 -0.000032 [component_container_isolated-3] -0.000090 -0.000159 1.000000 0.000039 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.521813529] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,-0.001,-0.000} {0.003,0.004,0.010} [component_container_isolated-3] [DEBUG] [1762964967.521861551] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.521907439] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.521990156] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879417 0.000082 0.476051 -0.001071 [component_container_isolated-3] -0.004781 0.999951 0.008658 0.060125 [component_container_isolated-3] -0.476028 -0.009890 0.879375 0.018107 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.522016968] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.644,28.426,-0.311} [component_container_isolated-3] [DEBUG] [1762964967.522050772] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,0.001,0.000} {-0.653,28.423,-0.323} [component_container_isolated-3] [DEBUG] [1762964967.522105507] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.529984424] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.530038867] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.530082010] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.530127417] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000083 0.000162 -0.000300 [component_container_isolated-3] -0.000083 1.000000 -0.000021 0.000850 [component_container_isolated-3] -0.000162 0.000021 1.000000 0.000591 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.530154288] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.002,-0.003} {0.046,-0.053,-0.013} [component_container_isolated-3] [DEBUG] [1762964967.530204233] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.530248127] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.530286150] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 0.000033 0.191223 -0.006796 [component_container_isolated-3] -0.001727 0.999961 0.008692 0.059798 [component_container_isolated-3] -0.191215 -0.008862 0.981508 0.017295 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.530312280] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.517,11.024,-0.101} [component_container_isolated-3] [DEBUG] [1762964967.530346355] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.003,0.003} {-0.561,11.076,-0.088} [component_container_isolated-3] [DEBUG] [1762964967.530397442] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.532425806] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.532490299] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.532532410] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.532579159] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000060 -0.000007 -0.000189 [component_container_isolated-3] 0.000060 1.000000 0.000146 0.000067 [component_container_isolated-3] 0.000007 -0.000146 1.000000 0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.532607773] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,-0.002,0.008} {-0.006,0.109,-0.016} [component_container_isolated-3] [DEBUG] [1762964967.532659071] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.532707945] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.532749945] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 -0.000060 0.185138 -0.006928 [component_container_isolated-3] -0.000048 1.000000 0.000579 0.059952 [component_container_isolated-3] -0.185138 -0.000578 0.982712 0.017356 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.532775704] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.669,-0.003} [component_container_isolated-3] [DEBUG] [1762964967.532808817] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {-0.025,10.560,0.014} [component_container_isolated-3] [DEBUG] [1762964967.532860666] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.546767184] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.546822400] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.546865602] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.546910839] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000034 0.000133 -0.000139 [component_container_isolated-3] -0.000034 1.000000 0.000153 0.000136 [component_container_isolated-3] -0.000133 -0.000153 1.000000 0.000239 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.546968068] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.003} {-0.013,0.051,0.043} [component_container_isolated-3] [DEBUG] [1762964967.547020558] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.547064703] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.547101473] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979053 -0.000043 0.203604 -0.006663 [component_container_isolated-3] 0.002443 0.999930 -0.011535 0.059410 [component_container_isolated-3] -0.203589 0.011790 0.978985 0.018532 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.547126521] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.747,0.143} [component_container_isolated-3] [DEBUG] [1762964967.547159935] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.003} {0.694,11.697,0.098} [component_container_isolated-3] [DEBUG] [1762964967.547212074] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.548109278] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.548160876] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.548199670] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.548242562] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000083 0.000162 -0.000300 [component_container_isolated-3] -0.000083 1.000000 -0.000021 0.000850 [component_container_isolated-3] -0.000162 0.000021 1.000000 0.000591 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.548268051] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.003,-0.002} {0.047,-0.043,-0.018} [component_container_isolated-3] [DEBUG] [1762964967.548316153] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.548359395] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.548396857] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 0.000033 0.191223 -0.006796 [component_container_isolated-3] -0.001727 0.999961 0.008692 0.059798 [component_container_isolated-3] -0.191215 -0.008862 0.981508 0.017295 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.548421003] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.517,11.024,-0.101} [component_container_isolated-3] [DEBUG] [1762964967.548452734] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.004,0.003} {-0.561,11.067,-0.083} [component_container_isolated-3] [DEBUG] [1762964967.548503490] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.549522877] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.549573314] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.549611076] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.549653697] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000024 -0.000156 -0.000244 [component_container_isolated-3] -0.000024 1.000000 0.000122 0.000123 [component_container_isolated-3] 0.000156 -0.000122 1.000000 -0.000231 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.549679196] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,-0.001,-0.000} {-0.004,-0.005,0.009} [component_container_isolated-3] [DEBUG] [1762964967.549727348] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.549769098] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.549807892] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879491 0.000046 0.475915 -0.001101 [component_container_isolated-3] -0.004803 0.999950 0.008781 0.060145 [component_container_isolated-3] -0.475890 -0.010009 0.879448 0.018066 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.549833410] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.652,28.417,-0.313} [component_container_isolated-3] [DEBUG] [1762964967.549866554] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,0.000} {-0.653,28.423,-0.323} [component_container_isolated-3] [DEBUG] [1762964967.549916649] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.557902961] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.557993434] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.558036626] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.558082885] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000060 -0.000007 -0.000189 [component_container_isolated-3] 0.000060 1.000000 0.000146 0.000067 [component_container_isolated-3] 0.000007 -0.000146 1.000000 0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.558110377] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,-0.002,0.008} {-0.014,0.108,-0.013} [component_container_isolated-3] [DEBUG] [1762964967.558160884] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.558207052] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.558247349] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 -0.000060 0.185138 -0.006928 [component_container_isolated-3] -0.000048 1.000000 0.000579 0.059952 [component_container_isolated-3] -0.185138 -0.000578 0.982712 0.017356 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.558272697] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.669,-0.003} [component_container_isolated-3] [DEBUG] [1762964967.558304849] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {-0.017,10.561,0.010} [component_container_isolated-3] [DEBUG] [1762964967.558356067] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.581391459] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.581447746] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.581490518] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.581536886] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000010 -0.000054 -0.000085 [component_container_isolated-3] -0.000010 1.000000 -0.000094 0.000143 [component_container_isolated-3] 0.000054 0.000094 1.000000 0.000027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.581564339] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,-0.000,-0.000} {0.001,-0.008,0.008} [component_container_isolated-3] [DEBUG] [1762964967.581615807] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.581661404] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.581697673] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879517 0.000099 0.475868 -0.001121 [component_container_isolated-3] -0.004813 0.999951 0.008688 0.060180 [component_container_isolated-3] -0.475843 -0.009931 0.879474 0.018059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.581721619] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.647,28.414,-0.314} [component_container_isolated-3] [DEBUG] [1762964967.581756406] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.653,28.423,-0.323} [component_container_isolated-3] [DEBUG] [1762964967.581814617] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.589553716] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.589609052] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.589651443] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.589696469] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000000 -0.000228 0.000292 [component_container_isolated-3] -0.000000 1.000000 -0.000105 -0.000029 [component_container_isolated-3] 0.000228 0.000105 1.000000 -0.000489 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.589723471] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.007,0.038,0.043} [component_container_isolated-3] [DEBUG] [1762964967.589772615] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.589815577] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.589851165] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979100 -0.000022 0.203380 -0.006649 [component_container_isolated-3] 0.002440 0.999929 -0.011640 0.059412 [component_container_isolated-3] -0.203366 0.011893 0.979031 0.018524 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.589873768] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.696,11.734,0.143} [component_container_isolated-3] [DEBUG] [1762964967.589907833] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.694,11.697,0.098} [component_container_isolated-3] [DEBUG] [1762964967.589989358] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.594128874] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.594180963] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.594219036] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.594263461] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000060 -0.000007 -0.000189 [component_container_isolated-3] 0.000060 1.000000 0.000146 0.000067 [component_container_isolated-3] 0.000007 -0.000146 1.000000 0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.594289831] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.023,0.108,-0.010} [component_container_isolated-3] [DEBUG] [1762964967.594339186] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.594384753] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.594424829] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 -0.000060 0.185138 -0.006928 [component_container_isolated-3] -0.000048 1.000000 0.000579 0.059952 [component_container_isolated-3] -0.185138 -0.000578 0.982712 0.017356 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.594449526] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.669,-0.003} [component_container_isolated-3] [DEBUG] [1762964967.594483992] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {-0.009,10.561,0.007} [component_container_isolated-3] [DEBUG] [1762964967.594536633] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.600654516] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.600714321] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.600757232] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.600803801] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000105 0.000053 -0.000252 [component_container_isolated-3] 0.000105 1.000000 0.000023 -0.000478 [component_container_isolated-3] -0.000053 -0.000023 1.000000 0.000282 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.600832887] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.003,-0.002} {0.046,-0.040,-0.012} [component_container_isolated-3] [DEBUG] [1762964967.600886459] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.600965480] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.601010156] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981536 -0.000074 0.191275 -0.006836 [component_container_isolated-3] -0.001623 0.999961 0.008715 0.059801 [component_container_isolated-3] -0.191268 -0.008864 0.981498 0.017307 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.601036486] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.517,11.027,-0.095} [component_container_isolated-3] [DEBUG] [1762964967.601069549] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,0.002} {-0.561,11.067,-0.083} [component_container_isolated-3] [DEBUG] [1762964967.601120737] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.607880446] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.607945791] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.607989094] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.608035122] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000010 -0.000054 -0.000085 [component_container_isolated-3] -0.000010 1.000000 -0.000094 0.000143 [component_container_isolated-3] 0.000054 0.000094 1.000000 0.000027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.608061111] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,-0.000} {0.007,-0.011,0.007} [component_container_isolated-3] [DEBUG] [1762964967.608111898] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.608155712] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.608191530] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879517 0.000099 0.475868 -0.001121 [component_container_isolated-3] -0.004813 0.999951 0.008688 0.060180 [component_container_isolated-3] -0.475843 -0.009931 0.879474 0.018059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.608214314] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.647,28.414,-0.314} [component_container_isolated-3] [DEBUG] [1762964967.608244972] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.658,28.426,-0.322} [component_container_isolated-3] [DEBUG] [1762964967.608297793] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.615329502] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.615385399] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.615429232] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.615476032] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000105 0.000053 -0.000252 [component_container_isolated-3] 0.000105 1.000000 0.000023 -0.000478 [component_container_isolated-3] -0.000053 -0.000023 1.000000 0.000282 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.615503424] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.002} {0.044,-0.037,-0.006} [component_container_isolated-3] [DEBUG] [1762964967.615553129] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.615599017] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.615636689] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981536 -0.000074 0.191275 -0.006836 [component_container_isolated-3] -0.001623 0.999961 0.008715 0.059801 [component_container_isolated-3] -0.191268 -0.008864 0.981498 0.017307 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.615662608] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.517,11.027,-0.095} [component_container_isolated-3] [DEBUG] [1762964967.615695992] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,0.002} {-0.561,11.064,-0.089} [component_container_isolated-3] [DEBUG] [1762964967.615785192] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.618867569] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.618960536] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.619002637] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.619046962] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000006 0.000040 0.000009 [component_container_isolated-3] 0.000006 1.000000 -0.000065 -0.000217 [component_container_isolated-3] -0.000040 0.000065 1.000000 -0.000183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.619072941] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.002} {-0.003,0.040,0.044} [component_container_isolated-3] [DEBUG] [1762964967.619121644] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.619167241] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.619206967] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 -0.000015 0.203420 -0.006644 [component_container_isolated-3] 0.002447 0.999929 -0.011705 0.059385 [component_container_isolated-3] -0.203405 0.011958 0.979022 0.018491 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.619231143] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.700,11.736,0.143} [component_container_isolated-3] [DEBUG] [1762964967.619264858] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.002} {0.694,11.697,0.098} [component_container_isolated-3] [DEBUG] [1762964967.619316306] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.636459746] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.636514360] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.636555378] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.636600915] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000133 0.000031 -0.000068 [component_container_isolated-3] -0.000133 1.000000 -0.000137 -0.000016 [component_container_isolated-3] -0.000031 0.000137 1.000000 0.000062 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.636627626] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.015,0.110,-0.017} [component_container_isolated-3] [DEBUG] [1762964967.636678123] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.636723068] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.636762614] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982707 0.000096 0.185168 -0.006918 [component_container_isolated-3] -0.000181 1.000000 0.000442 0.059961 [component_container_isolated-3] -0.185168 -0.000468 0.982707 0.017381 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.636788533] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.027,10.671,-0.011} [component_container_isolated-3] [DEBUG] [1762964967.636822679] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {-0.009,10.561,0.007} [component_container_isolated-3] [DEBUG] [1762964967.636875680] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.641685496] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.641744178] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.641785316] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.641831114] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000010 -0.000054 -0.000085 [component_container_isolated-3] -0.000010 1.000000 -0.000094 0.000143 [component_container_isolated-3] 0.000054 0.000094 1.000000 0.000027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.641857424] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,-0.000} {0.012,-0.015,0.007} [component_container_isolated-3] [DEBUG] [1762964967.641908251] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.641987653] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.642030505] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879517 0.000099 0.475868 -0.001121 [component_container_isolated-3] -0.004813 0.999951 0.008688 0.060180 [component_container_isolated-3] -0.475843 -0.009931 0.879474 0.018059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.642054601] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.647,28.414,-0.314} [component_container_isolated-3] [DEBUG] [1762964967.642086331] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.663,28.429,-0.322} [component_container_isolated-3] [DEBUG] [1762964967.642137008] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.647790665] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.647840841] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.647879745] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.647960028] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000171 0.000015 -0.000445 [component_container_isolated-3] -0.000171 1.000000 0.000116 0.000431 [component_container_isolated-3] -0.000015 -0.000116 1.000000 0.000272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.647989475] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.002} {-0.010,0.041,0.034} [component_container_isolated-3] [DEBUG] [1762964967.648037937] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.648081260] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.648122408] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979088 0.000129 0.203435 -0.006703 [component_container_isolated-3] 0.002276 0.999930 -0.011589 0.059440 [component_container_isolated-3] -0.203422 0.011810 0.979020 0.018512 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.648146865] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.737,0.133} [component_container_isolated-3] [DEBUG] [1762964967.648180800] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.694,11.697,0.098} [component_container_isolated-3] [DEBUG] [1762964967.648233260] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.662084663] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.662153504] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.662195124] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.662240541] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000028 -0.000064 0.000007 [component_container_isolated-3] -0.000028 1.000000 -0.000028 -0.000074 [component_container_isolated-3] 0.000064 0.000028 1.000000 -0.000473 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.662268434] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.002} {0.046,-0.041,-0.008} [component_container_isolated-3] [DEBUG] [1762964967.662319712] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.662363966] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.662401178] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981549 -0.000041 0.191213 -0.006870 [component_container_isolated-3] -0.001650 0.999961 0.008687 0.059792 [component_container_isolated-3] -0.191206 -0.008842 0.981510 0.017225 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.662426466] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.516,11.023,-0.096} [component_container_isolated-3] [DEBUG] [1762964967.662460821] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,0.002} {-0.561,11.064,-0.089} [component_container_isolated-3] [DEBUG] [1762964967.662512119] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.669031530] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.669091895] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.669131781] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.669175485] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000171 0.000015 -0.000445 [component_container_isolated-3] -0.000171 1.000000 0.000116 0.000431 [component_container_isolated-3] -0.000015 -0.000116 1.000000 0.000272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.669200533] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.002,0.003} {-0.017,0.042,0.024} [component_container_isolated-3] [DEBUG] [1762964967.669248234] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.669289372] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.669324299] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979088 0.000129 0.203435 -0.006703 [component_container_isolated-3] 0.002276 0.999930 -0.011589 0.059440 [component_container_isolated-3] -0.203422 0.011810 0.979020 0.018512 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.669346682] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.737,0.133} [component_container_isolated-3] [DEBUG] [1762964967.669377831] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.002,-0.003} {0.703,11.696,0.108} [component_container_isolated-3] [DEBUG] [1762964967.669428087] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.676015728] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.676069671] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.676108986] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.676154433] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000010 -0.000054 -0.000085 [component_container_isolated-3] -0.000010 1.000000 -0.000094 0.000143 [component_container_isolated-3] 0.000054 0.000094 1.000000 0.000027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.676185442] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,-0.000} {0.017,-0.018,0.006} [component_container_isolated-3] [DEBUG] [1762964967.676237542] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.676282357] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.676321442] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879517 0.000099 0.475868 -0.001121 [component_container_isolated-3] -0.004813 0.999951 0.008688 0.060180 [component_container_isolated-3] -0.475843 -0.009931 0.879474 0.018059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.676346139] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.647,28.414,-0.314} [component_container_isolated-3] [DEBUG] [1762964967.676378872] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,0.000} {-0.668,28.432,-0.321} [component_container_isolated-3] [DEBUG] [1762964967.676429127] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.676164893] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.676500955] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.676542995] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.676587991] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000079 -0.000039 -0.000038 [component_container_isolated-3] 0.000079 1.000000 0.000055 -0.000022 [component_container_isolated-3] 0.000039 -0.000055 1.000000 -0.000016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.676614812] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.018,0.108,-0.013} [component_container_isolated-3] [DEBUG] [1762964967.676666501] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.676709453] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.676746844] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000009 0.185130 -0.006928 [component_container_isolated-3] -0.000102 1.000000 0.000497 0.059967 [component_container_isolated-3] -0.185130 -0.000507 0.982714 0.017392 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.676769698] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.669,-0.006} [component_container_isolated-3] [DEBUG] [1762964967.676801699] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {-0.009,10.561,0.007} [component_container_isolated-3] [DEBUG] [1762964967.676851855] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.698009280] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.698066359] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.698105885] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.698154117] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000079 -0.000039 -0.000038 [component_container_isolated-3] 0.000079 1.000000 0.000055 -0.000022 [component_container_isolated-3] 0.000039 -0.000055 1.000000 -0.000016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.698182651] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.021,0.105,-0.008} [component_container_isolated-3] [DEBUG] [1762964967.698235933] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.698435284] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.698477705] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000009 0.185130 -0.006928 [component_container_isolated-3] -0.000102 1.000000 0.000497 0.059967 [component_container_isolated-3] -0.185130 -0.000507 0.982714 0.017392 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.698501410] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.669,-0.006} [component_container_isolated-3] [DEBUG] [1762964967.698533802] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {-0.007,10.563,0.002} [component_container_isolated-3] [DEBUG] [1762964967.698588316] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.700458428] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.700548991] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.700590570] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.700636317] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000049 0.000046 -0.000282 [component_container_isolated-3] -0.000049 1.000000 -0.000161 -0.000295 [component_container_isolated-3] -0.000046 0.000161 1.000000 0.000778 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.700663499] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.002} {0.055,-0.038,-0.010} [component_container_isolated-3] [DEBUG] [1762964967.700715819] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.700764783] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.700804649] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981540 0.000038 0.191258 -0.006918 [component_container_isolated-3] -0.001700 0.999962 0.008526 0.059732 [component_container_isolated-3] -0.191251 -0.008694 0.981503 0.017348 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.700830578] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.508,11.026,-0.099} [component_container_isolated-3] [DEBUG] [1762964967.700865225] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,0.002} {-0.561,11.064,-0.089} [component_container_isolated-3] [DEBUG] [1762964967.700916913] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.726234133] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.726288647] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.726330718] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.726377176] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000153 0.000297 -0.000117 [component_container_isolated-3] 0.000153 1.000000 0.000015 -0.000324 [component_container_isolated-3] -0.000297 -0.000015 1.000000 0.000357 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.726404769] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.000} {0.017,-0.001,0.015} [component_container_isolated-3] [DEBUG] [1762964967.726454113] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.726499770] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.726536751] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879375 -0.000043 0.476129 -0.001135 [component_container_isolated-3] -0.004662 0.999951 0.008702 0.060164 [component_container_isolated-3] -0.476106 -0.009872 0.879332 0.018102 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.726560837] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.643,28.431,-0.304} [component_container_isolated-3] [DEBUG] [1762964967.726592828] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.000} {-0.668,28.432,-0.321} [component_container_isolated-3] [DEBUG] [1762964967.726642804] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.737456545] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.737511460] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.737549573] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.737593416] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000153 0.000297 -0.000117 [component_container_isolated-3] 0.000153 1.000000 0.000015 -0.000324 [component_container_isolated-3] -0.000297 -0.000015 1.000000 0.000357 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.737618284] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.000} {0.016,0.016,0.024} [component_container_isolated-3] [DEBUG] [1762964967.737666476] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.737708015] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.737748172] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879375 -0.000043 0.476129 -0.001135 [component_container_isolated-3] -0.004662 0.999951 0.008702 0.060164 [component_container_isolated-3] -0.476106 -0.009872 0.879332 0.018102 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.737773430] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.643,28.431,-0.304} [component_container_isolated-3] [DEBUG] [1762964967.737805522] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.000} {-0.672,28.415,-0.331} [component_container_isolated-3] [DEBUG] [1762964967.737856108] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.738038667] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.738090917] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.738129921] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.738173504] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000312 0.000025 0.000572 [component_container_isolated-3] 0.000312 1.000000 -0.000036 -0.000873 [component_container_isolated-3] -0.000025 0.000036 1.000000 0.000383 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.738199815] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.003} {-0.014,0.043,0.042} [component_container_isolated-3] [DEBUG] [1762964967.738247666] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.738292482] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.738331025] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 -0.000169 0.203460 -0.006639 [component_container_isolated-3] 0.002589 0.999929 -0.011625 0.059261 [component_container_isolated-3] -0.203443 0.011909 0.979014 0.018589 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.738353989] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.697,11.738,0.151} [component_container_isolated-3] [DEBUG] [1762964967.738384557] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.003} {0.703,11.696,0.108} [component_container_isolated-3] [DEBUG] [1762964967.738433491] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.740828274] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.740887688] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.740962571] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.741009711] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000040 0.000041 0.000607 [component_container_isolated-3] -0.000040 1.000000 0.000234 0.000891 [component_container_isolated-3] -0.000041 -0.000234 1.000000 -0.000301 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.741036642] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.003,-0.002} {0.042,-0.036,-0.013} [component_container_isolated-3] [DEBUG] [1762964967.741088051] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.741132926] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.741173914] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000032 0.191299 -0.006867 [component_container_isolated-3] -0.001740 0.999960 0.008761 0.059901 [component_container_isolated-3] -0.191291 -0.008932 0.981493 0.017325 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.741200265] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.521,11.028,-0.102} [component_container_isolated-3] [DEBUG] [1762964967.741233578] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.003,0.002} {-0.561,11.064,-0.089} [component_container_isolated-3] [DEBUG] [1762964967.741294194] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.743037042] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.743089893] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.743135100] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.743180807] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000312 0.000025 0.000572 [component_container_isolated-3] 0.000312 1.000000 -0.000036 -0.000873 [component_container_isolated-3] -0.000025 0.000036 1.000000 0.000383 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.743207668] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.004,0.003} {-0.012,0.045,0.060} [component_container_isolated-3] [DEBUG] [1762964967.743262233] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.743303602] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.743339069] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 -0.000169 0.203460 -0.006639 [component_container_isolated-3] 0.002589 0.999929 -0.011625 0.059261 [component_container_isolated-3] -0.203443 0.011909 0.979014 0.018589 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.743361041] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.697,11.738,0.151} [component_container_isolated-3] [DEBUG] [1762964967.743393734] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.003,-0.003} {0.697,11.694,0.090} [component_container_isolated-3] [DEBUG] [1762964967.743456544] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.744295716] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.744353286] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.744397931] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.744445603] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000029 -0.000051 -0.000034 [component_container_isolated-3] 0.000029 1.000000 0.000243 -0.000006 [component_container_isolated-3] 0.000051 -0.000243 1.000000 -0.000083 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.744473315] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.035,0.102,-0.006} [component_container_isolated-3] [DEBUG] [1762964967.744524373] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.744571553] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.744609265] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982723 -0.000065 0.185080 -0.006941 [component_container_isolated-3] -0.000073 1.000000 0.000740 0.059976 [component_container_isolated-3] -0.185080 -0.000740 0.982723 0.017385 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.744633351] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.043,10.666,-0.004} [component_container_isolated-3] [DEBUG] [1762964967.744665993] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {-0.007,10.563,0.002} [component_container_isolated-3] [DEBUG] [1762964967.744716510] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.758318376] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.758374333] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.758413217] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.758458123] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000029 -0.000051 -0.000034 [component_container_isolated-3] 0.000029 1.000000 0.000243 -0.000006 [component_container_isolated-3] 0.000051 -0.000243 1.000000 -0.000083 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.758484824] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.049,0.099,-0.005} [component_container_isolated-3] [DEBUG] [1762964967.758535481] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.758583703] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.758624401] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982723 -0.000065 0.185080 -0.006941 [component_container_isolated-3] -0.000073 1.000000 0.000740 0.059976 [component_container_isolated-3] -0.185080 -0.000740 0.982723 0.017385 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.758649509] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.043,10.666,-0.004} [component_container_isolated-3] [DEBUG] [1762964967.758683944] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.007,10.566,0.001} [component_container_isolated-3] [DEBUG] [1762964967.758735863] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.769349232] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.769401833] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.769441429] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.769484511] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000067 -0.000152 -0.000056 [component_container_isolated-3] 0.000067 1.000000 -0.000008 -0.000718 [component_container_isolated-3] 0.000152 0.000008 1.000000 -0.000371 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.769510761] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.002,-0.002} {0.042,-0.045,-0.009} [component_container_isolated-3] [DEBUG] [1762964967.769560326] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.769602436] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.769640429] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981561 -0.000032 0.191150 -0.006874 [component_container_isolated-3] -0.001672 0.999960 0.008753 0.059835 [component_container_isolated-3] -0.191142 -0.008911 0.981522 0.017258 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.769664374] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.520,11.019,-0.098} [component_container_isolated-3] [DEBUG] [1762964967.769697958] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,0.002} {-0.561,11.064,-0.089} [component_container_isolated-3] [DEBUG] [1762964967.769783362] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.780222658] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.780277232] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.780317579] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.780368076] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000088 -0.000012 0.000075 [component_container_isolated-3] -0.000088 1.000000 0.000115 0.000509 [component_container_isolated-3] 0.000012 -0.000115 1.000000 -0.000361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.780399356] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.003} {-0.019,0.044,0.055} [component_container_isolated-3] [DEBUG] [1762964967.780459651] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.780510077] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.780550414] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 -0.000107 0.203448 -0.006596 [component_container_isolated-3] 0.002501 0.999931 -0.011511 0.059270 [component_container_isolated-3] -0.203433 0.011779 0.979018 0.018575 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.780574881] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.689,11.738,0.146} [component_container_isolated-3] [DEBUG] [1762964967.780607934] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.003,-0.003} {0.697,11.694,0.090} [component_container_isolated-3] [DEBUG] [1762964967.780660835] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.781432679] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.781485440] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.781526418] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.781573057] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000012 -0.000099 0.000031 [component_container_isolated-3] -0.000012 1.000000 -0.000020 0.000009 [component_container_isolated-3] 0.000099 0.000020 1.000000 -0.000141 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.781600740] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.000} {0.017,0.011,0.023} [component_container_isolated-3] [DEBUG] [1762964967.781650946] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.781702995] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.781746508] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879422 -0.000023 0.476042 -0.001149 [component_container_isolated-3] -0.004674 0.999952 0.008682 0.060157 [component_container_isolated-3] -0.476019 -0.009860 0.879380 0.018109 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.781771646] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.426,-0.304} [component_container_isolated-3] [DEBUG] [1762964967.781803437] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.000} {-0.672,28.415,-0.331} [component_container_isolated-3] [DEBUG] [1762964967.781860326] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.788247964] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.788303380] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.788347595] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.788394965] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000029 -0.000051 -0.000034 [component_container_isolated-3] 0.000029 1.000000 0.000243 -0.000006 [component_container_isolated-3] 0.000051 -0.000243 1.000000 -0.000083 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.788421877] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.063,0.097,-0.003} [component_container_isolated-3] [DEBUG] [1762964967.788473305] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.788518341] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.788554309] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982723 -0.000065 0.185080 -0.006941 [component_container_isolated-3] -0.000073 1.000000 0.000740 0.059976 [component_container_isolated-3] -0.185080 -0.000740 0.982723 0.017385 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.788577874] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.043,10.666,-0.004} [component_container_isolated-3] [DEBUG] [1762964967.788611408] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.020,10.569,-0.001} [component_container_isolated-3] [DEBUG] [1762964967.788667065] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.795779237] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.795833862] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.795872465] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.795917431] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000088 -0.000012 0.000075 [component_container_isolated-3] -0.000088 1.000000 0.000115 0.000509 [component_container_isolated-3] 0.000012 -0.000115 1.000000 -0.000361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.795987295] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.003} {-0.026,0.043,0.050} [component_container_isolated-3] [DEBUG] [1762964967.796039655] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.796088638] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.796128635] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 -0.000107 0.203448 -0.006596 [component_container_isolated-3] 0.002501 0.999931 -0.011511 0.059270 [component_container_isolated-3] -0.203433 0.011779 0.979018 0.018575 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.796154284] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.689,11.738,0.146} [component_container_isolated-3] [DEBUG] [1762964967.796189411] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.002,-0.002} {0.704,11.695,0.095} [component_container_isolated-3] [DEBUG] [1762964967.796240057] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.797752165] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.797806188] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.797846405] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.797900078] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000072 -0.000030 -0.000344 [component_container_isolated-3] 0.000072 1.000000 -0.000014 0.000050 [component_container_isolated-3] 0.000030 0.000014 1.000000 -0.000239 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.797967226] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.003} {0.043,-0.046,-0.005} [component_container_isolated-3] [DEBUG] [1762964967.798025307] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.798078318] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.798121791] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981567 -0.000100 0.191120 -0.006934 [component_container_isolated-3] -0.001599 0.999961 0.008739 0.059816 [component_container_isolated-3] -0.191114 -0.008884 0.981528 0.017180 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.798146689] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.018,-0.093} [component_container_isolated-3] [DEBUG] [1762964967.798179471] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,0.002} {-0.561,11.064,-0.089} [component_container_isolated-3] [DEBUG] [1762964967.798232883] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.814458771] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.814515219] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.814557179] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.814601103] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000044 -0.000010 0.000125 [component_container_isolated-3] 0.000044 1.000000 0.000189 -0.000155 [component_container_isolated-3] 0.000010 -0.000189 1.000000 -0.000095 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.814627854] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.000} {0.006,0.010,0.026} [component_container_isolated-3] [DEBUG] [1762964967.814677639] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.814720982] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.814760277] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879427 -0.000152 0.476033 -0.001164 [component_container_isolated-3] -0.004630 0.999950 0.008871 0.060130 [component_container_isolated-3] -0.476011 -0.010005 0.879383 0.018092 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.814785936] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.652,28.425,-0.302} [component_container_isolated-3] [DEBUG] [1762964967.814820071] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.000} {-0.672,28.415,-0.331} [component_container_isolated-3] [DEBUG] [1762964967.814879444] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.815398886] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.815459532] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.815500440] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.815546568] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000072 -0.000030 -0.000344 [component_container_isolated-3] 0.000072 1.000000 -0.000014 0.000050 [component_container_isolated-3] 0.000030 0.000014 1.000000 -0.000239 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.815573940] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.003} {0.044,-0.048,-0.001} [component_container_isolated-3] [DEBUG] [1762964967.815627914] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.815676597] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.815716493] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981567 -0.000100 0.191120 -0.006934 [component_container_isolated-3] -0.001599 0.999961 0.008739 0.059816 [component_container_isolated-3] -0.191114 -0.008884 0.981528 0.017180 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.815741551] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.018,-0.093} [component_container_isolated-3] [DEBUG] [1762964967.815775355] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,0.003} {-0.562,11.066,-0.093} [component_container_isolated-3] [DEBUG] [1762964967.815828346] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.836301655] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.836358624] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.836398029] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.836442414] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000022 0.000105 0.000238 [component_container_isolated-3] -0.000022 1.000000 -0.000197 -0.000057 [component_container_isolated-3] -0.000105 0.000197 1.000000 -0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.836471810] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.052,0.103,-0.004} [component_container_isolated-3] [DEBUG] [1762964967.836526194] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.836572823] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.836613150] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 -0.000007 0.185183 -0.006913 [component_container_isolated-3] -0.000095 1.000000 0.000542 0.059972 [component_container_isolated-3] -0.185183 -0.000551 0.982704 0.017393 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.836637968] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964967.836671452] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.020,10.569,-0.001} [component_container_isolated-3] [DEBUG] [1762964967.836722950] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.850272627] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.850323293] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.850361366] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.850404378] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000010 -0.000262 -0.000081 [component_container_isolated-3] -0.000010 1.000000 -0.000097 -0.000064 [component_container_isolated-3] 0.000262 0.000097 1.000000 -0.000791 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.850429917] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.002} {-0.020,0.028,0.049} [component_container_isolated-3] [DEBUG] [1762964967.850476025] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.850518165] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.850553453] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979139 -0.000077 0.203191 -0.006622 [component_container_isolated-3] 0.002488 0.999930 -0.011609 0.059268 [component_container_isolated-3] -0.203176 0.011872 0.979070 0.018365 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.850576136] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.695,11.723,0.146} [component_container_isolated-3] [DEBUG] [1762964967.850605392] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.704,11.695,0.095} [component_container_isolated-3] [DEBUG] [1762964967.850655999] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.853038288] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.853091640] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.853130625] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.853175500] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000053 -0.000070 -0.000179 [component_container_isolated-3] -0.000053 1.000000 -0.000196 0.000175 [component_container_isolated-3] 0.000070 0.000196 1.000000 0.000128 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.853203444] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.000} {0.017,0.006,0.023} [component_container_isolated-3] [DEBUG] [1762964967.853278758] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.853332009] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.853305859] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.853374520] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.853422192] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.853474912] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000072 -0.000030 -0.000344 [component_container_isolated-3] 0.000072 1.000000 -0.000014 0.000050 [component_container_isolated-3] 0.000030 0.000014 1.000000 -0.000239 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.853536921] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.003} {0.044,-0.050,0.004} [component_container_isolated-3] [DEBUG] [1762964967.853504679] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879461 -0.000012 0.475972 -0.001178 [component_container_isolated-3] -0.004682 0.999951 0.008676 0.060126 [component_container_isolated-3] -0.475949 -0.009858 0.879418 0.018117 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.853615240] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.421,-0.305} [component_container_isolated-3] [DEBUG] [1762964967.853641941] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.000} {-0.672,28.415,-0.331} [component_container_isolated-3] [DEBUG] [1762964967.853593659] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.853687007] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.853732023] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.853795064] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981567 -0.000100 0.191120 -0.006934 [component_container_isolated-3] -0.001599 0.999961 0.008739 0.059816 [component_container_isolated-3] -0.191114 -0.008884 0.981528 0.017180 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.853819440] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.018,-0.093} [component_container_isolated-3] [DEBUG] [1762964967.853852954] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.002,0.003} {-0.564,11.067,-0.097} [component_container_isolated-3] [DEBUG] [1762964967.853909592] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.874966085] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.875043413] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.875085032] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.875133074] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 0.000003 -0.000097 [component_container_isolated-3] 0.000003 1.000000 -0.000157 0.000081 [component_container_isolated-3] -0.000003 0.000157 1.000000 0.000115 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.875160867] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.043,0.103,-0.004} [component_container_isolated-3] [DEBUG] [1762964967.875211143] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.875256019] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.875296957] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000019 0.185186 -0.006904 [component_container_isolated-3] -0.000092 1.000000 0.000385 0.059978 [component_container_isolated-3] -0.185186 -0.000395 0.982703 0.017414 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.875321855] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.023,10.672,-0.005} [component_container_isolated-3] [DEBUG] [1762964967.875353495] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.020,10.569,-0.001} [component_container_isolated-3] [DEBUG] [1762964967.875405725] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.878796049] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.878857226] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.878898786] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.878977195] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000053 0.000074 0.000059 [component_container_isolated-3] 0.000053 1.000000 -0.000103 -0.000063 [component_container_isolated-3] -0.000074 0.000103 1.000000 0.000053 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.879006421] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.000} {0.023,0.010,0.026} [component_container_isolated-3] [DEBUG] [1762964967.879055795] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.879098517] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.879133394] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879425 -0.000010 0.476037 -0.001182 [component_container_isolated-3] -0.004629 0.999952 0.008573 0.060117 [component_container_isolated-3] -0.476015 -0.009743 0.879383 0.018137 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.879157550] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.635,28.425,-0.302} [component_container_isolated-3] [DEBUG] [1762964967.879191144] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.000} {-0.672,28.415,-0.331} [component_container_isolated-3] [DEBUG] [1762964967.879245017] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.880736936] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.880788625] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.880830625] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.880875110] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000072 -0.000030 -0.000344 [component_container_isolated-3] 0.000072 1.000000 -0.000014 0.000050 [component_container_isolated-3] 0.000030 0.000014 1.000000 -0.000239 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.880901651] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.003} {0.045,-0.051,0.008} [component_container_isolated-3] [DEBUG] [1762964967.880985741] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.881039734] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.881077687] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981567 -0.000100 0.191120 -0.006934 [component_container_isolated-3] -0.001599 0.999961 0.008739 0.059816 [component_container_isolated-3] -0.191114 -0.008884 0.981528 0.017180 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.881101913] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.018,-0.093} [component_container_isolated-3] [DEBUG] [1762964967.881136730] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.003,0.003} {-0.565,11.069,-0.102} [component_container_isolated-3] [DEBUG] [1762964967.881192556] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.888869668] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.888967094] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.889009996] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.889054581] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000058 0.000124 0.000103 [component_container_isolated-3] -0.000058 1.000000 0.000065 0.000199 [component_container_isolated-3] -0.000124 -0.000065 1.000000 0.000273 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.889080851] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.002} {-0.024,0.035,0.046} [component_container_isolated-3] [DEBUG] [1762964967.889130907] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.889172466] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.889207884] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979114 -0.000034 0.203312 -0.006594 [component_container_isolated-3] 0.002432 0.999930 -0.011543 0.059294 [component_container_isolated-3] -0.203298 0.011797 0.979046 0.018317 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.889230236] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.690,11.730,0.142} [component_container_isolated-3] [DEBUG] [1762964967.889260855] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.002} {0.704,11.695,0.095} [component_container_isolated-3] [DEBUG] [1762964967.889319517] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.895451217] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.895510009] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.895548783] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.895591936] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000058 0.000124 0.000103 [component_container_isolated-3] -0.000058 1.000000 0.000065 0.000199 [component_container_isolated-3] -0.000124 -0.000065 1.000000 0.000273 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.895617605] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.003} {-0.027,0.043,0.043} [component_container_isolated-3] [DEBUG] [1762964967.895665947] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.895706615] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.895740910] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979114 -0.000034 0.203312 -0.006594 [component_container_isolated-3] 0.002432 0.999930 -0.011543 0.059294 [component_container_isolated-3] -0.203298 0.011797 0.979046 0.018317 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.895764044] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.690,11.730,0.142} [component_container_isolated-3] [DEBUG] [1762964967.895797979] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.002,-0.002} {0.709,11.688,0.098} [component_container_isolated-3] [DEBUG] [1762964967.895849377] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.902191850] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.902241094] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.902276411] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.902318211] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000005 0.000005 0.000069 [component_container_isolated-3] -0.000005 1.000000 0.000097 -0.000013 [component_container_isolated-3] -0.000005 -0.000097 1.000000 -0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.902342998] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.048,0.103,-0.004} [component_container_isolated-3] [DEBUG] [1762964967.902390048] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.902435575] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.902474980] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000006 0.185191 -0.006892 [component_container_isolated-3] -0.000097 1.000000 0.000482 0.059984 [component_container_isolated-3] -0.185191 -0.000492 0.982702 0.017416 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.902499517] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964967.902533562] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.020,10.569,-0.001} [component_container_isolated-3] [DEBUG] [1762964967.902584049] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.915624713] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.915680821] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.915720376] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.915763388] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000072 -0.000030 -0.000344 [component_container_isolated-3] 0.000072 1.000000 -0.000014 0.000050 [component_container_isolated-3] 0.000030 0.000014 1.000000 -0.000239 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.915790540] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.003} {0.046,-0.053,0.012} [component_container_isolated-3] [DEBUG] [1762964967.915839033] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.915886854] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.915965785] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981567 -0.000100 0.191120 -0.006934 [component_container_isolated-3] -0.001599 0.999961 0.008739 0.059816 [component_container_isolated-3] -0.191114 -0.008884 0.981528 0.017180 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.915993898] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.018,-0.093} [component_container_isolated-3] [DEBUG] [1762964967.916029046] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.003,0.003} {-0.567,11.071,-0.106} [component_container_isolated-3] [DEBUG] [1762964967.916083329] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.918165866] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.918232804] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.918273372] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.918321814] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000040 0.000000 -0.000230 [component_container_isolated-3] -0.000040 1.000000 0.000054 -0.000038 [component_container_isolated-3] -0.000000 -0.000054 1.000000 0.000022 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.918351591] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.001,0.000} {0.020,0.010,0.023} [component_container_isolated-3] [DEBUG] [1762964967.918403941] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.918448516] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.918485136] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879425 -0.000001 0.476038 -0.001220 [component_container_isolated-3] -0.004669 0.999952 0.008627 0.060107 [component_container_isolated-3] -0.476015 -0.009809 0.879383 0.018165 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.918508420] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.639,28.425,-0.304} [component_container_isolated-3] [DEBUG] [1762964967.918538778] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.000} {-0.672,28.415,-0.331} [component_container_isolated-3] [DEBUG] [1762964967.918589135] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.923090852] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.923151498] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.923193899] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.923245347] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000005 0.000005 0.000069 [component_container_isolated-3] -0.000005 1.000000 0.000097 -0.000013 [component_container_isolated-3] -0.000005 -0.000097 1.000000 -0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.923277188] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.054,0.103,-0.005} [component_container_isolated-3] [DEBUG] [1762964967.923331892] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.923379663] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.923420421] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000006 0.185191 -0.006892 [component_container_isolated-3] -0.000097 1.000000 0.000482 0.059984 [component_container_isolated-3] -0.185191 -0.000492 0.982702 0.017416 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.923444627] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964967.923476378] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.026,10.569,-0.001} [component_container_isolated-3] [DEBUG] [1762964967.923526033] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.939491764] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.939546017] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.939583178] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.939625359] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000040 0.000000 -0.000230 [component_container_isolated-3] -0.000040 1.000000 0.000054 -0.000038 [component_container_isolated-3] -0.000000 -0.000054 1.000000 0.000022 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.939652450] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.001,0.000} {0.017,0.011,0.021} [component_container_isolated-3] [DEBUG] [1762964967.939701294] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.939747161] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.939786196] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879425 -0.000001 0.476038 -0.001220 [component_container_isolated-3] -0.004669 0.999952 0.008627 0.060107 [component_container_isolated-3] -0.476015 -0.009809 0.879383 0.018165 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.939810673] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.639,28.425,-0.304} [component_container_isolated-3] [DEBUG] [1762964967.939844357] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,0.001,-0.001} {-0.667,28.415,-0.328} [component_container_isolated-3] [DEBUG] [1762964967.939892729] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.948334792] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.948413171] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.948459610] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.948508684] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000008 -0.000011 -0.000440 [component_container_isolated-3] -0.000008 1.000000 -0.000036 -0.000284 [component_container_isolated-3] 0.000011 0.000036 1.000000 0.000158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.948538871] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.003,0.003} {-0.025,0.042,0.042} [component_container_isolated-3] [DEBUG] [1762964967.948588917] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.948636157] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.948674150] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979116 -0.000019 0.203301 -0.006636 [component_container_isolated-3] 0.002424 0.999930 -0.011579 0.059271 [component_container_isolated-3] -0.203287 0.011830 0.979048 0.018313 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.948701853] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.692,11.729,0.142} [component_container_isolated-3] [DEBUG] [1762964967.948739304] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.002,-0.003} {0.709,11.688,0.098} [component_container_isolated-3] [DEBUG] [1762964967.948782106] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.963354526] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.963407888] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.963446121] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.963490876] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000005 0.000005 0.000069 [component_container_isolated-3] -0.000005 1.000000 0.000097 -0.000013 [component_container_isolated-3] -0.000005 -0.000097 1.000000 -0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.963517617] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,-0.002,0.008} {-0.059,0.104,-0.005} [component_container_isolated-3] [DEBUG] [1762964967.963566410] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.963609312] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.963649198] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000006 0.185191 -0.006892 [component_container_isolated-3] -0.000097 1.000000 0.000482 0.059984 [component_container_isolated-3] -0.185191 -0.000492 0.982702 0.017416 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.963674386] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964967.963710095] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.031,10.569,-0.001} [component_container_isolated-3] [DEBUG] [1762964967.963761924] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.965991632] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.966048621] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.966089168] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.966134294] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000008 -0.000011 -0.000440 [component_container_isolated-3] -0.000008 1.000000 -0.000036 -0.000284 [component_container_isolated-3] 0.000011 0.000036 1.000000 0.000158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.966162027] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.003,0.003} {-0.023,0.041,0.042} [component_container_isolated-3] [DEBUG] [1762964967.966211842] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.966253312] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.966292887] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979116 -0.000019 0.203301 -0.006636 [component_container_isolated-3] 0.002424 0.999930 -0.011579 0.059271 [component_container_isolated-3] -0.203287 0.011830 0.979048 0.018313 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.966317444] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.692,11.729,0.142} [component_container_isolated-3] [DEBUG] [1762964967.966352070] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.003,-0.003} {0.707,11.688,0.099} [component_container_isolated-3] [DEBUG] [1762964967.966404661] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.973653033] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.973710603] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.973752443] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.973796457] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000072 -0.000030 -0.000344 [component_container_isolated-3] 0.000072 1.000000 -0.000014 0.000050 [component_container_isolated-3] 0.000030 0.000014 1.000000 -0.000239 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.973822126] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.004} {0.047,-0.055,0.016} [component_container_isolated-3] [DEBUG] [1762964967.973871631] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.973915184] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.973974567] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981567 -0.000100 0.191120 -0.006934 [component_container_isolated-3] -0.001599 0.999961 0.008739 0.059816 [component_container_isolated-3] -0.191114 -0.008884 0.981528 0.017180 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.974001609] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.018,-0.093} [component_container_isolated-3] [DEBUG] [1762964967.974036606] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.003,0.003} {-0.569,11.072,-0.110} [component_container_isolated-3] [DEBUG] [1762964967.974093835] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.984499578] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.984566375] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.984604778] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.984647019] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000061 0.000001 0.000304 [component_container_isolated-3] 0.000061 1.000000 -0.000024 -0.000067 [component_container_isolated-3] -0.000001 0.000024 1.000000 -0.000024 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.984673279] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.001,0.000} {0.018,0.011,0.025} [component_container_isolated-3] [DEBUG] [1762964967.984722243] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.984763512] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.984799410] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879424 -0.000043 0.476039 -0.001215 [component_container_isolated-3] -0.004609 0.999952 0.008603 0.060089 [component_container_isolated-3] -0.476017 -0.009760 0.879382 0.018171 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.984824228] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.636,28.426,-0.300} [component_container_isolated-3] [DEBUG] [1762964967.984858623] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.000} {-0.667,28.415,-0.328} [component_container_isolated-3] [DEBUG] [1762964967.984909150] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964967.999167099] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964967.999225070] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964967.999266559] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964967.999311264] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000029 -0.000072 0.001022 [component_container_isolated-3] -0.000029 1.000000 0.000043 -0.000413 [component_container_isolated-3] 0.000072 -0.000043 1.000000 -0.000309 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964967.999337094] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.004} {0.044,-0.059,0.014} [component_container_isolated-3] [DEBUG] [1762964967.999386157] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964967.999431103] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964967.999467142] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981580 -0.000080 0.191050 -0.006715 [component_container_isolated-3] -0.001628 0.999960 0.008783 0.059706 [component_container_isolated-3] -0.191043 -0.008932 0.981541 0.017000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964967.999489966] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.521,11.014,-0.095} [component_container_isolated-3] [DEBUG] [1762964967.999523840] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.002,0.004} {-0.569,11.072,-0.110} [component_container_isolated-3] [DEBUG] [1762964967.999580158] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.001755462] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.001811980] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.001850163] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.001894127] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000008 -0.000011 -0.000440 [component_container_isolated-3] -0.000008 1.000000 -0.000036 -0.000284 [component_container_isolated-3] 0.000011 0.000036 1.000000 0.000158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.001953841] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.003,0.003} {-0.021,0.041,0.041} [component_container_isolated-3] [DEBUG] [1762964968.002004237] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.002046929] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.002086454] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979116 -0.000019 0.203301 -0.006636 [component_container_isolated-3] 0.002424 0.999930 -0.011579 0.059271 [component_container_isolated-3] -0.203287 0.011830 0.979048 0.018313 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.002110681] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.692,11.729,0.142} [component_container_isolated-3] [DEBUG] [1762964968.002143854] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.003} {0.705,11.689,0.099} [component_container_isolated-3] [DEBUG] [1762964968.002194451] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.003482510] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.003537756] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.003578975] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.003624522] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000004 -0.000001 -0.000101 [component_container_isolated-3] -0.000004 1.000000 0.000029 -0.000007 [component_container_isolated-3] 0.000001 -0.000029 1.000000 0.000008 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.003652665] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.061,0.104,-0.005} [component_container_isolated-3] [DEBUG] [1762964968.003701619] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.003744150] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.003782974] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000005 0.185191 -0.006892 [component_container_isolated-3] -0.000101 1.000000 0.000511 0.059988 [component_container_isolated-3] -0.185190 -0.000521 0.982703 0.017424 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.003809876] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964968.003844111] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.031,10.569,-0.001} [component_container_isolated-3] [DEBUG] [1762964968.003894537] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.019281362] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.019347489] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.019387806] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.019432631] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000058 0.000031 -0.000049 [component_container_isolated-3] -0.000058 1.000000 0.000029 0.000086 [component_container_isolated-3] -0.000031 -0.000029 1.000000 0.000023 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.019459964] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.001,0.000} {0.017,0.012,0.021} [component_container_isolated-3] [DEBUG] [1762964968.019509388] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.019557029] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.019597306] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 -0.000006 0.476066 -0.001211 [component_container_isolated-3] -0.004667 0.999952 0.008632 0.060083 [component_container_isolated-3] -0.476043 -0.009813 0.879367 0.018176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.019622795] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.639,28.427,-0.304} [component_container_isolated-3] [DEBUG] [1762964968.019656248] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.000} {-0.667,28.415,-0.328} [component_container_isolated-3] [DEBUG] [1762964968.019706575] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.021439173] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.021494799] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.021534716] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.021579702] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000004 -0.000001 -0.000101 [component_container_isolated-3] -0.000004 1.000000 0.000029 -0.000007 [component_container_isolated-3] 0.000001 -0.000029 1.000000 0.000008 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.021605932] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.063,0.103,-0.006} [component_container_isolated-3] [DEBUG] [1762964968.021659604] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.021706414] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.021747232] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000005 0.185191 -0.006892 [component_container_isolated-3] -0.000101 1.000000 0.000511 0.059988 [component_container_isolated-3] -0.185190 -0.000521 0.982703 0.017424 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.021771478] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964968.021802828] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.033,10.569,-0.000} [component_container_isolated-3] [DEBUG] [1762964968.021852112] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.031370580] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.031423351] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.031463788] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.031507902] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000246 0.000013 -0.000212 [component_container_isolated-3] -0.000246 1.000000 -0.000037 0.001781 [component_container_isolated-3] -0.000013 0.000037 1.000000 0.000149 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.031535064] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.004,-0.004} {0.046,-0.058,0.000} [component_container_isolated-3] [DEBUG] [1762964968.031582555] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.031625507] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.031663099] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981578 0.000169 0.191063 -0.006669 [component_container_isolated-3] -0.001874 0.999960 0.008746 0.060237 [component_container_isolated-3] -0.191054 -0.008943 0.981539 0.016931 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.031688237] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.522,11.014,-0.109} [component_container_isolated-3] [DEBUG] [1762964968.031720368] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.003} {-0.569,11.072,-0.110} [component_container_isolated-3] [DEBUG] [1762964968.031770323] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.031901865] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.031994011] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.032033466] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.032077280] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000008 -0.000011 -0.000440 [component_container_isolated-3] -0.000008 1.000000 -0.000036 -0.000284 [component_container_isolated-3] 0.000011 0.000036 1.000000 0.000158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.032102838] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.004,0.003} {-0.019,0.040,0.041} [component_container_isolated-3] [DEBUG] [1762964968.032154517] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.032198742] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.032237656] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979116 -0.000019 0.203301 -0.006636 [component_container_isolated-3] 0.002424 0.999930 -0.011579 0.059271 [component_container_isolated-3] -0.203287 0.011830 0.979048 0.018313 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.032262062] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.692,11.729,0.142} [component_container_isolated-3] [DEBUG] [1762964968.032294655] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.003} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.032346794] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.051882052] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.051982574] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.052025656] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.052073487] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000031 0.000009 0.000015 [component_container_isolated-3] -0.000031 1.000000 0.000058 0.000077 [component_container_isolated-3] -0.000009 -0.000058 1.000000 0.000050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.052102302] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.001,0.000} {0.013,0.013,0.019} [component_container_isolated-3] [DEBUG] [1762964968.052154302] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.052197855] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.052238923] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879405 -0.000006 0.476074 -0.001206 [component_container_isolated-3] -0.004698 0.999951 0.008690 0.060088 [component_container_isolated-3] -0.476051 -0.009878 0.879362 0.018185 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.052265103] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.644,28.428,-0.306} [component_container_isolated-3] [DEBUG] [1762964968.052298768] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.001} {-0.667,28.415,-0.328} [component_container_isolated-3] [DEBUG] [1762964968.052350426] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.062495761] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.062551488] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.062590182] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.062634216] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000004 -0.000001 -0.000101 [component_container_isolated-3] -0.000004 1.000000 0.000029 -0.000007 [component_container_isolated-3] 0.000001 -0.000029 1.000000 0.000008 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.062660496] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.064,0.103,-0.006} [component_container_isolated-3] [DEBUG] [1762964968.062711393] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.062757471] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.062797468] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000005 0.185191 -0.006892 [component_container_isolated-3] -0.000101 1.000000 0.000511 0.059988 [component_container_isolated-3] -0.185190 -0.000521 0.982703 0.017424 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.062823598] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964968.062856470] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.035,10.569,-0.000} [component_container_isolated-3] [DEBUG] [1762964968.062906356] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.070170458] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.070276631] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.070320535] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.070367925] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000312 0.000091 -0.000072 [component_container_isolated-3] 0.000312 1.000000 -0.000021 -0.001654 [component_container_isolated-3] -0.000091 0.000021 1.000000 0.000258 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.070395468] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.004} {0.048,-0.053,0.018} [component_container_isolated-3] [DEBUG] [1762964968.070448359] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.070496741] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.070535926] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981560 -0.000133 0.191152 -0.006661 [component_container_isolated-3] -0.001563 0.999961 0.008725 0.059925 [component_container_isolated-3] -0.191146 -0.008863 0.981522 0.016909 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.070561004] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.517,11.020,-0.091} [component_container_isolated-3] [DEBUG] [1762964968.070593606] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.002,0.003} {-0.569,11.072,-0.110} [component_container_isolated-3] [DEBUG] [1762964968.070658220] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.084126190] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.084193579] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.084233335] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.084279273] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000028 0.000028 -0.000007 [component_container_isolated-3] -0.000028 1.000000 0.000133 0.000023 [component_container_isolated-3] -0.000028 -0.000133 1.000000 -0.000035 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.084307797] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.001,0.000} {0.006,0.015,0.018} [component_container_isolated-3] [DEBUG] [1762964968.084359426] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.084408670] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.084449879] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879392 -0.000044 0.476099 -0.001205 [component_container_isolated-3] -0.004726 0.999950 0.008823 0.060095 [component_container_isolated-3] -0.476076 -0.010009 0.879348 0.018185 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.084476529] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.652,28.429,-0.308} [component_container_isolated-3] [DEBUG] [1762964968.084507218] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.000} {-0.667,28.415,-0.328} [component_container_isolated-3] [DEBUG] [1762964968.084558065] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.095270844] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.095326110] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.095366747] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.095412885] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000025 0.000201 0.000430 [component_container_isolated-3] 0.000025 1.000000 0.000011 0.000291 [component_container_isolated-3] -0.000201 -0.000011 1.000000 0.000544 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.095441480] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.003,0.004} {-0.020,0.052,0.042} [component_container_isolated-3] [DEBUG] [1762964968.095492998] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.095536411] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.095575265] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979075 -0.000045 0.203498 -0.006566 [component_container_isolated-3] 0.002451 0.999930 -0.011568 0.059297 [component_container_isolated-3] -0.203483 0.011825 0.979007 0.018406 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.095601105] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.692,11.741,0.143} [component_container_isolated-3] [DEBUG] [1762964968.095634879] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.004} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.095691377] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.100211600] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.100274299] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.100314416] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.100358881] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000029 0.000059 -0.000587 [component_container_isolated-3] -0.000029 1.000000 -0.000059 0.000301 [component_container_isolated-3] -0.000059 0.000059 1.000000 0.000283 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.100385472] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.003} {0.051,-0.050,0.016} [component_container_isolated-3] [DEBUG] [1762964968.100434545] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.100485262] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.100525910] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981549 -0.000094 0.191210 -0.006733 [component_container_isolated-3] -0.001593 0.999961 0.008666 0.059895 [component_container_isolated-3] -0.191204 -0.008810 0.981511 0.016954 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.100551318] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.514,11.023,-0.093} [component_container_isolated-3] [DEBUG] [1762964968.100583269] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.003,0.003} {-0.569,11.072,-0.110} [component_container_isolated-3] [DEBUG] [1762964968.100635028] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.106436307] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.106493517] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.106536138] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.106581414] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000010 0.000054 -0.000020 [component_container_isolated-3] -0.000010 1.000000 -0.000017 0.000006 [component_container_isolated-3] -0.000054 0.000017 1.000000 0.000012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.106610500] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.063,0.107,-0.006} [component_container_isolated-3] [DEBUG] [1762964968.106662549] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.106709790] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.106749545] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982693 0.000018 0.185243 -0.006891 [component_container_isolated-3] -0.000112 1.000000 0.000494 0.059992 [component_container_isolated-3] -0.185243 -0.000507 0.982693 0.017436 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.106775685] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.675,-0.007} [component_container_isolated-3] [DEBUG] [1762964968.106809500] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.035,10.569,-0.000} [component_container_isolated-3] [DEBUG] [1762964968.106860247] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.113786755] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.113848423] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.113890804] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.113961699] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000053 0.000049 -0.000030 [component_container_isolated-3] 0.000053 1.000000 -0.000161 -0.000056 [component_container_isolated-3] -0.000049 0.000161 1.000000 0.000057 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.113992117] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.001,0.001} {0.015,0.017,0.021} [component_container_isolated-3] [DEBUG] [1762964968.114045529] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.114090455] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.114129600] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879368 -0.000015 0.476142 -0.001200 [component_container_isolated-3] -0.004673 0.999952 0.008662 0.060091 [component_container_isolated-3] -0.476120 -0.009842 0.879326 0.018209 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.114153746] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.641,28.432,-0.304} [component_container_isolated-3] [DEBUG] [1762964968.114185146] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.001} {-0.667,28.415,-0.328} [component_container_isolated-3] [DEBUG] [1762964968.114235402] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.123110090] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.123178821] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.123221343] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.123267070] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000097 -0.000251 0.000061 [component_container_isolated-3] 0.000097 1.000000 0.000045 -0.000328 [component_container_isolated-3] 0.000251 -0.000045 1.000000 -0.000670 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.123293541] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.004,0.003} {-0.022,0.037,0.048} [component_container_isolated-3] [DEBUG] [1762964968.123345169] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.123388231] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.123427216] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979126 -0.000150 0.203252 -0.006556 [component_container_isolated-3] 0.002545 0.999931 -0.011524 0.059267 [component_container_isolated-3] -0.203236 0.011801 0.979059 0.018326 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.123452544] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.691,11.726,0.149} [component_container_isolated-3] [DEBUG] [1762964968.123485006] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.003} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.123536495] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.124320001] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.124375156] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.124417818] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.124464687] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000010 0.000054 -0.000020 [component_container_isolated-3] -0.000010 1.000000 -0.000017 0.000006 [component_container_isolated-3] -0.000054 0.000017 1.000000 0.000012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.124491879] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.062,0.110,-0.007} [component_container_isolated-3] [DEBUG] [1762964968.124540913] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.124583644] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.124621897] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982693 0.000018 0.185243 -0.006891 [component_container_isolated-3] -0.000112 1.000000 0.000494 0.059992 [component_container_isolated-3] -0.185243 -0.000507 0.982693 0.017436 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.124647176] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.675,-0.007} [component_container_isolated-3] [DEBUG] [1762964968.124678365] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.034,10.566,0.001} [component_container_isolated-3] [DEBUG] [1762964968.124730455] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.129194760] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.129263702] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.129306834] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.129354305] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000056 -0.000074 0.000368 [component_container_isolated-3] -0.000056 1.000000 0.000093 -0.000144 [component_container_isolated-3] 0.000074 -0.000093 1.000000 0.000050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.129381637] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.003} {0.046,-0.054,0.013} [component_container_isolated-3] [DEBUG] [1762964968.129433967] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.129479274] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.129516976] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981563 -0.000057 0.191138 -0.006713 [component_container_isolated-3] -0.001648 0.999960 0.008759 0.059851 [component_container_isolated-3] -0.191131 -0.008913 0.981524 0.016966 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.129543356] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.520,11.019,-0.096} [component_container_isolated-3] [DEBUG] [1762964968.129575528] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.002,0.003} {-0.569,11.072,-0.110} [component_container_isolated-3] [DEBUG] [1762964968.129626144] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.147401200] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.147462317] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.147503776] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.147550606] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000093 0.000058 -0.000187 [component_container_isolated-3] -0.000093 1.000000 -0.000050 0.000180 [component_container_isolated-3] -0.000058 0.000050 1.000000 0.000091 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.147577156] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.004,0.003} {-0.020,0.041,0.043} [component_container_isolated-3] [DEBUG] [1762964968.147627162] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.147668942] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.147704890] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979115 -0.000048 0.203309 -0.006544 [component_container_isolated-3] 0.002453 0.999930 -0.011573 0.059271 [component_container_isolated-3] -0.203295 0.011830 0.979046 0.018313 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.147726922] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.692,11.730,0.144} [component_container_isolated-3] [DEBUG] [1762964968.147760837] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.003} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.147813327] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.150865797] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.150968934] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.151013970] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.151066761] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000002 -0.000072 -0.000062 [component_container_isolated-3] -0.000002 1.000000 0.000018 0.000024 [component_container_isolated-3] 0.000072 -0.000018 1.000000 -0.000020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.151095736] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.001,0.000} {0.014,0.013,0.021} [component_container_isolated-3] [DEBUG] [1762964968.151149960] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.151197480] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.151234812] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879403 -0.000022 0.476079 -0.001208 [component_container_isolated-3] -0.004675 0.999951 0.008680 0.060092 [component_container_isolated-3] -0.476056 -0.009859 0.879360 0.018221 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.151258156] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.642,28.428,-0.305} [component_container_isolated-3] [DEBUG] [1762964968.151289526] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.001} {-0.667,28.415,-0.328} [component_container_isolated-3] [DEBUG] [1762964968.151338680] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.171249655] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.171312635] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.171352231] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.171395894] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000015 -0.000018 0.000103 [component_container_isolated-3] -0.000015 1.000000 -0.000043 0.000160 [component_container_isolated-3] 0.000018 0.000043 1.000000 -0.000120 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.171421974] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.003} {0.048,-0.055,0.012} [component_container_isolated-3] [DEBUG] [1762964968.171471890] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.171516114] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.171554467] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981567 -0.000034 0.191120 -0.006688 [component_container_isolated-3] -0.001663 0.999961 0.008717 0.059831 [component_container_isolated-3] -0.191112 -0.008874 0.981528 0.016968 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.171579846] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.518,11.018,-0.097} [component_container_isolated-3] [DEBUG] [1762964968.171614292] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.003,0.003} {-0.569,11.072,-0.110} [component_container_isolated-3] [DEBUG] [1762964968.171665319] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.174048741] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.174105419] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.174146527] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.174191944] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000021 -0.000124 0.000042 [component_container_isolated-3] -0.000021 1.000000 -0.000012 0.000009 [component_container_isolated-3] 0.000124 0.000012 1.000000 -0.000049 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.174219948] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.062,0.102,-0.008} [component_container_isolated-3] [DEBUG] [1762964968.174272147] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.174320790] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.174361488] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 0.000041 0.185121 -0.006890 [component_container_isolated-3] -0.000132 1.000000 0.000482 0.059997 [component_container_isolated-3] -0.185121 -0.000498 0.982716 0.017439 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.174386967] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.668,-0.008} [component_container_isolated-3] [DEBUG] [1762964968.174421212] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.034,10.566,0.001} [component_container_isolated-3] [DEBUG] [1762964968.174473271] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.180444525] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.180505251] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.180547732] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.180592518] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000014 0.000015 -0.000075 [component_container_isolated-3] -0.000014 1.000000 -0.000018 -0.000116 [component_container_isolated-3] -0.000015 0.000018 1.000000 -0.000018 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.180619489] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.004,0.003} {-0.019,0.041,0.042} [component_container_isolated-3] [DEBUG] [1762964968.180669675] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.180711465] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.180747083] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979111 -0.000031 0.203324 -0.006549 [component_container_isolated-3] 0.002438 0.999930 -0.011591 0.059260 [component_container_isolated-3] -0.203310 0.011845 0.979043 0.018299 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.180769405] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.693,11.731,0.143} [component_container_isolated-3] [DEBUG] [1762964968.180802669] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.003} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.180853867] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.187290670] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.187350674] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.187393306] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.187438201] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000017 -0.000019 0.000063 [component_container_isolated-3] -0.000017 1.000000 -0.000157 0.000023 [component_container_isolated-3] 0.000019 0.000157 1.000000 -0.000113 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.187465263] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.001,0.000} {0.023,0.012,0.020} [component_container_isolated-3] [DEBUG] [1762964968.187516411] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.187559984] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.187596794] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879412 0.000068 0.476062 -0.001208 [component_container_isolated-3] -0.004691 0.999953 0.008524 0.060094 [component_container_isolated-3] -0.476039 -0.009729 0.879370 0.018225 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.187622042] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.634,28.427,-0.306} [component_container_isolated-3] [DEBUG] [1762964968.187656558] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.000} {-0.667,28.415,-0.328} [component_container_isolated-3] [DEBUG] [1762964968.187707696] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.196394426] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.196456434] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.196499105] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.196546366] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000001 0.000015 -0.000060 [component_container_isolated-3] 0.000001 1.000000 -0.000074 -0.000064 [component_container_isolated-3] -0.000015 0.000074 1.000000 -0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.196573748] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.003} {0.052,-0.054,0.012} [component_container_isolated-3] [DEBUG] [1762964968.196624004] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.196668439] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.196706752] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981564 -0.000021 0.191135 -0.006677 [component_container_isolated-3] -0.001662 0.999961 0.008643 0.059809 [component_container_isolated-3] -0.191127 -0.008801 0.981526 0.016971 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.196731950] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.514,11.019,-0.097} [component_container_isolated-3] [DEBUG] [1762964968.196770434] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.003,0.003} {-0.569,11.072,-0.110} [component_container_isolated-3] [DEBUG] [1762964968.196824066] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.205502309] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.205559669] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.205603623] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.205649991] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000041 0.000063 0.000074 [component_container_isolated-3] 0.000041 1.000000 -0.000172 -0.000006 [component_container_isolated-3] -0.000063 0.000172 1.000000 0.000096 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.205676903] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.052,0.106,-0.006} [component_container_isolated-3] [DEBUG] [1762964968.205726427] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.205771093] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.205807162] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 0.000032 0.185183 -0.006877 [component_container_isolated-3] -0.000091 1.000000 0.000311 0.059997 [component_container_isolated-3] -0.185183 -0.000322 0.982704 0.017462 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.205830296] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.019,10.672,-0.005} [component_container_isolated-3] [DEBUG] [1762964968.205865052] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.034,10.566,0.001} [component_container_isolated-3] [DEBUG] [1762964968.205956006] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.216032269] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.216096061] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.216136869] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.216182997] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000033 -0.000021 0.000180 [component_container_isolated-3] -0.000033 1.000000 0.000032 0.000314 [component_container_isolated-3] 0.000021 -0.000032 1.000000 0.000004 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.216208095] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.003,0.003} {-0.020,0.040,0.040} [component_container_isolated-3] [DEBUG] [1762964968.216257449] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.216343423] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.216382378] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.216443024] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.216483992] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.216531432] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000001 0.000015 -0.000060 [component_container_isolated-3] 0.000001 1.000000 -0.000074 -0.000064 [component_container_isolated-3] -0.000015 0.000074 1.000000 -0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.216558524] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.003} {0.057,-0.053,0.012} [component_container_isolated-3] [DEBUG] [1762964968.216382939] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979116 -0.000005 0.203304 -0.006530 [component_container_isolated-3] 0.002405 0.999930 -0.011559 0.059300 [component_container_isolated-3] -0.203290 0.011806 0.979048 0.018280 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.216625722] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,-0.000} {0.691,11.729,0.141} [component_container_isolated-3] [DEBUG] [1762964968.216684354] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.003} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.216608650] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.216740812] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.216784375] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.216845853] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981564 -0.000021 0.191135 -0.006677 [component_container_isolated-3] -0.001662 0.999961 0.008643 0.059809 [component_container_isolated-3] -0.191127 -0.008801 0.981526 0.016971 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.216868997] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.514,11.019,-0.097} [component_container_isolated-3] [DEBUG] [1762964968.216902661] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.003,0.003} {-0.573,11.072,-0.110} [component_container_isolated-3] [DEBUG] [1762964968.216972645] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.218331711] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.218388770] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.218429998] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.218476367] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000122 0.000055 0.000032 [component_container_isolated-3] 0.000122 1.000000 0.000119 -0.000093 [component_container_isolated-3] -0.000055 -0.000119 1.000000 0.000232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.218504080] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.001,0.001} {0.016,0.015,0.027} [component_container_isolated-3] [DEBUG] [1762964968.218553835] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.218596847] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.218635741] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879385 -0.000096 0.476111 -0.001201 [component_container_isolated-3] -0.004570 0.999952 0.008642 0.060087 [component_container_isolated-3] -0.476089 -0.009776 0.879343 0.018249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.218659487] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.637,28.430,-0.298} [component_container_isolated-3] [DEBUG] [1762964968.218690105] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.001} {-0.667,28.415,-0.328} [component_container_isolated-3] [DEBUG] [1762964968.218740070] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.234615679] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.234673038] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.234712253] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.234756308] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000122 0.000055 0.000032 [component_container_isolated-3] 0.000122 1.000000 0.000119 -0.000093 [component_container_isolated-3] -0.000055 -0.000119 1.000000 0.000232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.234782017] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.001,0.001} {0.009,0.018,0.034} [component_container_isolated-3] [DEBUG] [1762964968.234831601] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.234877519] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.234958273] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879385 -0.000096 0.476111 -0.001201 [component_container_isolated-3] -0.004570 0.999952 0.008642 0.060087 [component_container_isolated-3] -0.476089 -0.009776 0.879343 0.018249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.234986136] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.637,28.430,-0.298} [component_container_isolated-3] [DEBUG] [1762964968.235019570] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.001,-0.001} {-0.664,28.411,-0.336} [component_container_isolated-3] [DEBUG] [1762964968.235071890] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.242259998] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.242317027] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.242357734] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.242403983] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000008 0.000069 0.000133 [component_container_isolated-3] -0.000008 1.000000 0.000077 0.000008 [component_container_isolated-3] -0.000069 -0.000077 1.000000 -0.000045 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.242429311] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.056,0.110,-0.006} [component_container_isolated-3] [DEBUG] [1762964968.242480258] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.242527769] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.242567816] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982691 0.000026 0.185250 -0.006847 [component_container_isolated-3] -0.000099 1.000000 0.000387 0.060003 [component_container_isolated-3] -0.185250 -0.000399 0.982691 0.017460 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.242593384] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.023,10.676,-0.006} [component_container_isolated-3] [DEBUG] [1762964968.242631497] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.034,10.566,0.001} [component_container_isolated-3] [DEBUG] [1762964968.242700599] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.248809726] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.248875572] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.248916570] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.248993878] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000001 0.000015 -0.000060 [component_container_isolated-3] 0.000001 1.000000 -0.000074 -0.000064 [component_container_isolated-3] -0.000015 0.000074 1.000000 -0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.249020208] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.004} {0.061,-0.052,0.013} [component_container_isolated-3] [DEBUG] [1762964968.249070043] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.249117584] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.249157059] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981564 -0.000021 0.191135 -0.006677 [component_container_isolated-3] -0.001662 0.999961 0.008643 0.059809 [component_container_isolated-3] -0.191127 -0.008801 0.981526 0.016971 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.249183650] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.514,11.019,-0.097} [component_container_isolated-3] [DEBUG] [1762964968.249220340] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.003} {-0.577,11.071,-0.110} [component_container_isolated-3] [DEBUG] [1762964968.249263893] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.257397867] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.257454536] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.257496075] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.257540830] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000012 0.000034 -0.000213 [component_container_isolated-3] -0.000012 1.000000 0.000019 0.000059 [component_container_isolated-3] -0.000034 -0.000019 1.000000 0.000147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.257567592] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.003,0.003} {-0.021,0.042,0.039} [component_container_isolated-3] [DEBUG] [1762964968.257616355] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.257657523] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.257692981] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979109 0.000003 0.203338 -0.006540 [component_container_isolated-3] 0.002393 0.999931 -0.011540 0.059331 [component_container_isolated-3] -0.203324 0.011785 0.979041 0.018286 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.257714853] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.690,11.731,0.140} [component_container_isolated-3] [DEBUG] [1762964968.257748277] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.003} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.257801258] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.269247107] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.269302172] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.269340585] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.269383918] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000122 0.000055 0.000032 [component_container_isolated-3] 0.000122 1.000000 0.000119 -0.000093 [component_container_isolated-3] -0.000055 -0.000119 1.000000 0.000232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.269410378] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.001} {0.002,0.022,0.041} [component_container_isolated-3] [DEBUG] [1762964968.269458210] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.269501072] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.269540156] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879385 -0.000096 0.476111 -0.001201 [component_container_isolated-3] -0.004570 0.999952 0.008642 0.060087 [component_container_isolated-3] -0.476089 -0.009776 0.879343 0.018249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.269563591] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.637,28.430,-0.298} [component_container_isolated-3] [DEBUG] [1762964968.269596043] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,0.001,-0.001} {-0.661,28.408,-0.344} [component_container_isolated-3] [DEBUG] [1762964968.269646239] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.274315316] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.274380109] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.274422520] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.274470943] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000001 -0.000041 0.000042 [component_container_isolated-3] 0.000001 1.000000 0.000193 -0.000006 [component_container_isolated-3] 0.000041 -0.000193 1.000000 -0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.274500539] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.067,0.108,-0.006} [component_container_isolated-3] [DEBUG] [1762964968.274554492] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.274602294] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.274643563] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982699 -0.000011 0.185210 -0.006825 [component_container_isolated-3] -0.000098 1.000000 0.000580 0.060008 [component_container_isolated-3] -0.185210 -0.000588 0.982699 0.017450 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.274668841] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.034,10.673,-0.006} [component_container_isolated-3] [DEBUG] [1762964968.274702215] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.034,10.566,0.001} [component_container_isolated-3] [DEBUG] [1762964968.274752621] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.292111662] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.292167689] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.292208517] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.292254956] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000024 -0.000054 0.000170 [component_container_isolated-3] 0.000024 1.000000 -0.000034 0.000052 [component_container_isolated-3] 0.000054 0.000034 1.000000 -0.000186 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.292280435] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.003,0.003} {-0.020,0.039,0.040} [component_container_isolated-3] [DEBUG] [1762964968.292328106] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.292369465] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.292404572] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979120 -0.000013 0.203285 -0.006533 [component_container_isolated-3] 0.002417 0.999930 -0.011574 0.059361 [component_container_isolated-3] -0.203270 0.011823 0.979051 0.018263 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.292426183] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,-0.000} {0.692,11.728,0.141} [component_container_isolated-3] [DEBUG] [1762964968.292458615] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.003} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.292510935] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.299294690] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.299351118] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.299394341] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.299439507] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000000 0.000037 0.000027 [component_container_isolated-3] -0.000000 1.000000 0.000242 0.000257 [component_container_isolated-3] -0.000037 -0.000242 1.000000 -0.000104 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.299465276] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.004} {0.047,-0.050,0.013} [component_container_isolated-3] [DEBUG] [1762964968.299513188] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.299558173] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.299593671] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981557 -0.000066 0.191171 -0.006670 [component_container_isolated-3] -0.001663 0.999959 0.008884 0.059824 [component_container_isolated-3] -0.191164 -0.009038 0.981517 0.016944 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.299617457] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.528,11.021,-0.097} [component_container_isolated-3] [DEBUG] [1762964968.299651381] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.003,0.003} {-0.577,11.071,-0.110} [component_container_isolated-3] [DEBUG] [1762964968.299740161] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.306375803] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.306441198] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.306484912] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.306532723] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000011 -0.000038 -0.000204 [component_container_isolated-3] -0.000011 1.000000 0.000047 -0.000070 [component_container_isolated-3] 0.000038 -0.000047 1.000000 0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.306559564] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.070,0.105,-0.007} [component_container_isolated-3] [DEBUG] [1762964968.306610592] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.306656580] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.306693771] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 -0.000009 0.185172 -0.006824 [component_container_isolated-3] -0.000109 1.000000 0.000627 0.060004 [component_container_isolated-3] -0.185172 -0.000637 0.982706 0.017457 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.306719169] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.037,10.671,-0.006} [component_container_isolated-3] [DEBUG] [1762964968.306753334] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.034,10.566,0.001} [component_container_isolated-3] [DEBUG] [1762964968.306806506] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.312982491] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.313038337] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.313079656] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.313125874] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000192 -0.000048 0.000022 [component_container_isolated-3] -0.000192 1.000000 0.000042 0.000213 [component_container_isolated-3] 0.000048 -0.000042 1.000000 -0.000066 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.313152535] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.001} {-0.000,0.019,0.030} [component_container_isolated-3] [DEBUG] [1762964968.313202310] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.313250513] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.313289186] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879408 0.000052 0.476068 -0.001185 [component_container_isolated-3] -0.004761 0.999951 0.008685 0.060112 [component_container_isolated-3] -0.476044 -0.009904 0.879366 0.018249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.313312240] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.645,28.427,-0.310} [component_container_isolated-3] [DEBUG] [1762964968.313342168] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,0.001,-0.001} {-0.661,28.408,-0.344} [component_container_isolated-3] [DEBUG] [1762964968.313392023] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.323086076] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.323156951] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.323198451] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.323243917] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000015 0.000067 0.000033 [component_container_isolated-3] -0.000015 1.000000 0.000022 0.000159 [component_container_isolated-3] -0.000067 -0.000022 1.000000 0.000225 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.323269406] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.003,0.003} {-0.021,0.043,0.040} [component_container_isolated-3] [DEBUG] [1762964968.323319321] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.323362955] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.323401368] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000003 0.203351 -0.006516 [component_container_isolated-3] 0.002402 0.999930 -0.011552 0.059417 [component_container_isolated-3] -0.203336 0.011799 0.979038 0.018272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.323425444] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,-0.000} {0.690,11.732,0.141} [component_container_isolated-3] [DEBUG] [1762964968.323457485] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.003} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.323507611] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.331029416] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.331093478] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.331137172] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.331183550] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000045 0.000130 -0.000361 [component_container_isolated-3] -0.000044 1.000000 -0.000154 0.000472 [component_container_isolated-3] -0.000130 0.000154 1.000000 0.000544 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.331211293] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.003,-0.003} {0.056,-0.043,0.010} [component_container_isolated-3] [DEBUG] [1762964968.331265236] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.331314340] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.331353775] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000007 0.191299 -0.006692 [component_container_isolated-3] -0.001708 0.999961 0.008730 0.059938 [component_container_isolated-3] -0.191291 -0.008895 0.981493 0.017057 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.331377701] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.519,11.028,-0.100} [component_container_isolated-3] [DEBUG] [1762964968.331408490] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.003,0.003} {-0.577,11.071,-0.110} [component_container_isolated-3] [DEBUG] [1762964968.331458726] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.335745603] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.335805988] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.335848700] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.335895850] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000021 0.000012 0.000079 [component_container_isolated-3] 0.000021 1.000000 -0.000055 -0.000025 [component_container_isolated-3] -0.000012 0.000055 1.000000 -0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.335947007] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.067,0.106,-0.006} [component_container_isolated-3] [DEBUG] [1762964968.336001111] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.336047750] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.336089560] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 -0.000019 0.185184 -0.006815 [component_container_isolated-3] -0.000088 1.000000 0.000572 0.059997 [component_container_isolated-3] -0.185184 -0.000579 0.982704 0.017462 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.336115249] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.034,10.672,-0.005} [component_container_isolated-3] [DEBUG] [1762964968.336148833] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.034,10.566,0.001} [component_container_isolated-3] [DEBUG] [1762964968.336199820] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.342048580] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.342105559] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.342146086] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.342192495] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000192 -0.000048 0.000022 [component_container_isolated-3] -0.000192 1.000000 0.000042 0.000213 [component_container_isolated-3] 0.000048 -0.000042 1.000000 -0.000066 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.342219206] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.001} {-0.002,0.016,0.019} [component_container_isolated-3] [DEBUG] [1762964968.342270874] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.342316151] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.342355857] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879408 0.000052 0.476068 -0.001185 [component_container_isolated-3] -0.004761 0.999951 0.008685 0.060112 [component_container_isolated-3] -0.476044 -0.009904 0.879366 0.018249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.342378600] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.645,28.427,-0.310} [component_container_isolated-3] [DEBUG] [1762964968.342409649] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.653,28.411,-0.331} [component_container_isolated-3] [DEBUG] [1762964968.342458413] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.350241316] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.350296121] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.350337540] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.350383077] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000042 0.000008 -0.000092 [component_container_isolated-3] -0.000042 1.000000 -0.000021 0.000021 [component_container_isolated-3] -0.000008 0.000021 1.000000 0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.350411010] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.003,0.003} {-0.020,0.043,0.037} [component_container_isolated-3] [DEBUG] [1762964968.350458411] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.350500451] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.350535287] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979104 0.000043 0.203359 -0.006510 [component_container_isolated-3] 0.002360 0.999930 -0.011573 0.059456 [component_container_isolated-3] -0.203345 0.011811 0.979036 0.018282 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.350557079] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,-0.000} {0.691,11.733,0.138} [component_container_isolated-3] [DEBUG] [1762964968.350586555] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.003} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.350636200] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.366498143] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.366552637] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.366595428] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.366643430] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000153 -0.000039 -0.000277 [component_container_isolated-3] 0.000153 1.000000 -0.000069 -0.001021 [component_container_isolated-3] 0.000039 0.000069 1.000000 0.000465 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.366670432] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.003} {0.060,-0.045,0.019} [component_container_isolated-3] [DEBUG] [1762964968.366721710] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.366768389] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.366804468] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981539 -0.000131 0.191260 -0.006748 [component_container_isolated-3] -0.001555 0.999961 0.008661 0.059764 [component_container_isolated-3] -0.191254 -0.008798 0.981501 0.017255 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.366828233] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.514,11.026,-0.091} [component_container_isolated-3] [DEBUG] [1762964968.366859122] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.002} {-0.577,11.071,-0.110} [component_container_isolated-3] [DEBUG] [1762964968.366910330] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.368698184] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.368754251] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.368792524] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.368836298] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000192 -0.000048 0.000022 [component_container_isolated-3] -0.000192 1.000000 0.000042 0.000213 [component_container_isolated-3] 0.000048 -0.000042 1.000000 -0.000066 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.368862588] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.005,0.013,0.008} [component_container_isolated-3] [DEBUG] [1762964968.368908696] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.368992045] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.369033575] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879408 0.000052 0.476068 -0.001185 [component_container_isolated-3] -0.004761 0.999951 0.008685 0.060112 [component_container_isolated-3] -0.476044 -0.009904 0.879366 0.018249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.369057380] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.645,28.427,-0.310} [component_container_isolated-3] [DEBUG] [1762964968.369090283] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.645,28.414,-0.319} [component_container_isolated-3] [DEBUG] [1762964968.369140058] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.374068440] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.374136239] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.374188519] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.374249115] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000043 -0.000146 -0.000029 [component_container_isolated-3] 0.000043 1.000000 0.000055 0.000065 [component_container_isolated-3] 0.000146 -0.000055 1.000000 -0.000027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.374284412] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.070,0.098,-0.003} [component_container_isolated-3] [DEBUG] [1762964968.374351430] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.374417938] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.374469706] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982731 -0.000072 0.185040 -0.006817 [component_container_isolated-3] -0.000045 1.000000 0.000627 0.059998 [component_container_isolated-3] -0.185040 -0.000625 0.982731 0.017457 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.374501166] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.036,10.663,-0.003} [component_container_isolated-3] [DEBUG] [1762964968.374540271] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.034,10.566,0.001} [component_container_isolated-3] [DEBUG] [1762964968.374606658] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.381828811] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.381882543] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.381939592] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.381985840] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000153 -0.000039 -0.000277 [component_container_isolated-3] 0.000153 1.000000 -0.000069 -0.001021 [component_container_isolated-3] 0.000039 0.000069 1.000000 0.000465 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.382011319] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.001,-0.002} {0.064,-0.047,0.028} [component_container_isolated-3] [DEBUG] [1762964968.382060553] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.382107282] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.382147419] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981539 -0.000131 0.191260 -0.006748 [component_container_isolated-3] -0.001555 0.999961 0.008661 0.059764 [component_container_isolated-3] -0.191254 -0.008798 0.981501 0.017255 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.382172327] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.514,11.026,-0.091} [component_container_isolated-3] [DEBUG] [1762964968.382208706] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.001,0.002} {-0.583,11.073,-0.119} [component_container_isolated-3] [DEBUG] [1762964968.382258862] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.389056353] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.389111158] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.389149692] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.389193916] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000043 -0.000146 -0.000029 [component_container_isolated-3] 0.000043 1.000000 0.000055 0.000065 [component_container_isolated-3] 0.000146 -0.000055 1.000000 -0.000027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.389218774] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.073,0.089,-0.001} [component_container_isolated-3] [DEBUG] [1762964968.389267096] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.389314256] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.389353801] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982731 -0.000072 0.185040 -0.006817 [component_container_isolated-3] -0.000045 1.000000 0.000627 0.059998 [component_container_isolated-3] -0.185040 -0.000625 0.982731 0.017457 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.389378038] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.036,10.663,-0.003} [component_container_isolated-3] [DEBUG] [1762964968.389411492] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.037,10.574,-0.002} [component_container_isolated-3] [DEBUG] [1762964968.389464022] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.390693370] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.390741311] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.390778623] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.390821394] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000039 0.000058 -0.000046 [component_container_isolated-3] 0.000039 1.000000 -0.000009 -0.000125 [component_container_isolated-3] -0.000058 0.000009 1.000000 0.000146 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.390845410] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.003,0.003} {-0.019,0.047,0.039} [component_container_isolated-3] [DEBUG] [1762964968.390892480] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.390970579] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.391012319] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 0.000007 0.203416 -0.006509 [component_container_isolated-3] 0.002399 0.999930 -0.011581 0.059480 [component_container_isolated-3] -0.203402 0.011827 0.979024 0.018314 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.391036415] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,-0.000} {0.692,11.736,0.140} [component_container_isolated-3] [DEBUG] [1762964968.391069839] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.004} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.391123261] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.411808745] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.411859101] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.411898757] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.411979080] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000029 0.000040 0.000037 [component_container_isolated-3] 0.000029 1.000000 0.000020 -0.000025 [component_container_isolated-3] -0.000040 -0.000020 1.000000 0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.412003427] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.006,0.016,0.010} [component_container_isolated-3] [DEBUG] [1762964968.412048142] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.412101975] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.412146570] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 0.000017 0.476104 -0.001177 [component_container_isolated-3] -0.004732 0.999951 0.008705 0.060123 [component_container_isolated-3] -0.476080 -0.009908 0.879346 0.018255 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.412176958] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.646,28.430,-0.308} [component_container_isolated-3] [DEBUG] [1762964968.412218908] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.645,28.414,-0.319} [component_container_isolated-3] [DEBUG] [1762964968.412287129] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.422296484] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.422352260] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.422400402] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.422443956] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000004 -0.000111 0.000048 [component_container_isolated-3] -0.000004 1.000000 0.000042 -0.000136 [component_container_isolated-3] 0.000111 -0.000042 1.000000 -0.000398 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.422469003] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.003,0.003} {-0.021,0.040,0.039} [component_container_isolated-3] [DEBUG] [1762964968.422517917] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.422559346] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.422595164] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979115 0.000003 0.203308 -0.006516 [component_container_isolated-3] 0.002394 0.999931 -0.011540 0.059487 [component_container_isolated-3] -0.203293 0.011785 0.979047 0.018275 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.422616235] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,-0.000} {0.690,11.730,0.140} [component_container_isolated-3] [DEBUG] [1762964968.422646001] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.003} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.422694334] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.430638375] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.430693610] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.430734609] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.430779635] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000099 -0.000145 0.000838 [component_container_isolated-3] -0.000099 1.000000 0.000012 0.000349 [component_container_isolated-3] 0.000145 -0.000012 1.000000 -0.000923 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.430805484] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.001,-0.003} {0.063,-0.056,0.022} [component_container_isolated-3] [DEBUG] [1762964968.430854678] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.430897390] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.430962584] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981567 -0.000035 0.191118 -0.006647 [component_container_isolated-3] -0.001653 0.999961 0.008673 0.059753 [component_container_isolated-3] -0.191111 -0.008829 0.981529 0.017154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.430988013] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.515,11.018,-0.096} [component_container_isolated-3] [DEBUG] [1762964968.431021717] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.003} {-0.583,11.073,-0.119} [component_container_isolated-3] [DEBUG] [1762964968.431077093] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.435847994] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.435903520] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.435983743] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.436032717] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000023 0.000126 -0.000037 [component_container_isolated-3] -0.000023 1.000000 -0.000043 -0.000016 [component_container_isolated-3] -0.000126 0.000043 1.000000 0.000057 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.436060881] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.071,0.097,-0.002} [component_container_isolated-3] [DEBUG] [1762964968.436113401] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.436158778] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.436197862] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 -0.000041 0.185164 -0.006812 [component_container_isolated-3] -0.000069 1.000000 0.000584 0.059997 [component_container_isolated-3] -0.185164 -0.000587 0.982708 0.017466 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.436221427] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.034,10.671,-0.004} [component_container_isolated-3] [DEBUG] [1762964968.436251675] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.037,10.574,-0.002} [component_container_isolated-3] [DEBUG] [1762964968.436300618] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.442099162] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.442157654] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.442198532] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.442243909] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000029 0.000040 0.000037 [component_container_isolated-3] 0.000029 1.000000 0.000020 -0.000025 [component_container_isolated-3] -0.000040 -0.000020 1.000000 0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.442269748] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.007,0.018,0.011} [component_container_isolated-3] [DEBUG] [1762964968.442318471] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.442362445] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.442402712] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 0.000017 0.476104 -0.001177 [component_container_isolated-3] -0.004732 0.999951 0.008705 0.060123 [component_container_isolated-3] -0.476080 -0.009908 0.879346 0.018255 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.442427219] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.646,28.430,-0.308} [component_container_isolated-3] [DEBUG] [1762964968.442461083] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,0.000,-0.001} {-0.644,28.412,-0.321} [component_container_isolated-3] [DEBUG] [1762964968.442511810] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.451746486] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.451809617] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.451850615] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.451894449] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000005 0.000108 -0.000009 [component_container_isolated-3] 0.000005 1.000000 0.000034 0.000151 [component_container_isolated-3] -0.000108 -0.000034 1.000000 0.000222 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.451965384] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.003,0.003} {-0.023,0.047,0.039} [component_container_isolated-3] [DEBUG] [1762964968.452017283] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.452059674] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.452095202] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979093 -0.000009 0.203414 -0.006513 [component_container_isolated-3] 0.002400 0.999931 -0.011505 0.059511 [component_container_isolated-3] -0.203400 0.011753 0.979025 0.018282 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.452118587] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,-0.000} {0.688,11.736,0.140} [component_container_isolated-3] [DEBUG] [1762964968.452150668] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.003} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.452202888] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.464780719] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.464834692] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.464872404] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.464916588] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000163 0.000169 -0.000501 [component_container_isolated-3] 0.000163 1.000000 0.000031 -0.000475 [component_container_isolated-3] -0.000169 -0.000031 1.000000 0.000485 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.464976272] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.001,-0.003} {0.061,-0.046,0.031} [component_container_isolated-3] [DEBUG] [1762964968.465026789] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.465074359] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.465115187] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981535 -0.000201 0.191284 -0.006676 [component_container_isolated-3] -0.001491 0.999961 0.008704 0.059646 [component_container_isolated-3] -0.191278 -0.008829 0.981496 0.017213 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.465140746] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.515,11.027,-0.087} [component_container_isolated-3] [DEBUG] [1762964968.465174260] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.001,0.002} {-0.583,11.073,-0.119} [component_container_isolated-3] [DEBUG] [1762964968.465227873] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.472081742] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.472142027] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.472183196] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.472229344] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000026 -0.000007 -0.000041 [component_container_isolated-3] -0.000026 1.000000 -0.000059 -0.000030 [component_container_isolated-3] 0.000007 0.000059 1.000000 -0.000024 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.472255113] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.067,0.096,-0.003} [component_container_isolated-3] [DEBUG] [1762964968.472305539] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.472352840] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.472391153] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 -0.000005 0.185157 -0.006814 [component_container_isolated-3] -0.000094 1.000000 0.000525 0.059992 [component_container_isolated-3] -0.185157 -0.000534 0.982709 0.017473 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.472414317] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.031,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964968.472445967] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.037,10.574,-0.002} [component_container_isolated-3] [DEBUG] [1762964968.472495853] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.472595092] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.472643675] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.472682038] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.472724760] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000029 0.000040 0.000037 [component_container_isolated-3] 0.000029 1.000000 0.000020 -0.000025 [component_container_isolated-3] -0.000040 -0.000020 1.000000 0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.472750268] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.008,0.020,0.013} [component_container_isolated-3] [DEBUG] [1762964968.472798240] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.472844599] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.472884174] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 0.000017 0.476104 -0.001177 [component_container_isolated-3] -0.004732 0.999951 0.008705 0.060123 [component_container_isolated-3] -0.476080 -0.009908 0.879346 0.018255 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.472907318] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.646,28.430,-0.308} [component_container_isolated-3] [DEBUG] [1762964968.472976911] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,0.000,-0.001} {-0.644,28.409,-0.323} [component_container_isolated-3] [DEBUG] [1762964968.473029311] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.481511370] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.481566475] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.481604217] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.481645586] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000103 -0.000166 0.000038 [component_container_isolated-3] -0.000103 1.000000 0.000014 0.000473 [component_container_isolated-3] 0.000166 -0.000014 1.000000 -0.000432 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.481670203] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.003,0.003} {-0.024,0.037,0.034} [component_container_isolated-3] [DEBUG] [1762964968.481718726] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.481762099] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.481800803] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979127 0.000089 0.203251 -0.006520 [component_container_isolated-3] 0.002295 0.999931 -0.011492 0.059646 [component_container_isolated-3] -0.203238 0.011718 0.979059 0.018209 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.481824608] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,-0.000} {0.686,11.726,0.134} [component_container_isolated-3] [DEBUG] [1762964968.481857241] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.003} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.481909991] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.496108036] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.496157581] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.496194902] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.496238455] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000163 0.000169 -0.000501 [component_container_isolated-3] 0.000163 1.000000 0.000031 -0.000475 [component_container_isolated-3] -0.000169 -0.000031 1.000000 0.000485 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.496262982] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.000,-0.002} {0.059,-0.036,0.041} [component_container_isolated-3] [DEBUG] [1762964968.496311084] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.496359046] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.496399072] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981535 -0.000201 0.191284 -0.006676 [component_container_isolated-3] -0.001491 0.999961 0.008704 0.059646 [component_container_isolated-3] -0.191278 -0.008829 0.981496 0.017213 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.496423358] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.515,11.027,-0.087} [component_container_isolated-3] [DEBUG] [1762964968.496458485] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.001,0.002} {-0.583,11.063,-0.129} [component_container_isolated-3] [DEBUG] [1762964968.496513691] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.516483679] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.516537512] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.516572498] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.516610090] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000019 0.000037 0.000024 [component_container_isolated-3] 0.000019 1.000000 -0.000060 0.000033 [component_container_isolated-3] -0.000037 0.000060 1.000000 0.000044 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.516630920] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.064,0.098,-0.002} [component_container_isolated-3] [DEBUG] [1762964968.516672569] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.516709430] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.516736692] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 -0.000013 0.185194 -0.006814 [component_container_isolated-3] -0.000075 1.000000 0.000466 0.059991 [component_container_isolated-3] -0.185194 -0.000472 0.982702 0.017483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.516754095] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.027,10.672,-0.004} [component_container_isolated-3] [DEBUG] [1762964968.516776548] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.037,10.574,-0.002} [component_container_isolated-3] [DEBUG] [1762964968.516815312] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.518266013] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.518311059] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.518344643] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.518380311] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000031 -0.000111 -0.000051 [component_container_isolated-3] -0.000031 1.000000 -0.000052 -0.000018 [component_container_isolated-3] 0.000111 0.000052 1.000000 -0.000274 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.518401351] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.005,0.014,0.011} [component_container_isolated-3] [DEBUG] [1762964968.518440856] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.518474781] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.518502544] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879442 0.000069 0.476006 -0.001189 [component_container_isolated-3] -0.004762 0.999951 0.008653 0.060130 [component_container_isolated-3] -0.475982 -0.009877 0.879400 0.018230 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.518520008] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.423,-0.310} [component_container_isolated-3] [DEBUG] [1762964968.518541960] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.644,28.409,-0.323} [component_container_isolated-3] [DEBUG] [1762964968.518579281] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.524192411] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.524240192] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.524276361] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.524311468] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000107 0.000106 0.000142 [component_container_isolated-3] 0.000107 1.000000 -0.000013 -0.000383 [component_container_isolated-3] -0.000106 0.000013 1.000000 0.000599 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.524331536] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.003,0.003} {-0.024,0.043,0.040} [component_container_isolated-3] [DEBUG] [1762964968.524370551] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.524405477] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.524431988] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979105 -0.000014 0.203355 -0.006487 [component_container_isolated-3] 0.002403 0.999931 -0.011504 0.059665 [component_container_isolated-3] -0.203341 0.011753 0.979038 0.018270 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.524448500] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,-0.000} {0.688,11.732,0.141} [component_container_isolated-3] [DEBUG] [1762964968.524469410] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.004} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.524508174] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.535172760] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.535219470] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.535253244] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.535289734] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000087 -0.000048 -0.000315 [component_container_isolated-3] -0.000087 1.000000 0.000114 0.000544 [component_container_isolated-3] 0.000048 -0.000114 1.000000 0.000098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.535310824] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.001,-0.002} {0.053,-0.039,0.036} [component_container_isolated-3] [DEBUG] [1762964968.535350961] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.535386819] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.535413700] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 -0.000138 0.191236 -0.006748 [component_container_isolated-3] -0.001578 0.999960 0.008818 0.059673 [component_container_isolated-3] -0.191230 -0.008957 0.981504 0.017265 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.535430312] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.523,11.025,-0.092} [component_container_isolated-3] [DEBUG] [1762964968.535452495] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.001,0.002} {-0.583,11.063,-0.129} [component_container_isolated-3] [DEBUG] [1762964968.535490748] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.539376719] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.539464537] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.539516426] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.539570739] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000036 -0.000025 0.000014 [component_container_isolated-3] -0.000036 1.000000 0.000041 -0.000075 [component_container_isolated-3] 0.000025 -0.000041 1.000000 -0.000076 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.539625233] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.066,0.097,-0.004} [component_container_isolated-3] [DEBUG] [1762964968.539677313] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.539742127] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.539784327] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982707 0.000015 0.185170 -0.006813 [component_container_isolated-3] -0.000111 1.000000 0.000506 0.059984 [component_container_isolated-3] -0.185170 -0.000518 0.982707 0.017478 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.539821338] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.030,10.671,-0.006} [component_container_isolated-3] [DEBUG] [1762964968.539844492] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.037,10.574,-0.002} [component_container_isolated-3] [DEBUG] [1762964968.539884438] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.545633538] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.545699975] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.545742726] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.545788905] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000069 0.000046 0.000027 [component_container_isolated-3] 0.000069 1.000000 -0.000003 -0.000083 [component_container_isolated-3] -0.000046 0.000003 1.000000 0.000043 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.545817810] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.005,0.016,0.015} [component_container_isolated-3] [DEBUG] [1762964968.545870761] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.545913673] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.545979929] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 0.000009 0.476046 -0.001194 [component_container_isolated-3] -0.004693 0.999952 0.008651 0.060128 [component_container_isolated-3] -0.476023 -0.009842 0.879378 0.018222 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.546002873] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.641,28.426,-0.306} [component_container_isolated-3] [DEBUG] [1762964968.546034013] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.644,28.409,-0.323} [component_container_isolated-3] [DEBUG] [1762964968.546084449] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.550861382] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.550911267] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.550986220] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.551030234] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000087 -0.000048 -0.000315 [component_container_isolated-3] -0.000087 1.000000 0.000114 0.000544 [component_container_isolated-3] 0.000048 -0.000114 1.000000 0.000098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.551056444] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.001,-0.002} {0.046,-0.042,0.031} [component_container_isolated-3] [DEBUG] [1762964968.551106410] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.551154011] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.551194017] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 -0.000138 0.191236 -0.006748 [component_container_isolated-3] -0.001578 0.999960 0.008818 0.059673 [component_container_isolated-3] -0.191230 -0.008957 0.981504 0.017265 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.551217762] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.523,11.025,-0.092} [component_container_isolated-3] [DEBUG] [1762964968.551249132] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.002,0.001} {-0.575,11.066,-0.124} [component_container_isolated-3] [DEBUG] [1762964968.551326039] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.556873393] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.556972322] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.557014082] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.557060651] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000004 0.000108 -0.000245 [component_container_isolated-3] 0.000004 1.000000 -0.000011 -0.000251 [component_container_isolated-3] -0.000108 0.000011 1.000000 0.000091 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.557087432] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.003,0.004} {-0.023,0.049,0.040} [component_container_isolated-3] [DEBUG] [1762964968.557137578] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.557183936] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.557224414] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 -0.000015 0.203461 -0.006490 [component_container_isolated-3] 0.002408 0.999931 -0.011515 0.059639 [component_container_isolated-3] -0.203446 0.011764 0.979015 0.018316 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.557249401] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,-0.000} {0.688,11.739,0.141} [component_container_isolated-3] [DEBUG] [1762964968.557279779] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.004} {0.703,11.690,0.100} [component_container_isolated-3] [DEBUG] [1762964968.557342249] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.572751016] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.572808035] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.572849704] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.572859363] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.572986265] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.573029808] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.573077880] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000004 0.000108 -0.000245 [component_container_isolated-3] 0.000004 1.000000 -0.000011 -0.000251 [component_container_isolated-3] -0.000108 0.000011 1.000000 0.000091 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.573103279] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.004,0.004} {-0.022,0.056,0.040} [component_container_isolated-3] [DEBUG] [1762964968.572900922] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000001 0.000007 0.000032 [component_container_isolated-3] 0.000001 1.000000 -0.000062 0.000179 [component_container_isolated-3] -0.000007 0.000062 1.000000 0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.573216254] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.002,0.008} {-0.063,0.097,-0.004} [component_container_isolated-3] [DEBUG] [1762964968.573153074] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.573300275] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.573378594] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.573412199] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.573414813] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 -0.000015 0.203461 -0.006490 [component_container_isolated-3] 0.002408 0.999931 -0.011515 0.059639 [component_container_isolated-3] -0.203446 0.011764 0.979015 0.018316 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.573476802] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,-0.000} {0.688,11.739,0.141} [component_container_isolated-3] [DEBUG] [1762964968.573501299] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.003,-0.004} {0.702,11.683,0.099} [component_container_isolated-3] [DEBUG] [1762964968.573467554] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 0.000026 0.185177 -0.006809 [component_container_isolated-3] -0.000110 1.000000 0.000445 0.059998 [component_container_isolated-3] -0.185177 -0.000458 0.982705 0.017479 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.573561333] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.027,10.671,-0.006} [component_container_isolated-3] [DEBUG] [1762964968.573590429] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,0.002,-0.008} {0.037,10.574,-0.002} [component_container_isolated-3] [DEBUG] [1762964968.573545703] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.573663679] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.579239487] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.579300253] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.579344227] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.579396407] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000002 -0.000011 -0.000112 [component_container_isolated-3] 0.000002 1.000000 0.000106 0.000008 [component_container_isolated-3] 0.000011 -0.000106 1.000000 0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.579425312] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.011,0.016,0.015} [component_container_isolated-3] [DEBUG] [1762964968.579477812] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.579523490] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.579561222] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879425 -0.000043 0.476037 -0.001210 [component_container_isolated-3] -0.004691 0.999951 0.008756 0.060129 [component_container_isolated-3] -0.476014 -0.009933 0.879382 0.018215 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.579588644] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.647,28.425,-0.306} [component_container_isolated-3] [DEBUG] [1762964968.579627488] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.644,28.409,-0.323} [component_container_isolated-3] [DEBUG] [1762964968.579678826] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.599538754] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.599594600] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.599636020] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.599680164] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000084 -0.000065 0.000477 [component_container_isolated-3] -0.000084 1.000000 -0.000286 -0.000027 [component_container_isolated-3] 0.000065 0.000286 1.000000 -0.000306 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.599705773] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.001,-0.002} {0.063,-0.045,0.026} [component_container_isolated-3] [DEBUG] [1762964968.599758894] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.599805754] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.599846542] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981556 -0.000001 0.191172 -0.006724 [component_container_isolated-3] -0.001661 0.999962 0.008532 0.059676 [component_container_isolated-3] -0.191165 -0.008693 0.981519 0.017272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.599871920] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.507,11.021,-0.097} [component_container_isolated-3] [DEBUG] [1762964968.599904021] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.002} {-0.575,11.066,-0.124} [component_container_isolated-3] [DEBUG] [1762964968.599982782] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.608488746] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.608555013] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.608597804] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.608649533] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000192 -0.000288 -0.000591 [component_container_isolated-3] 0.000191 1.000000 -0.000098 -0.000967 [component_container_isolated-3] 0.000288 0.000098 1.000000 -0.000979 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.608678078] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.003,0.007} {-0.057,0.081,0.007} [component_container_isolated-3] [DEBUG] [1762964968.608727672] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.608771506] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.608809629] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982759 -0.000144 0.184894 -0.007001 [component_container_isolated-3] 0.000081 1.000000 0.000347 0.059743 [component_container_isolated-3] -0.184894 -0.000326 0.982758 0.017215 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.608837232] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.019,10.655,0.005} [component_container_isolated-3] [DEBUG] [1762964968.608873070] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,0.003,-0.007} {0.037,10.574,-0.002} [component_container_isolated-3] [DEBUG] [1762964968.608969735] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.613458357] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.613513412] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.613551555] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.613595419] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000012 -0.000176 0.000045 [component_container_isolated-3] 0.000012 1.000000 -0.000062 0.000161 [component_container_isolated-3] 0.000176 0.000062 1.000000 -0.000507 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.613619935] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.003,0.003} {-0.019,0.045,0.041} [component_container_isolated-3] [DEBUG] [1762964968.613666875] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.613711480] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.613749994] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979119 -0.000014 0.203288 -0.006505 [component_container_isolated-3] 0.002418 0.999930 -0.011577 0.059642 [component_container_isolated-3] -0.203273 0.011827 0.979051 0.018271 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.613773589] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,-0.000} {0.692,11.728,0.141} [component_container_isolated-3] [DEBUG] [1762964968.613808425] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.003,-0.003} {0.702,11.683,0.099} [component_container_isolated-3] [DEBUG] [1762964968.613867719] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.615979211] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.616031631] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.616072690] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.616115572] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000084 -0.000065 0.000477 [component_container_isolated-3] -0.000084 1.000000 -0.000286 -0.000027 [component_container_isolated-3] 0.000065 0.000286 1.000000 -0.000306 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.616140750] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.001,-0.003} {0.079,-0.049,0.021} [component_container_isolated-3] [DEBUG] [1762964968.616188521] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.616235290] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.616274485] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981556 -0.000001 0.191172 -0.006724 [component_container_isolated-3] -0.001661 0.999962 0.008532 0.059676 [component_container_isolated-3] -0.191165 -0.008693 0.981519 0.017272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.616298260] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.507,11.021,-0.097} [component_container_isolated-3] [DEBUG] [1762964968.616331674] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.002} {-0.591,11.070,-0.119} [component_container_isolated-3] [DEBUG] [1762964968.616386148] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.621678736] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.621736857] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.621780600] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.621825747] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000039 0.000063 0.000104 [component_container_isolated-3] -0.000039 1.000000 -0.000098 0.000107 [component_container_isolated-3] -0.000063 0.000098 1.000000 0.000070 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.621852578] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.006,0.019,0.013} [component_container_isolated-3] [DEBUG] [1762964968.621900760] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.621980212] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.622028344] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879395 0.000038 0.476092 -0.001200 [component_container_isolated-3] -0.004730 0.999951 0.008658 0.060141 [component_container_isolated-3] -0.476069 -0.009865 0.879353 0.018218 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.622056257] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.429,-0.308} [component_container_isolated-3] [DEBUG] [1762964968.622089029] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,0.000,-0.001} {-0.644,28.409,-0.323} [component_container_isolated-3] [DEBUG] [1762964968.622142311] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.624454437] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.624512708] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.624551462] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.624595466] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000192 -0.000288 -0.000591 [component_container_isolated-3] 0.000191 1.000000 -0.000098 -0.000967 [component_container_isolated-3] 0.000288 0.000098 1.000000 -0.000979 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.624621836] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {-0.051,0.064,0.018} [component_container_isolated-3] [DEBUG] [1762964968.624673655] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.624720224] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.624760151] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982759 -0.000144 0.184894 -0.007001 [component_container_isolated-3] 0.000081 1.000000 0.000347 0.059743 [component_container_isolated-3] -0.184894 -0.000326 0.982758 0.017215 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.624784497] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.019,10.655,0.005} [component_container_isolated-3] [DEBUG] [1762964968.624815476] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.004,-0.006} {0.029,10.591,-0.013} [component_container_isolated-3] [DEBUG] [1762964968.624864971] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.648765655] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.648826662] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.648865366] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.648910332] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000033 0.000188 0.000193 [component_container_isolated-3] -0.000033 1.000000 0.000017 0.000079 [component_container_isolated-3] -0.000188 -0.000017 1.000000 0.000945 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.648970597] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.003,0.004} {-0.020,0.056,0.039} [component_container_isolated-3] [DEBUG] [1762964968.649020342] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.649064155] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.649104122] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979081 0.000015 0.203472 -0.006434 [component_container_isolated-3] 0.002387 0.999930 -0.011560 0.059654 [component_container_isolated-3] -0.203458 0.011804 0.979013 0.018475 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.649127797] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.691,11.739,0.140} [component_container_isolated-3] [DEBUG] [1762964968.649158455] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.003,-0.004} {0.702,11.683,0.099} [component_container_isolated-3] [DEBUG] [1762964968.649206798] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.649346174] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.649396480] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.649434663] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.649480310] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000084 -0.000065 0.000477 [component_container_isolated-3] -0.000084 1.000000 -0.000286 -0.000027 [component_container_isolated-3] 0.000065 0.000286 1.000000 -0.000306 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.649506210] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.001,-0.003} {0.096,-0.053,0.016} [component_container_isolated-3] [DEBUG] [1762964968.649556095] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.649601031] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.649638673] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981556 -0.000001 0.191172 -0.006724 [component_container_isolated-3] -0.001661 0.999962 0.008532 0.059676 [component_container_isolated-3] -0.191165 -0.008693 0.981519 0.017272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.649661677] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.507,11.021,-0.097} [component_container_isolated-3] [DEBUG] [1762964968.649692836] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.003} {-0.606,11.073,-0.114} [component_container_isolated-3] [DEBUG] [1762964968.649741729] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.651595630] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.651647559] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.651688457] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.651733303] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000121 0.000037 -0.000051 [component_container_isolated-3] 0.000121 1.000000 -0.000160 -0.000206 [component_container_isolated-3] -0.000037 0.000160 1.000000 0.000095 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.651758992] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.001} {0.004,0.022,0.020} [component_container_isolated-3] [DEBUG] [1762964968.651844225] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.651894110] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.651966669] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879378 0.000008 0.476125 -0.001198 [component_container_isolated-3] -0.004610 0.999953 0.008498 0.060122 [component_container_isolated-3] -0.476102 -0.009668 0.879337 0.018241 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.651992628] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.630,28.431,-0.300} [component_container_isolated-3] [DEBUG] [1762964968.652022856] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.644,28.409,-0.323} [component_container_isolated-3] [DEBUG] [1762964968.652073673] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.671995479] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.672073788] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.672116680] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.672165934] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000083 0.000052 -0.000032 [component_container_isolated-3] -0.000083 1.000000 0.000025 0.000111 [component_container_isolated-3] -0.000052 -0.000025 1.000000 -0.000004 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.672194509] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {-0.053,0.067,0.013} [component_container_isolated-3] [DEBUG] [1762964968.672248582] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.672296804] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.672343203] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982749 -0.000068 0.184946 -0.007069 [component_container_isolated-3] -0.000001 1.000000 0.000372 0.059694 [component_container_isolated-3] -0.184946 -0.000366 0.982749 0.017134 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.672363141] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.021,10.658,-0.000} [component_container_isolated-3] [DEBUG] [1762964968.672385594] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.004,-0.007} {0.029,10.591,-0.013} [component_container_isolated-3] [DEBUG] [1762964968.672427093] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.683591264] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.683639095] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.683681156] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.683728165] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000012 -0.000123 -0.000473 [component_container_isolated-3] 0.000012 1.000000 0.000031 0.000062 [component_container_isolated-3] 0.000123 -0.000031 1.000000 -0.000441 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.683753724] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.003,0.004} {-0.021,0.049,0.040} [component_container_isolated-3] [DEBUG] [1762964968.683803780] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.683846471] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.683881238] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000003 0.203351 -0.006498 [component_container_isolated-3] 0.002398 0.999931 -0.011530 0.059672 [component_container_isolated-3] -0.203337 0.011776 0.979038 0.018504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.683903380] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.689,11.732,0.140} [component_container_isolated-3] [DEBUG] [1762964968.683968344] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.003,-0.004} {0.702,11.683,0.099} [component_container_isolated-3] [DEBUG] [1762964968.684022007] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.686709359] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.686764243] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.686805041] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.686849697] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000003 -0.000150 0.000017 [component_container_isolated-3] 0.000003 1.000000 0.000004 0.000007 [component_container_isolated-3] 0.000150 -0.000004 1.000000 -0.000152 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.686875997] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.001} {0.003,0.013,0.020} [component_container_isolated-3] [DEBUG] [1762964968.686951180] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.686998631] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.687038537] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879449 0.000003 0.475993 -0.001205 [component_container_isolated-3] -0.004605 0.999953 0.008502 0.060113 [component_container_isolated-3] -0.475971 -0.009669 0.879408 0.018233 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.687168626] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.630,28.423,-0.300} [component_container_isolated-3] [DEBUG] [1762964968.687207730] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.644,28.409,-0.323} [component_container_isolated-3] [DEBUG] [1762964968.687273396] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.700119789] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.700174955] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.700216093] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.700260388] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000049 0.000011 -0.000473 [component_container_isolated-3] 0.000049 1.000000 0.000158 -0.000364 [component_container_isolated-3] -0.000011 -0.000158 1.000000 0.000198 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.700286347] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.001,-0.003} {0.086,-0.052,0.019} [component_container_isolated-3] [DEBUG] [1762964968.700337495] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.700384064] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.700424842] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981554 -0.000079 0.191183 -0.006798 [component_container_isolated-3] -0.001612 0.999961 0.008691 0.059623 [component_container_isolated-3] -0.191176 -0.008839 0.981516 0.017302 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.700449629] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.516,11.021,-0.094} [component_container_isolated-3] [DEBUG] [1762964968.700483654] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.001,0.002} {-0.606,11.073,-0.114} [component_container_isolated-3] [DEBUG] [1762964968.700533670] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.701741707] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.701801671] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.701841828] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.701887425] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000012 -0.000123 -0.000473 [component_container_isolated-3] 0.000012 1.000000 0.000031 0.000062 [component_container_isolated-3] 0.000123 -0.000031 1.000000 -0.000441 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.701912844] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.003,0.003} {-0.023,0.042,0.040} [component_container_isolated-3] [DEBUG] [1762964968.702002946] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.702048222] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.702087858] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000003 0.203351 -0.006498 [component_container_isolated-3] 0.002398 0.999931 -0.011530 0.059672 [component_container_isolated-3] -0.203337 0.011776 0.979038 0.018504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.702110321] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.689,11.732,0.140} [component_container_isolated-3] [DEBUG] [1762964968.702140108] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.003,-0.003} {0.704,11.691,0.099} [component_container_isolated-3] [DEBUG] [1762964968.702188330] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.706282428] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.706334157] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.706370577] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.706413619] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000082 -0.000098 -0.000007 [component_container_isolated-3] 0.000082 1.000000 0.000121 -0.000030 [component_container_isolated-3] 0.000098 -0.000121 1.000000 -0.000022 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.706438907] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.004,0.006} {-0.060,0.062,0.018} [component_container_isolated-3] [DEBUG] [1762964968.706485336] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.706529160] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.706566962] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982767 -0.000170 0.184850 -0.007128 [component_container_isolated-3] 0.000080 1.000000 0.000493 0.059645 [component_container_isolated-3] -0.184850 -0.000470 0.982767 0.017071 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.706591809] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.027,10.652,0.005} [component_container_isolated-3] [DEBUG] [1762964968.706622418] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.004,-0.007} {0.029,10.591,-0.013} [component_container_isolated-3] [DEBUG] [1762964968.706672223] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.721397144] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.721449925] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.721491304] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.721536129] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000109 0.000053 -0.000047 [component_container_isolated-3] -0.000109 1.000000 0.000075 0.000142 [component_container_isolated-3] -0.000053 -0.000075 1.000000 0.000049 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.721562740] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.001,0.016,0.014} [component_container_isolated-3] [DEBUG] [1762964968.721610812] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.721652642] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.721691035] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879424 0.000064 0.476039 -0.001206 [component_container_isolated-3] -0.004715 0.999952 0.008577 0.060123 [component_container_isolated-3] -0.476016 -0.009787 0.879382 0.018228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.721715752] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.638,28.426,-0.307} [component_container_isolated-3] [DEBUG] [1762964968.721748725] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.644,28.409,-0.323} [component_container_isolated-3] [DEBUG] [1762964968.721801897] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.731967130] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.732018598] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.732061891] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.732113429] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000130 0.000045 -0.000185 [component_container_isolated-3] -0.000130 1.000000 0.000193 0.000646 [component_container_isolated-3] -0.000045 -0.000193 1.000000 0.000354 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.732140150] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.002,-0.002} {0.075,-0.050,0.012} [component_container_isolated-3] [DEBUG] [1762964968.732190927] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.732236264] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.732274297] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 0.000011 0.191228 -0.006852 [component_container_isolated-3] -0.001742 0.999959 0.008884 0.059717 [component_container_isolated-3] -0.191220 -0.009053 0.981506 0.017400 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.732297341] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.528,11.024,-0.102} [component_container_isolated-3] [DEBUG] [1762964968.732326997] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.002} {-0.606,11.073,-0.114} [component_container_isolated-3] [DEBUG] [1762964968.732381782] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.733017957] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.733070287] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.733112067] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.733157664] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000012 -0.000123 -0.000473 [component_container_isolated-3] 0.000012 1.000000 0.000031 0.000062 [component_container_isolated-3] 0.000123 -0.000031 1.000000 -0.000441 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.733182992] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.003,0.003} {-0.025,0.035,0.041} [component_container_isolated-3] [DEBUG] [1762964968.733232166] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.733273916] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.733309293] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000003 0.203351 -0.006498 [component_container_isolated-3] 0.002398 0.999931 -0.011530 0.059672 [component_container_isolated-3] -0.203337 0.011776 0.979038 0.018504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.733331686] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.689,11.732,0.140} [component_container_isolated-3] [DEBUG] [1762964968.733363086] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.003,-0.003} {0.706,11.698,0.098} [component_container_isolated-3] [DEBUG] [1762964968.733418913] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.750965713] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.751025617] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.751065063] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.751108706] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000024 -0.000010 0.000039 [component_container_isolated-3] 0.000024 1.000000 -0.000004 0.000001 [component_container_isolated-3] 0.000010 0.000004 1.000000 -0.000007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.751134265] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.001,0.015,0.015} [component_container_isolated-3] [DEBUG] [1762964968.751183038] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.751226270] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.751267018] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 0.000044 0.476030 -0.001209 [component_container_isolated-3] -0.004691 0.999952 0.008573 0.060128 [component_container_isolated-3] -0.476007 -0.009772 0.879387 0.018228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.751292567] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.637,28.425,-0.306} [component_container_isolated-3] [DEBUG] [1762964968.751326151] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.644,28.409,-0.323} [component_container_isolated-3] [DEBUG] [1762964968.751376127] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.759173558] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.759235476] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.759276314] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.759322592] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000617 0.000149 0.001086 [component_container_isolated-3] -0.000617 1.000000 0.000079 0.002933 [component_container_isolated-3] -0.000149 -0.000079 1.000000 -0.000110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.759349754] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.001,0.006} {-0.064,0.070,-0.018} [component_container_isolated-3] [DEBUG] [1762964968.759399018] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.759446419] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.759486606] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982739 0.000422 0.184996 -0.006900 [component_container_isolated-3] -0.000537 1.000000 0.000573 0.060931 [component_container_isolated-3] -0.184996 -0.000662 0.982739 0.016940 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.759511804] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.001} {-0.039,10.661,-0.031} [component_container_isolated-3] [DEBUG] [1762964968.759544476] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,0.002,-0.006} {0.029,10.591,-0.013} [component_container_isolated-3] [DEBUG] [1762964968.759594592] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.766593648] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.766660085] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.766701665] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.766746861] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000067 -0.000070 -0.000141 [component_container_isolated-3] 0.000067 1.000000 -0.000056 0.000229 [component_container_isolated-3] 0.000070 0.000056 1.000000 -0.000531 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.766773442] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.002,-0.003} {0.079,-0.054,0.015} [component_container_isolated-3] [DEBUG] [1762964968.766829589] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.766785615] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.766961671] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.767009192] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.766877611] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.767060490] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000617 0.000149 0.001086 [component_container_isolated-3] -0.000617 1.000000 0.000079 0.002933 [component_container_isolated-3] -0.000149 -0.000079 1.000000 -0.000110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.767158657] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981559 -0.000044 0.191159 -0.006937 [component_container_isolated-3] -0.001674 0.999960 0.008828 0.059807 [component_container_isolated-3] -0.191152 -0.008985 0.981519 0.017396 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.767201309] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.524,11.020,-0.098} [component_container_isolated-3] [DEBUG] [1762964968.767240393] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.003} {-0.606,11.073,-0.114} [component_container_isolated-3] [DEBUG] [1762964968.767163757] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.002,0.006} {-0.069,0.079,-0.053} [component_container_isolated-3] [DEBUG] [1762964968.767317481] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.767388687] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.767376994] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.767355243] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.767434354] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.767535016] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.767560244] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000012 -0.000123 -0.000473 [component_container_isolated-3] 0.000012 1.000000 0.000031 0.000062 [component_container_isolated-3] 0.000123 -0.000031 1.000000 -0.000441 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.767590793] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.003,0.002} {-0.027,0.028,0.042} [component_container_isolated-3] [DEBUG] [1762964968.767579421] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982739 0.000422 0.184996 -0.006900 [component_container_isolated-3] -0.000537 1.000000 0.000573 0.060931 [component_container_isolated-3] -0.184996 -0.000662 0.982739 0.016940 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.767671807] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.001} {-0.039,10.661,-0.031} [component_container_isolated-3] [DEBUG] [1762964968.767704490] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.001,-0.006} {0.040,10.582,0.023} [component_container_isolated-3] [DEBUG] [1762964968.767645838] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.767751049] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.767780084] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.767809540] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000003 0.203351 -0.006498 [component_container_isolated-3] 0.002398 0.999931 -0.011530 0.059672 [component_container_isolated-3] -0.203337 0.011776 0.979038 0.018504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.767826924] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.689,11.732,0.140} [component_container_isolated-3] [DEBUG] [1762964968.767848505] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.003} {0.707,11.705,0.097} [component_container_isolated-3] [DEBUG] [1762964968.767887930] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.782863320] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.782954464] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.782999029] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.783048072] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000067 -0.000070 -0.000141 [component_container_isolated-3] 0.000067 1.000000 -0.000056 0.000229 [component_container_isolated-3] 0.000070 0.000056 1.000000 -0.000531 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.783074523] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.002,-0.003} {0.082,-0.058,0.019} [component_container_isolated-3] [DEBUG] [1762964968.783124959] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.783168963] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.783205413] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981559 -0.000044 0.191159 -0.006937 [component_container_isolated-3] -0.001674 0.999960 0.008828 0.059807 [component_container_isolated-3] -0.191152 -0.008985 0.981519 0.017396 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.783228597] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.524,11.020,-0.098} [component_container_isolated-3] [DEBUG] [1762964968.783267211] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.003} {-0.610,11.077,-0.118} [component_container_isolated-3] [DEBUG] [1762964968.783327887] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.784217415] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.784268152] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.784308890] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.784354828] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000005 0.000016 -0.000122 [component_container_isolated-3] -0.000005 1.000000 0.000119 -0.000072 [component_container_isolated-3] -0.000016 -0.000119 1.000000 0.000132 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.784381879] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,0.001} {-0.008,0.016,0.015} [component_container_isolated-3] [DEBUG] [1762964968.784434871] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.784482191] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.784522258] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879421 -0.000008 0.476044 -0.001218 [component_container_isolated-3] -0.004695 0.999951 0.008692 0.060128 [component_container_isolated-3] -0.476021 -0.009879 0.879378 0.018243 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.784547045] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.644,28.426,-0.306} [component_container_isolated-3] [DEBUG] [1762964968.784577994] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.644,28.409,-0.323} [component_container_isolated-3] [DEBUG] [1762964968.784628140] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.799260785] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.799314527] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.799355365] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.799399179] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000012 -0.000123 -0.000473 [component_container_isolated-3] 0.000012 1.000000 0.000031 0.000062 [component_container_isolated-3] 0.000123 -0.000031 1.000000 -0.000441 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.799424888] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.002} {-0.028,0.021,0.042} [component_container_isolated-3] [DEBUG] [1762964968.799473240] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.799515050] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.799549346] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000003 0.203351 -0.006498 [component_container_isolated-3] 0.002398 0.999931 -0.011530 0.059672 [component_container_isolated-3] -0.203337 0.011776 0.979038 0.018504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.799571057] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.689,11.732,0.140} [component_container_isolated-3] [DEBUG] [1762964968.799603810] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.002} {0.709,11.712,0.097} [component_container_isolated-3] [DEBUG] [1762964968.799655789] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.808080578] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.808132037] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.808170730] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.808215055] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000617 0.000149 0.001086 [component_container_isolated-3] -0.000617 1.000000 0.000079 0.002933 [component_container_isolated-3] -0.000149 -0.000079 1.000000 -0.000110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.808240814] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.005,0.006} {-0.073,0.087,-0.089} [component_container_isolated-3] [DEBUG] [1762964968.808288966] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.808332459] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.808371724] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982739 0.000422 0.184996 -0.006900 [component_container_isolated-3] -0.000537 1.000000 0.000573 0.060931 [component_container_isolated-3] -0.184996 -0.000662 0.982739 0.016940 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.808396251] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.001} {-0.039,10.661,-0.031} [component_container_isolated-3] [DEBUG] [1762964968.808428853] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.004,-0.006} {0.051,10.574,0.059} [component_container_isolated-3] [DEBUG] [1762964968.808479530] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.826914988] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.827006172] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.827048142] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.827075935] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.827128485] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.827093338] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000020 0.000069 -0.000084 [component_container_isolated-3] 0.000020 1.000000 0.000067 0.000014 [component_container_isolated-3] -0.000069 -0.000067 1.000000 0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.827197186] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,0.001} {-0.011,0.020,0.016} [component_container_isolated-3] [DEBUG] [1762964968.827170816] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.827255828] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.827302598] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000617 0.000149 0.001086 [component_container_isolated-3] -0.000617 1.000000 0.000079 0.002933 [component_container_isolated-3] -0.000149 -0.000079 1.000000 -0.000110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.827376399] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.008,0.005} {-0.078,0.096,-0.124} [component_container_isolated-3] [DEBUG] [1762964968.827431143] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.827477141] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.827516396] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982739 0.000422 0.184996 -0.006900 [component_container_isolated-3] -0.000537 1.000000 0.000573 0.060931 [component_container_isolated-3] -0.184996 -0.000662 0.982739 0.016940 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.827541765] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.001} {-0.039,10.661,-0.031} [component_container_isolated-3] [DEBUG] [1762964968.827574487] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.007,-0.006} {0.063,10.565,0.095} [component_container_isolated-3] [DEBUG] [1762964968.827359356] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.827625975] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.827676091] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 -0.000058 0.476104 -0.001233 [component_container_isolated-3] -0.004676 0.999951 0.008759 0.060128 [component_container_isolated-3] -0.476081 -0.009928 0.879345 0.018266 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.827755923] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.647,28.430,-0.305} [component_container_isolated-3] [DEBUG] [1762964968.827796271] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.644,28.409,-0.323} [component_container_isolated-3] [DEBUG] [1762964968.827849813] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.836692681] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.836749629] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.836801108] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.836861573] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000091 -0.000021 0.000323 [component_container_isolated-3] 0.000091 1.000000 -0.000033 -0.000474 [component_container_isolated-3] 0.000021 0.000033 1.000000 -0.000239 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.836897662] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.002,-0.004} {0.084,-0.059,0.024} [component_container_isolated-3] [DEBUG] [1762964968.837008003] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.837075181] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.837130136] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981563 -0.000127 0.191139 -0.006980 [component_container_isolated-3] -0.001583 0.999960 0.008795 0.059799 [component_container_isolated-3] -0.191132 -0.008935 0.981524 0.017349 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.837163640] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.522,11.019,-0.092} [component_container_isolated-3] [DEBUG] [1762964968.837203606] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.003} {-0.610,11.077,-0.118} [component_container_isolated-3] [DEBUG] [1762964968.837280152] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.838821075] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.838874197] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.838914884] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.838995428] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000020 0.000069 -0.000084 [component_container_isolated-3] 0.000020 1.000000 0.000067 0.000014 [component_container_isolated-3] -0.000069 -0.000067 1.000000 0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.839022139] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,0.001} {-0.015,0.024,0.017} [component_container_isolated-3] [DEBUG] [1762964968.839071564] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.839113925] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.839149062] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 -0.000058 0.476104 -0.001233 [component_container_isolated-3] -0.004676 0.999951 0.008759 0.060128 [component_container_isolated-3] -0.476081 -0.009928 0.879345 0.018266 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.839171535] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.647,28.430,-0.305} [component_container_isolated-3] [DEBUG] [1762964968.839201872] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964968.839261707] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.847611272] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.847664975] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.847714670] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.847774835] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000091 -0.000021 0.000323 [component_container_isolated-3] 0.000091 1.000000 -0.000033 -0.000474 [component_container_isolated-3] 0.000021 0.000033 1.000000 -0.000239 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.847809962] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.001,-0.004} {0.086,-0.060,0.030} [component_container_isolated-3] [DEBUG] [1762964968.847879204] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.847976470] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.848033639] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981563 -0.000127 0.191139 -0.006980 [component_container_isolated-3] -0.001583 0.999960 0.008795 0.059799 [component_container_isolated-3] -0.191132 -0.008935 0.981524 0.017349 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.848067614] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.522,11.019,-0.092} [component_container_isolated-3] [DEBUG] [1762964968.848112019] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.001,0.004} {-0.613,11.079,-0.123} [component_container_isolated-3] [DEBUG] [1762964968.848191210] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.849439203] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.849487926] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.849524887] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.849568180] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000030 0.000027 0.000063 [component_container_isolated-3] -0.000030 1.000000 0.000043 -0.000151 [component_container_isolated-3] -0.000027 -0.000043 1.000000 -0.000050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.849592676] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.002} {-0.031,0.022,0.041} [component_container_isolated-3] [DEBUG] [1762964968.849639015] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.849682528] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.849722494] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979101 0.000017 0.203377 -0.006514 [component_container_isolated-3] 0.002368 0.999931 -0.011487 0.059671 [component_container_isolated-3] -0.203363 0.011728 0.979033 0.018510 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.849746310] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.686,11.734,0.139} [component_container_isolated-3] [DEBUG] [1762964968.849778782] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.002} {0.709,11.712,0.097} [component_container_isolated-3] [DEBUG] [1762964968.849828517] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.870082267] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.870140628] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.870181696] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.870228957] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000554 -0.000063 -0.000914 [component_container_isolated-3] 0.000554 1.000000 -0.000199 -0.003141 [component_container_isolated-3] 0.000063 0.000199 1.000000 0.000097 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.870255568] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.005,0.005} {-0.067,0.092,-0.092} [component_container_isolated-3] [DEBUG] [1762964968.870303339] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.870348485] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.870386197] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982751 -0.000086 0.184934 -0.007045 [component_container_isolated-3] 0.000017 1.000000 0.000373 0.059966 [component_container_isolated-3] -0.184934 -0.000364 0.982751 0.016922 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.870409201] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.021,10.657,0.001} [component_container_isolated-3] [DEBUG] [1762964968.870439960] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.005,-0.006} {0.063,10.565,0.095} [component_container_isolated-3] [DEBUG] [1762964968.870488913] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.880709131] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.880765038] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.880803652] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.880846223] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000097 -0.000016 0.000285 [component_container_isolated-3] 0.000097 1.000000 -0.000028 -0.000196 [component_container_isolated-3] 0.000016 0.000028 1.000000 -0.000190 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.880870509] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.002} {-0.029,0.022,0.046} [component_container_isolated-3] [DEBUG] [1762964968.880949080] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.880995007] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.881031818] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979104 -0.000072 0.203361 -0.006507 [component_container_isolated-3] 0.002465 0.999931 -0.011515 0.059640 [component_container_isolated-3] -0.203346 0.011776 0.979036 0.018487 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.881055473] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.689,11.733,0.144} [component_container_isolated-3] [DEBUG] [1762964968.881088927] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.002} {0.709,11.712,0.097} [component_container_isolated-3] [DEBUG] [1762964968.881142930] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.882226149] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.882278098] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.882318805] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.882362599] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000059 0.000003 0.000145 [component_container_isolated-3] -0.000059 1.000000 0.000009 0.000136 [component_container_isolated-3] -0.000003 -0.000009 1.000000 -0.000115 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.882387477] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,0.001} {-0.016,0.024,0.014} [component_container_isolated-3] [DEBUG] [1762964968.882435078] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.882476647] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.882513307] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879387 -0.000011 0.476107 -0.001233 [component_container_isolated-3] -0.004734 0.999950 0.008768 0.060145 [component_container_isolated-3] -0.476084 -0.009964 0.879343 0.018267 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.882535289] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.649,28.430,-0.308} [component_container_isolated-3] [DEBUG] [1762964968.882565707] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964968.882618578] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.899025401] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.899094022] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.899134920] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.899181108] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000111 0.000032 -0.000157 [component_container_isolated-3] -0.000111 1.000000 0.000000 0.000241 [component_container_isolated-3] -0.000032 -0.000000 1.000000 0.000125 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.899206888] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.001,-0.004} {0.086,-0.058,0.023} [component_container_isolated-3] [DEBUG] [1762964968.899258035] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.899303833] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.899343859] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981557 -0.000019 0.191170 -0.007013 [component_container_isolated-3] -0.001694 0.999960 0.008795 0.059830 [component_container_isolated-3] -0.191162 -0.008956 0.981518 0.017338 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.899369157] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.523,11.021,-0.099} [component_container_isolated-3] [DEBUG] [1762964968.899403162] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.003} {-0.613,11.079,-0.123} [component_container_isolated-3] [DEBUG] [1762964968.899456645] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.905477643] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.905547056] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.905588866] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.905634753] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000098 0.000205 0.000487 [component_container_isolated-3] -0.000098 1.000000 0.000167 0.000961 [component_container_isolated-3] -0.000205 -0.000167 1.000000 0.001047 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.905661174] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.005,0.007} {-0.076,0.104,-0.098} [component_container_isolated-3] [DEBUG] [1762964968.905709506] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.905754923] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.905795901] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 -0.000020 0.185136 -0.006971 [component_container_isolated-3] -0.000081 1.000000 0.000540 0.059968 [component_container_isolated-3] -0.185136 -0.000546 0.982713 0.017093 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.905821400] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.669,-0.005} [component_container_isolated-3] [DEBUG] [1762964968.905854293] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.006,-0.007} {0.063,10.565,0.095} [component_container_isolated-3] [DEBUG] [1762964968.905904919] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.913592951] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.913649089] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.913692592] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.913738489] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000125 0.000090 -0.000426 [component_container_isolated-3] -0.000125 1.000000 -0.000013 0.000139 [component_container_isolated-3] -0.000090 0.000013 1.000000 0.000242 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.913764529] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.002} {-0.029,0.027,0.039} [component_container_isolated-3] [DEBUG] [1762964968.913813643] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.913857697] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.913893485] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979085 0.000054 0.203450 -0.006558 [component_container_isolated-3] 0.002341 0.999931 -0.011528 0.059636 [component_container_isolated-3] -0.203436 0.011763 0.979018 0.018515 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.913916409] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.738,0.137} [component_container_isolated-3] [DEBUG] [1762964968.913979409] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.002} {0.709,11.712,0.097} [component_container_isolated-3] [DEBUG] [1762964968.914032671] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.914782473] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.914831096] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.914869790] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.914913704] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000111 0.000032 -0.000157 [component_container_isolated-3] -0.000111 1.000000 0.000000 0.000241 [component_container_isolated-3] -0.000032 -0.000000 1.000000 0.000125 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.914980652] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.002,-0.004} {0.086,-0.056,0.017} [component_container_isolated-3] [DEBUG] [1762964968.915029745] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.915075904] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.915117393] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981557 -0.000019 0.191170 -0.007013 [component_container_isolated-3] -0.001694 0.999960 0.008795 0.059830 [component_container_isolated-3] -0.191162 -0.008956 0.981518 0.017338 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.915142471] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.523,11.021,-0.099} [component_container_isolated-3] [DEBUG] [1762964968.915174061] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.003} {-0.612,11.077,-0.117} [component_container_isolated-3] [DEBUG] [1762964968.915224337] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.916248112] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.916297216] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.916345578] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.916390063] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000097 -0.000059 0.000006 [component_container_isolated-3] 0.000097 1.000000 0.000005 -0.000147 [component_container_isolated-3] 0.000059 -0.000005 1.000000 -0.000072 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.916415883] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,0.001} {-0.016,0.021,0.020} [component_container_isolated-3] [DEBUG] [1762964968.916465307] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.916506626] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.916541763] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879415 -0.000099 0.476056 -0.001244 [component_container_isolated-3] -0.004637 0.999951 0.008773 0.060140 [component_container_isolated-3] -0.476033 -0.009923 0.879371 0.018264 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.916564496] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.646,28.427,-0.302} [component_container_isolated-3] [DEBUG] [1762964968.916593893] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964968.916643327] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.921606676] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.921661881] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.921699703] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.921744238] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000098 0.000205 0.000487 [component_container_isolated-3] -0.000098 1.000000 0.000167 0.000961 [component_container_isolated-3] -0.000205 -0.000167 1.000000 0.001047 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.921769477] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.006,0.008} {-0.086,0.116,-0.104} [component_container_isolated-3] [DEBUG] [1762964968.921817007] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.921859749] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.921900327] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 -0.000020 0.185136 -0.006971 [component_container_isolated-3] -0.000081 1.000000 0.000540 0.059968 [component_container_isolated-3] -0.185136 -0.000546 0.982713 0.017093 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.921950563] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.669,-0.005} [component_container_isolated-3] [DEBUG] [1762964968.921986100] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.006,-0.008} {0.073,10.553,0.100} [component_container_isolated-3] [DEBUG] [1762964968.922046856] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.951541815] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.951598503] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.951758338] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.951818844] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000035 -0.000047 0.000177 [component_container_isolated-3] 0.000035 1.000000 0.000098 0.000294 [component_container_isolated-3] 0.000047 -0.000098 1.000000 -0.000114 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.951853911] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.002} {-0.034,0.024,0.041} [component_container_isolated-3] [DEBUG] [1762964968.951956226] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.952022322] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.952075344] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 -0.000000 0.203404 -0.006575 [component_container_isolated-3] 0.002375 0.999932 -0.011429 0.059681 [component_container_isolated-3] -0.203391 0.011674 0.979028 0.018511 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.952108797] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.683,11.735,0.139} [component_container_isolated-3] [DEBUG] [1762964968.952150327] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.002} {0.709,11.712,0.097} [component_container_isolated-3] [DEBUG] [1762964968.952229448] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.954892544] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.954990701] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.955030677] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.955073589] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000006 -0.000080 0.000079 [component_container_isolated-3] 0.000006 1.000000 -0.000111 -0.000070 [component_container_isolated-3] 0.000080 0.000111 1.000000 -0.000043 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.955098557] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.001} {-0.010,0.016,0.020} [component_container_isolated-3] [DEBUG] [1762964968.955147270] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.955189180] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.955226441] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879453 -0.000051 0.475985 -0.001241 [component_container_isolated-3] -0.004630 0.999952 0.008662 0.060126 [component_container_isolated-3] -0.475962 -0.009822 0.879411 0.018256 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.955250517] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.640,28.422,-0.302} [component_container_isolated-3] [DEBUG] [1762964968.955284392] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964968.955334668] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.965676579] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.965741382] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.965782010] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.965825573] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000031 -0.000091 0.000359 [component_container_isolated-3] 0.000031 1.000000 -0.000136 -0.000318 [component_container_isolated-3] 0.000091 0.000136 1.000000 -0.000421 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.965851102] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.001,-0.004} {0.093,-0.062,0.019} [component_container_isolated-3] [DEBUG] [1762964968.965900817] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.965977163] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.966493018] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981574 -0.000023 0.191080 -0.007017 [component_container_isolated-3] -0.001662 0.999961 0.008659 0.059805 [component_container_isolated-3] -0.191073 -0.008817 0.981536 0.017236 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.966550107] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.515,11.015,-0.097} [component_container_isolated-3] [DEBUG] [1762964968.966598229] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.004} {-0.612,11.077,-0.117} [component_container_isolated-3] [DEBUG] [1762964968.966687169] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.975720330] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.975792197] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.975833295] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.975879123] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000133 -0.000068 -0.000293 [component_container_isolated-3] -0.000133 1.000000 -0.000019 0.000415 [component_container_isolated-3] 0.000068 0.000019 1.000000 -0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.975904361] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.008} {-0.085,0.112,-0.111} [component_container_isolated-3] [DEBUG] [1762964968.975992089] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.976042084] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.976083724] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982726 0.000114 0.185069 -0.006979 [component_container_isolated-3] -0.000214 1.000000 0.000521 0.060055 [component_container_isolated-3] -0.185069 -0.000552 0.982725 0.017145 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.976110645] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.032,10.665,-0.012} [component_container_isolated-3] [DEBUG] [1762964968.976145542] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.007,-0.007} {0.073,10.553,0.100} [component_container_isolated-3] [DEBUG] [1762964968.976188784] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.985419613] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.985476572] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.985516037] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.985560803] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000040 0.000207 -0.000041 [component_container_isolated-3] 0.000040 1.000000 -0.000062 -0.000172 [component_container_isolated-3] -0.000207 0.000062 1.000000 0.000402 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.985585440] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.002} {-0.031,0.036,0.043} [component_container_isolated-3] [DEBUG] [1762964968.985633331] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.985675532] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.985714947] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979053 -0.000027 0.203607 -0.006571 [component_container_isolated-3] 0.002417 0.999931 -0.011491 0.059685 [component_container_isolated-3] -0.203592 0.011742 0.978985 0.018589 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.985738322] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.687,11.747,0.141} [component_container_isolated-3] [DEBUG] [1762964968.985769461] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.002} {0.709,11.712,0.097} [component_container_isolated-3] [DEBUG] [1762964968.985818244] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.987869352] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.987957259] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.988007636] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.988063152] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000040 0.000065 0.000012 [component_container_isolated-3] -0.000040 1.000000 -0.000134 0.000161 [component_container_isolated-3] -0.000065 0.000134 1.000000 -0.000023 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.988096135] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.002,0.020,0.018} [component_container_isolated-3] [DEBUG] [1762964968.988160878] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.988221073] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.988275998] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879422 0.000048 0.476042 -0.001234 [component_container_isolated-3] -0.004671 0.999953 0.008528 0.060134 [component_container_isolated-3] -0.476019 -0.009723 0.879381 0.018248 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.988308170] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.633,28.426,-0.304} [component_container_isolated-3] [DEBUG] [1762964968.988331955] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964968.988385547] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964968.997185693] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964968.997247782] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964968.997291395] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964968.997336171] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000057 0.000296 0.000733 [component_container_isolated-3] -0.000057 1.000000 0.000212 0.000615 [component_container_isolated-3] -0.000295 -0.000212 1.000000 0.001391 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964968.997361329] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.003} {0.081,-0.045,0.016} [component_container_isolated-3] [DEBUG] [1762964968.997412877] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964968.997457603] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964968.997494824] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981518 -0.000008 0.191370 -0.006739 [component_container_isolated-3] -0.001721 0.999959 0.008870 0.059925 [component_container_isolated-3] -0.191362 -0.009036 0.981478 0.017511 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964968.997519892] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.527,11.032,-0.100} [component_container_isolated-3] [DEBUG] [1762964968.997554157] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.002,0.003} {-0.612,11.077,-0.117} [component_container_isolated-3] [DEBUG] [1762964968.997607990] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.001373311] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.001432614] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.001472180] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.001516033] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000040 0.000207 -0.000041 [component_container_isolated-3] 0.000040 1.000000 -0.000062 -0.000172 [component_container_isolated-3] -0.000207 0.000062 1.000000 0.000402 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.001541783] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.003} {-0.027,0.048,0.046} [component_container_isolated-3] [DEBUG] [1762964969.001589373] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.001631875] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.001666300] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979053 -0.000027 0.203607 -0.006571 [component_container_isolated-3] 0.002417 0.999931 -0.011491 0.059685 [component_container_isolated-3] -0.203592 0.011742 0.978985 0.018589 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.001689555] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.687,11.747,0.141} [component_container_isolated-3] [DEBUG] [1762964969.001723049] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.003} {0.705,11.700,0.094} [component_container_isolated-3] [DEBUG] [1762964969.001775589] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.009457870] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.009514779] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.009554335] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.009599761] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000086 0.000066 0.000184 [component_container_isolated-3] 0.000086 1.000000 -0.000136 -0.000331 [component_container_isolated-3] -0.000066 0.000136 1.000000 0.000011 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.009625160] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.008} {-0.077,0.116,-0.106} [component_container_isolated-3] [DEBUG] [1762964969.009674103] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.009718378] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.009756080] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 0.000055 0.185134 -0.006968 [component_container_isolated-3] -0.000128 1.000000 0.000385 0.060052 [component_container_isolated-3] -0.185134 -0.000402 0.982713 0.017187 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.009781819] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.023,10.669,-0.007} [component_container_isolated-3] [DEBUG] [1762964969.009815974] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.006,-0.007} {0.073,10.553,0.100} [component_container_isolated-3] [DEBUG] [1762964969.009875608] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.021839306] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.021898499] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.021975586] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.022023938] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000028 0.000179 0.000064 [component_container_isolated-3] 0.000028 1.000000 0.000113 -0.000168 [component_container_isolated-3] -0.000179 -0.000113 1.000000 0.000321 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.022050589] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.001} {-0.008,0.030,0.019} [component_container_isolated-3] [DEBUG] [1762964969.022101977] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.022178163] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.022220734] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879337 -0.000031 0.476199 -0.001205 [component_container_isolated-3] -0.004644 0.999952 0.008640 0.060122 [component_container_isolated-3] -0.476177 -0.009809 0.879295 0.018270 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.022246093] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.639,28.436,-0.303} [component_container_isolated-3] [DEBUG] [1762964969.022282532] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964969.022336505] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.031127394] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.031187949] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.031228507] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.031272782] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000128 -0.000184 -0.000715 [component_container_isolated-3] 0.000128 1.000000 -0.000117 -0.000568 [component_container_isolated-3] 0.000184 0.000117 1.000000 -0.000856 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.031298130] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.001,-0.003} {0.088,-0.055,0.023} [component_container_isolated-3] [DEBUG] [1762964969.031348055] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.031395676] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.031436584] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981553 -0.000112 0.191190 -0.006784 [component_container_isolated-3] -0.001592 0.999960 0.008754 0.059884 [component_container_isolated-3] -0.191183 -0.008897 0.981514 0.017464 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.031461231] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.022,-0.093} [component_container_isolated-3] [DEBUG] [1762964969.031492301] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.003} {-0.612,11.077,-0.117} [component_container_isolated-3] [DEBUG] [1762964969.031542537] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.039784807] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.039848419] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.039890038] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.039961565] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000049 0.000095 -0.000096 [component_container_isolated-3] -0.000049 1.000000 0.000046 0.000010 [component_container_isolated-3] -0.000095 -0.000046 1.000000 0.000073 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.039990079] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.008} {-0.079,0.121,-0.109} [component_container_isolated-3] [DEBUG] [1762964969.040040305] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.040086644] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.040125428] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 0.000094 0.185227 -0.006962 [component_container_isolated-3] -0.000177 1.000000 0.000431 0.060053 [component_container_isolated-3] -0.185227 -0.000457 0.982696 0.017229 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.040150736] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.027,10.674,-0.010} [component_container_isolated-3] [DEBUG] [1762964969.040183108] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.006,-0.007} {0.073,10.553,0.100} [component_container_isolated-3] [DEBUG] [1762964969.040238414] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.045279922] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.045338193] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.045381546] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.045434938] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000038 -0.000156 0.000032 [component_container_isolated-3] -0.000038 1.000000 -0.000159 -0.000035 [component_container_isolated-3] 0.000156 0.000159 1.000000 -0.000069 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.045466769] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.001} {0.001,0.021,0.017} [component_container_isolated-3] [DEBUG] [1762964969.045518217] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.045561800] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.045598691] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879412 0.000079 0.476062 -0.001183 [component_container_isolated-3] -0.004681 0.999953 0.008481 0.060107 [component_container_isolated-3] -0.476039 -0.009687 0.879371 0.018279 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.045622366] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.631,28.427,-0.305} [component_container_isolated-3] [DEBUG] [1762964969.045653165] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964969.045703330] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.055362798] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.055425548] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.055466155] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.055512223] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000079 -0.000053 0.000013 [component_container_isolated-3] 0.000079 1.000000 -0.000065 -0.000422 [component_container_isolated-3] 0.000053 0.000065 1.000000 0.000098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.055540677] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.004,0.003} {-0.023,0.045,0.050} [component_container_isolated-3] [DEBUG] [1762964969.055594260] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.055641630] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.055683250] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979064 -0.000091 0.203555 -0.006575 [component_container_isolated-3] 0.002496 0.999930 -0.011556 0.059607 [component_container_isolated-3] -0.203540 0.011822 0.978995 0.018648 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.055710391] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.744,0.146} [component_container_isolated-3] [DEBUG] [1762964969.055747242] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.004,-0.003} {0.705,11.700,0.094} [component_container_isolated-3] [DEBUG] [1762964969.055818007] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.064279907] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.064343569] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.064384647] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.064430314] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000075 -0.000047 0.000280 [component_container_isolated-3] -0.000075 1.000000 0.000008 0.000019 [component_container_isolated-3] 0.000047 -0.000008 1.000000 -0.000108 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.064456504] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.001,-0.004} {0.087,-0.058,0.019} [component_container_isolated-3] [DEBUG] [1762964969.064507832] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.064551546] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.064590170] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981562 -0.000040 0.191144 -0.006761 [component_container_isolated-3] -0.001666 0.999960 0.008763 0.059872 [component_container_isolated-3] -0.191136 -0.008919 0.981523 0.017415 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.064614206] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.521,11.019,-0.097} [component_container_isolated-3] [DEBUG] [1762964969.064645345] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.003} {-0.612,11.077,-0.117} [component_container_isolated-3] [DEBUG] [1762964969.064695902] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.068249628] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.068318520] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.068357474] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.068402250] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000030 -0.000140 -0.000007 [component_container_isolated-3] 0.000030 1.000000 0.000025 0.000182 [component_container_isolated-3] 0.000140 -0.000025 1.000000 -0.000077 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.068427999] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.008} {-0.081,0.113,-0.107} [component_container_isolated-3] [DEBUG] [1762964969.068476231] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.068600388] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.068681573] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982722 0.000060 0.185090 -0.006966 [component_container_isolated-3] -0.000147 1.000000 0.000456 0.060079 [component_container_isolated-3] -0.185089 -0.000476 0.982721 0.017257 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.068708144] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.028,10.666,-0.009} [component_container_isolated-3] [DEBUG] [1762964969.068734003] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.007,-0.007} {0.073,10.553,0.100} [component_container_isolated-3] [DEBUG] [1762964969.068787596] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.081831587] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.081885860] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.081947678] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.081995590] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000117 -0.000103 0.000178 [component_container_isolated-3] -0.000117 1.000000 0.000060 0.000252 [component_container_isolated-3] 0.000103 -0.000060 1.000000 -0.000195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.082021599] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.002} {-0.027,0.039,0.043} [component_container_isolated-3] [DEBUG] [1762964969.082071976] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.082118434] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.082157970] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 0.000011 0.203454 -0.006555 [component_container_isolated-3] 0.002377 0.999931 -0.011497 0.059601 [component_container_isolated-3] -0.203441 0.011740 0.979017 0.018661 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.082182877] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.687,11.738,0.139} [component_container_isolated-3] [DEBUG] [1762964969.082215991] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.003} {0.705,11.700,0.094} [component_container_isolated-3] [DEBUG] [1762964969.082277087] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.083480155] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.083534569] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.083576339] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.083623288] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000004 0.000035 0.000008 [component_container_isolated-3] 0.000004 1.000000 0.000126 0.000019 [component_container_isolated-3] -0.000035 -0.000126 1.000000 -0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.083650100] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.001} {-0.007,0.023,0.017} [component_container_isolated-3] [DEBUG] [1762964969.083700606] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.083745472] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.083781941] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879395 0.000015 0.476093 -0.001171 [component_container_isolated-3] -0.004677 0.999952 0.008607 0.060100 [component_container_isolated-3] -0.476070 -0.009796 0.879353 0.018273 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.083805176] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,0.000} {-0.638,28.429,-0.305} [component_container_isolated-3] [DEBUG] [1762964969.083838499] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964969.083892252] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.095078956] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.095137267] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.095177825] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.095224283] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000030 -0.000140 -0.000007 [component_container_isolated-3] 0.000030 1.000000 0.000025 0.000182 [component_container_isolated-3] 0.000140 -0.000025 1.000000 -0.000077 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.095250754] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.008} {-0.082,0.105,-0.106} [component_container_isolated-3] [DEBUG] [1762964969.095302463] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.095349142] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.095388778] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982722 0.000060 0.185090 -0.006966 [component_container_isolated-3] -0.000147 1.000000 0.000456 0.060079 [component_container_isolated-3] -0.185089 -0.000476 0.982721 0.017257 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.095411100] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.028,10.666,-0.009} [component_container_isolated-3] [DEBUG] [1762964969.095441809] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.007,-0.007} {0.074,10.561,0.099} [component_container_isolated-3] [DEBUG] [1762964969.095491945] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.100269218] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.100340224] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.100386722] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.100433933] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000021 0.000086 -0.000549 [component_container_isolated-3] 0.000021 1.000000 -0.000020 0.000173 [component_container_isolated-3] -0.000086 0.000020 1.000000 0.000206 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.100460774] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.001,-0.003} {0.089,-0.053,0.020} [component_container_isolated-3] [DEBUG] [1762964969.100514366] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.100562077] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.100598958] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 -0.000057 0.191228 -0.006843 [component_container_isolated-3] -0.001645 0.999960 0.008742 0.059880 [component_container_isolated-3] -0.191221 -0.008895 0.981507 0.017427 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.100627492] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.024,-0.096} [component_container_isolated-3] [DEBUG] [1762964969.100660445] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.003} {-0.612,11.077,-0.117} [component_container_isolated-3] [DEBUG] [1762964969.100713056] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.125201102] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.125288569] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.125332793] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.125383330] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000021 0.000086 -0.000549 [component_container_isolated-3] 0.000021 1.000000 -0.000020 0.000173 [component_container_isolated-3] -0.000086 0.000020 1.000000 0.000206 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.125411103] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.002,-0.003} {0.090,-0.048,0.021} [component_container_isolated-3] [DEBUG] [1762964969.125461279] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.125508289] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.125547584] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 -0.000057 0.191228 -0.006843 [component_container_isolated-3] -0.001645 0.999960 0.008742 0.059880 [component_container_isolated-3] -0.191221 -0.008895 0.981507 0.017427 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.125571599] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.024,-0.096} [component_container_isolated-3] [DEBUG] [1762964969.125603009] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.002,0.003} {-0.613,11.072,-0.118} [component_container_isolated-3] [DEBUG] [1762964969.125653356] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.130385062] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.130441650] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.130482879] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.130528115] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000051 -0.000016 -0.000123 [component_container_isolated-3] -0.000051 1.000000 0.000013 0.000206 [component_container_isolated-3] 0.000016 -0.000013 1.000000 -0.000047 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.130554446] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.007,0.023,0.014} [component_container_isolated-3] [DEBUG] [1762964969.130606495] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.130654417] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.130695134] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879403 0.000054 0.476079 -0.001169 [component_container_isolated-3] -0.004728 0.999952 0.008620 0.060118 [component_container_isolated-3] -0.476056 -0.009832 0.879360 0.018273 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.130720883] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,0.000} {-0.641,28.428,-0.308} [component_container_isolated-3] [DEBUG] [1762964969.130754357] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964969.130805445] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.137200087] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.137252858] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.137292784] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.137337149] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000050 0.000009 -0.000132 [component_container_isolated-3] 0.000050 1.000000 -0.000021 -0.000041 [component_container_isolated-3] -0.000009 0.000021 1.000000 -0.000205 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.137361365] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.002} {-0.026,0.039,0.046} [component_container_isolated-3] [DEBUG] [1762964969.137408836] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.137452479] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.137492165] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 -0.000033 0.203463 -0.006566 [component_container_isolated-3] 0.002428 0.999931 -0.011517 0.059591 [component_container_isolated-3] -0.203449 0.011770 0.979015 0.018654 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.137516091] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.739,0.142} [component_container_isolated-3] [DEBUG] [1762964969.137546429] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.002} {0.705,11.700,0.094} [component_container_isolated-3] [DEBUG] [1762964969.137595322] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.143816713] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.143869795] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.143907827] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.143976899] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000050 0.000009 -0.000132 [component_container_isolated-3] 0.000050 1.000000 -0.000021 -0.000041 [component_container_isolated-3] -0.000009 0.000021 1.000000 -0.000205 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.144002278] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.004,0.002} {-0.024,0.040,0.049} [component_container_isolated-3] [DEBUG] [1762964969.144052504] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.144097570] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.144136334] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 -0.000033 0.203463 -0.006566 [component_container_isolated-3] 0.002428 0.999931 -0.011517 0.059591 [component_container_isolated-3] -0.203449 0.011770 0.979015 0.018654 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.144159538] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.739,0.142} [component_container_isolated-3] [DEBUG] [1762964969.144191589] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.002} {0.703,11.699,0.091} [component_container_isolated-3] [DEBUG] [1762964969.144243428] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.148188663] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.148247435] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.148289235] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.148334110] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000001 0.000119 0.000251 [component_container_isolated-3] -0.000001 1.000000 0.000116 -0.000197 [component_container_isolated-3] -0.000119 -0.000116 1.000000 -0.000046 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.148361122] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.007} {-0.089,0.112,-0.106} [component_container_isolated-3] [DEBUG] [1762964969.148414053] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.148462215] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.148502552] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982700 0.000040 0.185207 -0.006930 [component_container_isolated-3] -0.000148 1.000000 0.000572 0.060076 [component_container_isolated-3] -0.185207 -0.000590 0.982699 0.017266 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.148527089] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.034,10.673,-0.009} [component_container_isolated-3] [DEBUG] [1762964969.148559641] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.007,-0.007} {0.074,10.561,0.099} [component_container_isolated-3] [DEBUG] [1762964969.148609877] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.152015802] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.152075606] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.152119149] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.152165467] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000054 0.000026 -0.000152 [component_container_isolated-3] 0.000054 1.000000 0.000155 -0.000117 [component_container_isolated-3] -0.000026 -0.000155 1.000000 -0.000006 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.152192810] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,0.001} {-0.016,0.024,0.017} [component_container_isolated-3] [DEBUG] [1762964969.152244368] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.152292400] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.152333949] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879390 -0.000067 0.476102 -0.001193 [component_container_isolated-3] -0.004674 0.999951 0.008775 0.060118 [component_container_isolated-3] -0.476079 -0.009942 0.879346 0.018279 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.152358436] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.648,28.430,-0.305} [component_container_isolated-3] [DEBUG] [1762964969.152389455] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964969.152438659] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.164545129] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.164616646] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.164666381] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.164724131] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000050 0.000009 -0.000132 [component_container_isolated-3] 0.000050 1.000000 -0.000021 -0.000041 [component_container_isolated-3] -0.000009 0.000021 1.000000 -0.000205 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.164754830] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.004,0.002} {-0.023,0.040,0.052} [component_container_isolated-3] [DEBUG] [1762964969.164800758] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.164837508] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.164864730] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 -0.000033 0.203463 -0.006566 [component_container_isolated-3] 0.002428 0.999931 -0.011517 0.059591 [component_container_isolated-3] -0.203449 0.011770 0.979015 0.018654 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.164882794] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.739,0.142} [component_container_isolated-3] [DEBUG] [1762964969.164904927] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.003,-0.002} {0.701,11.699,0.088} [component_container_isolated-3] [DEBUG] [1762964969.164985701] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.165112543] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.165167829] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.165211903] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.165264183] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000096 -0.000074 -0.000254 [component_container_isolated-3] -0.000096 1.000000 0.000045 0.000440 [component_container_isolated-3] 0.000074 -0.000045 1.000000 0.000050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.165293038] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.002,-0.003} {0.087,-0.052,0.016} [component_container_isolated-3] [DEBUG] [1762964969.165346881] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.165395493] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.165434237] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981560 0.000029 0.191155 -0.006935 [component_container_isolated-3] -0.001741 0.999960 0.008787 0.059983 [component_container_isolated-3] -0.191147 -0.008958 0.981520 0.017442 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.165458644] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.523,11.020,-0.102} [component_container_isolated-3] [DEBUG] [1762964969.165489804] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.002,0.003} {-0.613,11.072,-0.118} [component_container_isolated-3] [DEBUG] [1762964969.165539619] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.172499310] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.172558523] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.172601936] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.172648365] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000004 -0.000088 -0.000194 [component_container_isolated-3] 0.000004 1.000000 -0.000028 0.000107 [component_container_isolated-3] 0.000088 0.000028 1.000000 -0.000110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.172674925] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.007} {-0.087,0.107,-0.105} [component_container_isolated-3] [DEBUG] [1762964969.172725532] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.172770528] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.172809713] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 0.000041 0.185120 -0.006933 [component_container_isolated-3] -0.000144 1.000000 0.000544 0.060084 [component_container_isolated-3] -0.185120 -0.000562 0.982716 0.017275 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.172834971] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.033,10.668,-0.008} [component_container_isolated-3] [DEBUG] [1762964969.172866992] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.007,-0.007} {0.074,10.561,0.099} [component_container_isolated-3] [DEBUG] [1762964969.172941875] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.183383747] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.183468959] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.183514647] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.183568289] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000012 -0.000033 0.000095 [component_container_isolated-3] 0.000012 1.000000 -0.000050 0.000026 [component_container_isolated-3] 0.000033 0.000050 1.000000 -0.000078 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.183599900] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,0.001} {-0.013,0.022,0.018} [component_container_isolated-3] [DEBUG] [1762964969.183652660] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.183797988] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.183868172] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879406 -0.000054 0.476073 -0.001199 [component_container_isolated-3] -0.004662 0.999951 0.008725 0.060119 [component_container_isolated-3] -0.476050 -0.009892 0.879362 0.018278 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.183891537] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.645,28.428,-0.304} [component_container_isolated-3] [DEBUG] [1762964969.183915362] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964969.183981338] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.197571081] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.197643580] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.197688696] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.197740304] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000097 -0.000109 0.000397 [component_container_isolated-3] 0.000097 1.000000 0.000043 -0.000548 [component_container_isolated-3] 0.000109 -0.000043 1.000000 -0.000292 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.197770893] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.002,-0.003} {0.085,-0.059,0.021} [component_container_isolated-3] [DEBUG] [1762964969.197824495] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.197872256] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.197911441] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981581 -0.000074 0.191048 -0.006962 [component_container_isolated-3] -0.001643 0.999960 0.008830 0.059950 [component_container_isolated-3] -0.191041 -0.008981 0.981541 0.017398 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.197966246] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.524,11.014,-0.096} [component_container_isolated-3] [DEBUG] [1762964969.197997315] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.003} {-0.613,11.072,-0.118} [component_container_isolated-3] [DEBUG] [1762964969.198049936] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.199339438] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.199410754] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.199454468] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.199503942] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000050 0.000009 -0.000132 [component_container_isolated-3] 0.000050 1.000000 -0.000021 -0.000041 [component_container_isolated-3] -0.000009 0.000021 1.000000 -0.000205 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.199531124] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.004,0.002} {-0.022,0.041,0.055} [component_container_isolated-3] [DEBUG] [1762964969.199580819] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.199627639] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.199664479] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 -0.000033 0.203463 -0.006566 [component_container_isolated-3] 0.002428 0.999931 -0.011517 0.059591 [component_container_isolated-3] -0.203449 0.011770 0.979015 0.018654 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.199687954] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.739,0.142} [component_container_isolated-3] [DEBUG] [1762964969.199718973] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.003,-0.002} {0.699,11.699,0.086} [component_container_isolated-3] [DEBUG] [1762964969.199770852] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.203795949] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.203862165] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.203903795] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.203978828] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000010 0.000108 0.000188 [component_container_isolated-3] -0.000010 1.000000 -0.000212 -0.000020 [component_container_isolated-3] -0.000108 0.000212 1.000000 0.000267 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.204008786] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.008} {-0.075,0.113,-0.106} [component_container_isolated-3] [DEBUG] [1762964969.204064472] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.204111331] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.204149645] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 0.000091 0.185226 -0.006896 [component_container_isolated-3] -0.000155 1.000000 0.000332 0.060085 [component_container_isolated-3] -0.185226 -0.000355 0.982696 0.017331 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.204171677] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.021,10.674,-0.009} [component_container_isolated-3] [DEBUG] [1762964969.204206263] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.007,-0.007} {0.074,10.561,0.099} [component_container_isolated-3] [DEBUG] [1762964969.204261628] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.220632613] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.220689091] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.220728306] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.220772540] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000060 -0.000012 0.000143 [component_container_isolated-3] -0.000060 1.000000 0.000179 0.000067 [component_container_isolated-3] 0.000012 -0.000179 1.000000 -0.000148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.220798861] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.024,0.021,0.015} [component_container_isolated-3] [DEBUG] [1762964969.220847403] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.220889844] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.220954638] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879412 -0.000087 0.476062 -0.001201 [component_container_isolated-3] -0.004721 0.999949 0.008904 0.060130 [component_container_isolated-3] -0.476039 -0.010078 0.879367 0.018237 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.220979776] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.657,28.427,-0.308} [component_container_isolated-3] [DEBUG] [1762964969.221010385] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964969.221061743] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.221271553] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.221321669] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.221374179] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.221422121] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000097 -0.000109 0.000397 [component_container_isolated-3] 0.000097 1.000000 0.000043 -0.000548 [component_container_isolated-3] 0.000109 -0.000043 1.000000 -0.000292 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.221447890] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.001,-0.004} {0.082,-0.065,0.027} [component_container_isolated-3] [DEBUG] [1762964969.221497264] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.221539996] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.221575965] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981581 -0.000074 0.191048 -0.006962 [component_container_isolated-3] -0.001643 0.999960 0.008830 0.059950 [component_container_isolated-3] -0.191041 -0.008981 0.981541 0.017398 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.221598888] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.524,11.014,-0.096} [component_container_isolated-3] [DEBUG] [1762964969.221629206] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.001,0.003} {-0.612,11.078,-0.124} [component_container_isolated-3] [DEBUG] [1762964969.221677799] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.226436407] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.226490761] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.226533743] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.226580242] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000010 0.000108 0.000188 [component_container_isolated-3] -0.000010 1.000000 -0.000212 -0.000020 [component_container_isolated-3] -0.000108 0.000212 1.000000 0.000267 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.226606281] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.007,0.008} {-0.063,0.119,-0.107} [component_container_isolated-3] [DEBUG] [1762964969.226653662] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.226695782] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.226730969] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 0.000091 0.185226 -0.006896 [component_container_isolated-3] -0.000155 1.000000 0.000332 0.060085 [component_container_isolated-3] -0.185226 -0.000355 0.982696 0.017331 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.226753783] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.021,10.674,-0.009} [component_container_isolated-3] [DEBUG] [1762964969.226785313] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.007,-0.007} {0.062,10.555,0.099} [component_container_isolated-3] [DEBUG] [1762964969.226838595] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.249957617] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.250019134] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.250059171] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.250105118] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000008 -0.000040 -0.000184 [component_container_isolated-3] 0.000008 1.000000 -0.000237 -0.000006 [component_container_isolated-3] 0.000040 0.000237 1.000000 0.000141 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.250130477] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,0.001} {-0.010,0.019,0.015} [component_container_isolated-3] [DEBUG] [1762964969.250182356] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.250228073] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.250268140] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 0.000020 0.476027 -0.001208 [component_container_isolated-3] -0.004713 0.999951 0.008667 0.060133 [component_container_isolated-3] -0.476004 -0.009866 0.879388 0.018251 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.250291294] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.643,28.425,-0.307} [component_container_isolated-3] [DEBUG] [1762964969.250323736] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964969.250375314] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.251579795] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.251634269] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.251672552] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.251719802] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000078 -0.000109 0.000014 [component_container_isolated-3] 0.000078 1.000000 -0.000011 -0.000509 [component_container_isolated-3] 0.000109 0.000011 1.000000 -0.000381 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.251744700] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.004,0.001} {-0.021,0.035,0.059} [component_container_isolated-3] [DEBUG] [1762964969.251794725] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.251842496] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.251882964] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979105 -0.000107 0.203356 -0.006592 [component_container_isolated-3] 0.002504 0.999930 -0.011528 0.059466 [component_container_isolated-3] -0.203341 0.011797 0.979037 0.018572 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.251907000] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.732,0.147} [component_container_isolated-3] [DEBUG] [1762964969.251968136] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.002} {0.699,11.699,0.086} [component_container_isolated-3] [DEBUG] [1762964969.252022701] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.263358469] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.263411671] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.263450705] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.263497404] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000146 -0.000041 0.000164 [component_container_isolated-3] -0.000146 1.000000 -0.000202 0.000513 [component_container_isolated-3] 0.000040 0.000202 1.000000 -0.000391 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.263522953] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.004} {0.094,-0.067,0.018} [component_container_isolated-3] [DEBUG] [1762964969.263570594] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.263614779] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.263654204] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981588 0.000108 0.191008 -0.006960 [component_container_isolated-3] -0.001788 0.999961 0.008628 0.060026 [component_container_isolated-3] -0.191000 -0.008811 0.981551 0.017280 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.263678811] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.514,11.011,-0.104} [component_container_isolated-3] [DEBUG] [1762964969.263711163] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.004} {-0.612,11.078,-0.124} [component_container_isolated-3] [DEBUG] [1762964969.263760407] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.280079362] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.280138765] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.280179112] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.280222836] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000018 -0.000078 -0.000031 [component_container_isolated-3] 0.000018 1.000000 0.000183 -0.000046 [component_container_isolated-3] 0.000078 -0.000183 1.000000 -0.000067 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.280248615] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.007,0.008} {-0.074,0.115,-0.106} [component_container_isolated-3] [DEBUG] [1762964969.280297599] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.280340621] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.280377852] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000039 0.185149 -0.006886 [component_container_isolated-3] -0.000136 1.000000 0.000515 0.060088 [component_container_isolated-3] -0.185149 -0.000532 0.982710 0.017338 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.280401678] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.031,10.670,-0.008} [component_container_isolated-3] [DEBUG] [1762964969.280435302] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.007,-0.007} {0.062,10.555,0.099} [component_container_isolated-3] [DEBUG] [1762964969.280487181] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.282058381] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.282107946] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.282146710] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.282192528] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000146 -0.000041 0.000164 [component_container_isolated-3] -0.000146 1.000000 -0.000202 0.000513 [component_container_isolated-3] 0.000040 0.000202 1.000000 -0.000391 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.282217996] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.005} {0.106,-0.069,0.010} [component_container_isolated-3] [DEBUG] [1762964969.282266038] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.282309331] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.282344508] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981588 0.000108 0.191008 -0.006960 [component_container_isolated-3] -0.001788 0.999961 0.008628 0.060026 [component_container_isolated-3] -0.191000 -0.008811 0.981551 0.017280 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.282367011] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.514,11.011,-0.104} [component_container_isolated-3] [DEBUG] [1762964969.282397669] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.004} {-0.622,11.080,-0.115} [component_container_isolated-3] [DEBUG] [1762964969.282447164] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.285105701] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.285180925] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.285224638] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.285270636] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000009 -0.000045 -0.000061 [component_container_isolated-3] -0.000009 1.000000 -0.000074 -0.000032 [component_container_isolated-3] 0.000045 0.000074 1.000000 -0.000091 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.285296606] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.004,0.001} {-0.017,0.032,0.059} [component_container_isolated-3] [DEBUG] [1762964969.285346260] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.285388431] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.285423768] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979114 -0.000083 0.203312 -0.006613 [component_container_isolated-3] 0.002494 0.999930 -0.011603 0.059406 [component_container_isolated-3] -0.203297 0.011868 0.979045 0.018519 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.285446542] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.730,0.146} [component_container_isolated-3] [DEBUG] [1762964969.285479896] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.002} {0.699,11.699,0.086} [component_container_isolated-3] [DEBUG] [1762964969.285531204] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.286955924] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.287001271] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.287039374] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.287081935] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000056 0.000005 0.000155 [component_container_isolated-3] 0.000056 1.000000 0.000076 -0.000120 [component_container_isolated-3] -0.000005 -0.000076 1.000000 -0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.287106021] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.001} {-0.014,0.019,0.018} [component_container_isolated-3] [DEBUG] [1762964969.287153772] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.287232372] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.287274834] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879428 -0.000065 0.476031 -0.001206 [component_container_isolated-3] -0.004658 0.999951 0.008742 0.060126 [component_container_isolated-3] -0.476009 -0.009906 0.879385 0.018241 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.287300362] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,0.000} {-0.645,28.425,-0.303} [component_container_isolated-3] [DEBUG] [1762964969.287333005] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964969.287383181] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.288852797] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.288910908] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.288990871] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.289036007] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000018 -0.000078 -0.000031 [component_container_isolated-3] 0.000018 1.000000 0.000183 -0.000046 [component_container_isolated-3] 0.000078 -0.000183 1.000000 -0.000067 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.289061005] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.008} {-0.084,0.110,-0.104} [component_container_isolated-3] [DEBUG] [1762964969.289158361] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.289210340] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.289250557] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000039 0.185149 -0.006886 [component_container_isolated-3] -0.000136 1.000000 0.000515 0.060088 [component_container_isolated-3] -0.185149 -0.000532 0.982710 0.017338 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.289273020] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.031,10.670,-0.008} [component_container_isolated-3] [DEBUG] [1762964969.289304289] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.007,-0.007} {0.073,10.560,0.098} [component_container_isolated-3] [DEBUG] [1762964969.289353884] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.313684279] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.313740617] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.313781665] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.313825719] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000061 -0.000013 0.000160 [component_container_isolated-3] 0.000061 1.000000 0.000086 0.000044 [component_container_isolated-3] 0.000013 -0.000086 1.000000 -0.000026 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.313851819] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.004,0.001} {-0.022,0.031,0.062} [component_container_isolated-3] [DEBUG] [1762964969.313900182] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.313974273] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.314017095] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979117 -0.000161 0.203300 -0.006615 [component_container_isolated-3] 0.002556 0.999930 -0.011516 0.059368 [component_container_isolated-3] -0.203284 0.011795 0.979049 0.018469 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.314041852] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.729,0.150} [component_container_isolated-3] [DEBUG] [1762964969.314076178] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.002} {0.699,11.699,0.086} [component_container_isolated-3] [DEBUG] [1762964969.314125301] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.315295136] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.315344470] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.315384045] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.315425865] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000146 -0.000041 0.000164 [component_container_isolated-3] -0.000146 1.000000 -0.000202 0.000513 [component_container_isolated-3] 0.000040 0.000202 1.000000 -0.000391 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.315449921] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.003,-0.005} {0.117,-0.072,0.002} [component_container_isolated-3] [DEBUG] [1762964969.315498374] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.315540414] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.315574990] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981588 0.000108 0.191008 -0.006960 [component_container_isolated-3] -0.001788 0.999961 0.008628 0.060026 [component_container_isolated-3] -0.191000 -0.008811 0.981551 0.017280 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.315597703] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.514,11.011,-0.104} [component_container_isolated-3] [DEBUG] [1762964969.315628813] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.003,0.005} {-0.632,11.083,-0.107} [component_container_isolated-3] [DEBUG] [1762964969.315682405] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.316746577] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.316794970] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.316833964] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.316882778] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000066 0.000008 -0.000095 [component_container_isolated-3] -0.000066 1.000000 0.000041 0.000063 [component_container_isolated-3] -0.000008 -0.000041 1.000000 -0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.316910120] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,0.001} {-0.017,0.020,0.015} [component_container_isolated-3] [DEBUG] [1762964969.317112817] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.317171178] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.317211726] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879424 -0.000027 0.476038 -0.001211 [component_container_isolated-3] -0.004724 0.999950 0.008783 0.060128 [component_container_isolated-3] -0.476015 -0.009973 0.879381 0.018230 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.317235501] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.650,28.425,-0.308} [component_container_isolated-3] [DEBUG] [1762964969.317265338] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964969.317328148] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.344770196] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.344836182] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.344880096] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.344957554] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000004 0.000035 -0.000180 [component_container_isolated-3] 0.000004 1.000000 -0.000105 0.000017 [component_container_isolated-3] -0.000035 0.000105 1.000000 0.000042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.344989945] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.008} {-0.078,0.112,-0.104} [component_container_isolated-3] [DEBUG] [1762964969.345042345] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.345088273] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.345129883] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 0.000054 0.185184 -0.006891 [component_container_isolated-3] -0.000132 1.000000 0.000410 0.060087 [component_container_isolated-3] -0.185184 -0.000427 0.982704 0.017369 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.345154921] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.025,10.672,-0.008} [component_container_isolated-3] [DEBUG] [1762964969.345186721] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.007,-0.007} {0.073,10.560,0.098} [component_container_isolated-3] [DEBUG] [1762964969.345237328] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.350885304] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.350982850] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.351023899] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.351068103] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000146 -0.000041 0.000164 [component_container_isolated-3] -0.000146 1.000000 -0.000202 0.000513 [component_container_isolated-3] 0.000040 0.000202 1.000000 -0.000391 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.351093061] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.003,-0.005} {0.129,-0.074,-0.007} [component_container_isolated-3] [DEBUG] [1762964969.351141503] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.351184095] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.351219633] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981588 0.000108 0.191008 -0.006960 [component_container_isolated-3] -0.001788 0.999961 0.008628 0.060026 [component_container_isolated-3] -0.191000 -0.008811 0.981551 0.017280 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.351244490] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.514,11.011,-0.104} [component_container_isolated-3] [DEBUG] [1762964969.351277583] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.003,0.005} {-0.642,11.085,-0.098} [component_container_isolated-3] [DEBUG] [1762964969.351332659] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.352074916] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.352124411] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.352163666] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.352208421] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000012 0.000016 0.000014 [component_container_isolated-3] 0.000012 1.000000 0.000000 -0.000002 [component_container_isolated-3] -0.000016 -0.000000 1.000000 0.000010 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.352233910] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.004,0.001} {-0.022,0.032,0.063} [component_container_isolated-3] [DEBUG] [1762964969.352285879] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.352331075] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.352368998] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979113 -0.000173 0.203315 -0.006614 [component_container_isolated-3] 0.002568 0.999931 -0.011516 0.059335 [component_container_isolated-3] -0.203299 0.011797 0.979046 0.018434 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.352391471] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.730,0.150} [component_container_isolated-3] [DEBUG] [1762964969.352421869] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.002} {0.699,11.699,0.086} [component_container_isolated-3] [DEBUG] [1762964969.352470752] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.357702153] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.357761817] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.357816341] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.357876947] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000027 -0.000045 0.000076 [component_container_isolated-3] -0.000027 1.000000 0.000027 0.000048 [component_container_isolated-3] 0.000045 -0.000027 1.000000 -0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.357913607] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.018,0.017,0.013} [component_container_isolated-3] [DEBUG] [1762964969.358028857] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.358089853] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.358144528] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 -0.000016 0.475999 -0.001212 [component_container_isolated-3] -0.004751 0.999950 0.008810 0.060134 [component_container_isolated-3] -0.475975 -0.010009 0.879402 0.018213 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.358172120] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.358226735] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.358176829] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.652,28.423,-0.310} [component_container_isolated-3] [DEBUG] [1762964969.358312027] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964969.358267673] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.358399555] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.358436836] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000004 0.000035 -0.000180 [component_container_isolated-3] 0.000004 1.000000 -0.000105 0.000017 [component_container_isolated-3] -0.000035 0.000105 1.000000 0.000042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.358536366] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.008} {-0.072,0.114,-0.104} [component_container_isolated-3] [DEBUG] [1762964969.358581181] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.358619835] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.358648270] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 0.000054 0.185184 -0.006891 [component_container_isolated-3] -0.000132 1.000000 0.000410 0.060087 [component_container_isolated-3] -0.185184 -0.000427 0.982704 0.017369 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.358666424] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.025,10.672,-0.008} [component_container_isolated-3] [DEBUG] [1762964969.358688787] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.007,-0.007} {0.066,10.558,0.098} [component_container_isolated-3] [DEBUG] [1762964969.358728372] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.377769597] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.377824281] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.377873776] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.377958938] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000091 -0.000041 -0.000044 [component_container_isolated-3] 0.000091 1.000000 -0.000149 -0.000161 [component_container_isolated-3] 0.000041 0.000149 1.000000 0.000026 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.377998063] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.001,0.001} {-0.010,0.015,0.018} [component_container_isolated-3] [DEBUG] [1762964969.378067766] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.378123863] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.378177065] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879465 -0.000025 0.475963 -0.001217 [component_container_isolated-3] -0.004659 0.999952 0.008662 0.060116 [component_container_isolated-3] -0.475940 -0.009835 0.879423 0.018215 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.378207914] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.641,28.421,-0.304} [component_container_isolated-3] [DEBUG] [1762964969.378250826] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964969.378337601] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.388702165] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.388762170] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.388807496] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.388853424] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000089 0.000070 0.000127 [component_container_isolated-3] -0.000089 1.000000 -0.000040 0.000227 [component_container_isolated-3] -0.000070 0.000040 1.000000 0.000437 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.388878953] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.004,0.002} {-0.020,0.036,0.058} [component_container_isolated-3] [DEBUG] [1762964969.388953575] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.388999192] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.389035963] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979099 -0.000078 0.203383 -0.006577 [component_container_isolated-3] 0.002480 0.999930 -0.011556 0.059321 [component_container_isolated-3] -0.203368 0.011819 0.979031 0.018452 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.389058916] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.734,0.145} [component_container_isolated-3] [DEBUG] [1762964969.389089866] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.002} {0.699,11.699,0.086} [component_container_isolated-3] [DEBUG] [1762964969.389138839] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.390885495] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.390963804] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.391004372] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.391047855] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000004 0.000035 -0.000180 [component_container_isolated-3] 0.000004 1.000000 -0.000105 0.000017 [component_container_isolated-3] -0.000035 0.000105 1.000000 0.000042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.391073263] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.008} {-0.066,0.116,-0.104} [component_container_isolated-3] [DEBUG] [1762964969.391122538] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.391165610] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.391201739] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 0.000054 0.185184 -0.006891 [component_container_isolated-3] -0.000132 1.000000 0.000410 0.060087 [component_container_isolated-3] -0.185184 -0.000427 0.982704 0.017369 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.391227949] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.025,10.672,-0.008} [component_container_isolated-3] [DEBUG] [1762964969.391261112] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.007,-0.008} {0.060,10.556,0.098} [component_container_isolated-3] [DEBUG] [1762964969.391314725] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.399466593] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.399518472] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.399559741] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.399603865] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000089 0.000070 0.000127 [component_container_isolated-3] -0.000089 1.000000 -0.000040 0.000227 [component_container_isolated-3] -0.000070 0.000040 1.000000 0.000437 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.399627951] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.004,0.002} {-0.018,0.040,0.053} [component_container_isolated-3] [DEBUG] [1762964969.399676884] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.399718384] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.399753070] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979099 -0.000078 0.203383 -0.006577 [component_container_isolated-3] 0.002480 0.999930 -0.011556 0.059321 [component_container_isolated-3] -0.203368 0.011819 0.979031 0.018452 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.399775122] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.734,0.145} [component_container_isolated-3] [DEBUG] [1762964969.399806792] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.002} {0.698,11.694,0.091} [component_container_isolated-3] [DEBUG] [1762964969.399857660] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.401685931] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.401737189] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.401776745] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.401820087] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000088 0.000020 0.000352 [component_container_isolated-3] 0.000088 1.000000 0.000040 -0.000586 [component_container_isolated-3] -0.000020 -0.000040 1.000000 -0.000184 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.401844945] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.005} {0.126,-0.073,-0.002} [component_container_isolated-3] [DEBUG] [1762964969.401893648] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.401974703] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.402012184] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981585 0.000013 0.191028 -0.006904 [component_container_isolated-3] -0.001700 0.999961 0.008668 0.059966 [component_container_isolated-3] -0.191020 -0.008833 0.981546 0.017158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.402036851] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.516,11.012,-0.099} [component_container_isolated-3] [DEBUG] [1762964969.402070896] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.003,0.005} {-0.642,11.085,-0.098} [component_container_isolated-3] [DEBUG] [1762964969.402120040] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.417075742] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.417140766] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.417191383] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.417251107] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000074 0.000071 -0.000039 [component_container_isolated-3] -0.000074 1.000000 0.000001 0.000141 [component_container_isolated-3] -0.000071 -0.000001 1.000000 0.000041 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.417287687] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,0.001} {-0.010,0.019,0.014} [component_container_isolated-3] [DEBUG] [1762964969.417358552] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.417422194] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.417477189] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879432 0.000040 0.476025 -0.001218 [component_container_isolated-3] -0.004734 0.999951 0.008662 0.060122 [component_container_isolated-3] -0.476002 -0.009872 0.879389 0.018211 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.417509781] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.425,-0.308} [component_container_isolated-3] [DEBUG] [1762964969.417551871] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.641,28.405,-0.324} [component_container_isolated-3] [DEBUG] [1762964969.417630291] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.430850729] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.430902267] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.430971780] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.431016936] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000027 -0.000003 0.000154 [component_container_isolated-3] 0.000027 1.000000 0.000029 -0.000159 [component_container_isolated-3] 0.000003 -0.000029 1.000000 -0.000100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.431041974] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.006} {0.125,-0.073,-0.000} [component_container_isolated-3] [DEBUG] [1762964969.431096618] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.431143969] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.431184546] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981585 -0.000019 0.191024 -0.006847 [component_container_isolated-3] -0.001673 0.999961 0.008697 0.059909 [component_container_isolated-3] -0.191017 -0.008857 0.981547 0.017056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.431209354] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.517,11.012,-0.098} [component_container_isolated-3] [DEBUG] [1762964969.431245783] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.002,0.005} {-0.642,11.085,-0.098} [component_container_isolated-3] [DEBUG] [1762964969.431298574] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.432171541] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.432221286] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.432261563] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.432308583] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000089 0.000070 0.000127 [component_container_isolated-3] -0.000089 1.000000 -0.000040 0.000227 [component_container_isolated-3] -0.000070 0.000040 1.000000 0.000437 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.432333721] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.002} {-0.015,0.044,0.048} [component_container_isolated-3] [DEBUG] [1762964969.432382644] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.432433351] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.432462687] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979099 -0.000078 0.203383 -0.006577 [component_container_isolated-3] 0.002480 0.999930 -0.011556 0.059321 [component_container_isolated-3] -0.203368 0.011819 0.979031 0.018452 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.432479019] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.734,0.145} [component_container_isolated-3] [DEBUG] [1762964969.432499668] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.003} {0.697,11.690,0.096} [component_container_isolated-3] [DEBUG] [1762964969.432538252] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.438176279] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.438229811] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.438268465] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.438313180] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000182 -0.000304 -0.000365 [component_container_isolated-3] 0.000182 1.000000 0.000113 -0.000969 [component_container_isolated-3] 0.000304 -0.000113 1.000000 -0.001081 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.438338759] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.006,0.007} {-0.072,0.099,-0.093} [component_container_isolated-3] [DEBUG] [1762964969.438387462] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.438430765] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.438467796] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982760 -0.000146 0.184885 -0.007033 [component_container_isolated-3] 0.000050 1.000000 0.000523 0.059804 [component_container_isolated-3] -0.184885 -0.000505 0.982760 0.017110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.438491040] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.654,0.003} [component_container_isolated-3] [DEBUG] [1762964969.438524394] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.006,-0.007} {0.060,10.556,0.098} [component_container_isolated-3] [DEBUG] [1762964969.438576684] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.442706230] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.442760163] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.442810700] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.442871916] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000074 0.000071 -0.000039 [component_container_isolated-3] -0.000074 1.000000 0.000001 0.000141 [component_container_isolated-3] -0.000071 -0.000001 1.000000 0.000041 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.442907985] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,0.001} {-0.010,0.023,0.010} [component_container_isolated-3] [DEBUG] [1762964969.443023095] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.443088720] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.443143044] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879432 0.000040 0.476025 -0.001218 [component_container_isolated-3] -0.004734 0.999951 0.008662 0.060122 [component_container_isolated-3] -0.476002 -0.009872 0.879389 0.018211 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.443176999] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.425,-0.308} [component_container_isolated-3] [DEBUG] [1762964969.443221835] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.638,28.401,-0.319} [component_container_isolated-3] [DEBUG] [1762964969.443300204] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.448369255] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.448420102] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.448458325] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.448499935] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000027 -0.000003 0.000154 [component_container_isolated-3] 0.000027 1.000000 0.000029 -0.000159 [component_container_isolated-3] 0.000003 -0.000029 1.000000 -0.000100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.448524622] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.006} {0.123,-0.073,0.001} [component_container_isolated-3] [DEBUG] [1762964969.448571481] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.448616878] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.448656153] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981585 -0.000019 0.191024 -0.006847 [component_container_isolated-3] -0.001673 0.999961 0.008697 0.059909 [component_container_isolated-3] -0.191017 -0.008857 0.981547 0.017056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.448680049] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.517,11.012,-0.098} [component_container_isolated-3] [DEBUG] [1762964969.448713533] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.002,0.005} {-0.640,11.085,-0.100} [component_container_isolated-3] [DEBUG] [1762964969.448764941] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.456714462] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.456767955] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.456810175] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.456853608] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000182 -0.000304 -0.000365 [component_container_isolated-3] 0.000182 1.000000 0.000113 -0.000969 [component_container_isolated-3] 0.000304 -0.000113 1.000000 -0.001081 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.456879417] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.005,0.006} {-0.079,0.081,-0.083} [component_container_isolated-3] [DEBUG] [1762964969.456956014] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.457003815] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.457041136] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982760 -0.000146 0.184885 -0.007033 [component_container_isolated-3] 0.000050 1.000000 0.000523 0.059804 [component_container_isolated-3] -0.184885 -0.000505 0.982760 0.017110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.457064100] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.654,0.003} [component_container_isolated-3] [DEBUG] [1762964969.457097013] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.006} {0.065,10.573,0.087} [component_container_isolated-3] [DEBUG] [1762964969.457152278] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.464981671] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.465034321] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.465073276] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.465116698] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000089 0.000070 0.000127 [component_container_isolated-3] -0.000089 1.000000 -0.000040 0.000227 [component_container_isolated-3] -0.000070 0.000040 1.000000 0.000437 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.465141336] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.003} {-0.013,0.048,0.043} [component_container_isolated-3] [DEBUG] [1762964969.465188265] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.465228402] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.465264010] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979099 -0.000078 0.203383 -0.006577 [component_container_isolated-3] 0.002480 0.999930 -0.011556 0.059321 [component_container_isolated-3] -0.203368 0.011819 0.979031 0.018452 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.465287575] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.734,0.145} [component_container_isolated-3] [DEBUG] [1762964969.465320347] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.003} {0.696,11.686,0.101} [component_container_isolated-3] [DEBUG] [1762964969.465370563] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.472350694] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.472410288] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.472451887] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.472496332] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000074 0.000071 -0.000039 [component_container_isolated-3] -0.000074 1.000000 0.000001 0.000141 [component_container_isolated-3] -0.000071 -0.000001 1.000000 0.000041 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.472522422] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,0.001} {-0.010,0.027,0.005} [component_container_isolated-3] [DEBUG] [1762964969.472572978] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.472618415] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.472658421] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879432 0.000040 0.476025 -0.001218 [component_container_isolated-3] -0.004734 0.999951 0.008662 0.060122 [component_container_isolated-3] -0.476002 -0.009872 0.879389 0.018211 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.472682548] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.425,-0.308} [component_container_isolated-3] [DEBUG] [1762964969.472715601] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.636,28.397,-0.314} [component_container_isolated-3] [DEBUG] [1762964969.472764795] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.493367631] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.493418378] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.493460989] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.493505825] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000182 -0.000304 -0.000365 [component_container_isolated-3] 0.000182 1.000000 0.000113 -0.000969 [component_container_isolated-3] 0.000304 -0.000113 1.000000 -0.001081 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.493531785] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.004,0.005} {-0.085,0.064,-0.072} [component_container_isolated-3] [DEBUG] [1762964969.493579916] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.493622468] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.493657996] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982760 -0.000146 0.184885 -0.007033 [component_container_isolated-3] 0.000050 1.000000 0.000523 0.059804 [component_container_isolated-3] -0.184885 -0.000505 0.982760 0.017110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.493679968] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.654,0.003} [component_container_isolated-3] [DEBUG] [1762964969.493712239] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.004,-0.005} {0.069,10.590,0.077} [component_container_isolated-3] [DEBUG] [1762964969.493762696] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.500324978] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.500379101] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.500422674] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.500471317] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000087 0.000082 -0.000445 [component_container_isolated-3] 0.000087 1.000000 0.000019 -0.000425 [component_container_isolated-3] -0.000082 -0.000019 1.000000 0.000127 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.500497207] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.006} {0.122,-0.069,0.006} [component_container_isolated-3] [DEBUG] [1762964969.500548715] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.500593260] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.500636503] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981570 -0.000109 0.191105 -0.006861 [component_container_isolated-3] -0.001586 0.999961 0.008716 0.059758 [component_container_isolated-3] -0.191099 -0.008859 0.981531 0.017002 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.500662823] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.517,11.017,-0.093} [component_container_isolated-3] [DEBUG] [1762964969.500694664] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.002,0.005} {-0.640,11.085,-0.100} [component_container_isolated-3] [DEBUG] [1762964969.500745912] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.510360613] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.510416170] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.510456867] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.510501593] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000074 0.000071 -0.000039 [component_container_isolated-3] -0.000074 1.000000 0.000001 0.000141 [component_container_isolated-3] -0.000071 -0.000001 1.000000 0.000041 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.510527352] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.001} {-0.010,0.031,0.001} [component_container_isolated-3] [DEBUG] [1762964969.510579632] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.510624588] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.510663422] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879432 0.000040 0.476025 -0.001218 [component_container_isolated-3] -0.004734 0.999951 0.008662 0.060122 [component_container_isolated-3] -0.476002 -0.009872 0.879389 0.018211 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.510686997] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.425,-0.308} [component_container_isolated-3] [DEBUG] [1762964969.510717916] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.001} {-0.634,28.393,-0.309} [component_container_isolated-3] [DEBUG] [1762964969.510766168] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.520542729] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.520597904] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.520637921] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.520682386] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000011 0.000112 -0.000129 [component_container_isolated-3] 0.000011 1.000000 0.000022 0.000075 [component_container_isolated-3] -0.000112 -0.000022 1.000000 0.000121 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.520707784] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.003} {-0.014,0.055,0.043} [component_container_isolated-3] [DEBUG] [1762964969.520755806] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.520798467] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.520837061] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979076 -0.000093 0.203493 -0.006565 [component_container_isolated-3] 0.002492 0.999930 -0.011533 0.059320 [component_container_isolated-3] -0.203478 0.011799 0.979008 0.018479 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.520859263] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.740,0.146} [component_container_isolated-3] [DEBUG] [1762964969.520889872] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.003} {0.696,11.686,0.101} [component_container_isolated-3] [DEBUG] [1762964969.520974704] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.533035738] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.533088027] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.533129076] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.533173290] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000011 -0.000146 0.000323 [component_container_isolated-3] 0.000011 1.000000 0.000028 0.000367 [component_container_isolated-3] 0.000146 -0.000028 1.000000 -0.000455 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.533199029] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.006} {0.120,-0.077,0.007} [component_container_isolated-3] [DEBUG] [1762964969.533247983] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.533328627] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.533369094] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981597 -0.000125 0.190962 -0.006845 [component_container_isolated-3] -0.001574 0.999960 0.008745 0.059719 [component_container_isolated-3] -0.190955 -0.008885 0.981558 0.016822 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.533393811] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.519,11.009,-0.092} [component_container_isolated-3] [DEBUG] [1762964969.533426323] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.002,0.005} {-0.640,11.085,-0.100} [component_container_isolated-3] [DEBUG] [1762964969.533476740] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.537502829] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.537558876] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.537600645] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.537646102] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000167 0.000236 0.000342 [component_container_isolated-3] -0.000167 1.000000 0.000028 0.000916 [component_container_isolated-3] -0.000236 -0.000028 1.000000 0.001002 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.537673194] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.005,0.006} {-0.087,0.077,-0.082} [component_container_isolated-3] [DEBUG] [1762964969.537723300] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.537768456] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.537810396] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 0.000014 0.185116 -0.007001 [component_container_isolated-3] -0.000118 1.000000 0.000551 0.059870 [component_container_isolated-3] -0.185116 -0.000563 0.982716 0.017217 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.537836175] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.668,-0.007} [component_container_isolated-3] [DEBUG] [1762964969.537868878] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.006} {0.069,10.590,0.077} [component_container_isolated-3] [DEBUG] [1762964969.537954852] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.545252909] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.545307634] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.545347550] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.545391173] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000038 -0.000114 0.000196 [component_container_isolated-3] 0.000038 1.000000 -0.000134 -0.000026 [component_container_isolated-3] 0.000114 0.000134 1.000000 -0.000160 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.545416462] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.002,0.025,0.003} [component_container_isolated-3] [DEBUG] [1762964969.545463441] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.545505622] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.545545558] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879486 0.000070 0.475925 -0.001211 [component_container_isolated-3] -0.004695 0.999953 0.008529 0.060121 [component_container_isolated-3] -0.475902 -0.009736 0.879445 0.018183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.545569103] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.634,28.418,-0.306} [component_container_isolated-3] [DEBUG] [1762964969.545602487] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.001} {-0.634,28.393,-0.309} [component_container_isolated-3] [DEBUG] [1762964969.545653705] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.554899452] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.554978342] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.555012888] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.555050410] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000052 -0.000124 0.000109 [component_container_isolated-3] 0.000052 1.000000 0.000021 -0.000093 [component_container_isolated-3] 0.000124 -0.000021 1.000000 -0.000346 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.555070939] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.003} {-0.015,0.048,0.046} [component_container_isolated-3] [DEBUG] [1762964969.555111827] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.555145121] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.555172042] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979102 -0.000148 0.203372 -0.006558 [component_container_isolated-3] 0.002542 0.999931 -0.011513 0.059309 [component_container_isolated-3] -0.203357 0.011789 0.979034 0.018446 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.555188314] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.733,0.149} [component_container_isolated-3] [DEBUG] [1762964969.555209885] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.003} {0.696,11.686,0.101} [component_container_isolated-3] [DEBUG] [1762964969.555246895] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.567946829] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.568001834] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.568044716] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.568093279] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000177 0.000290 -0.000576 [component_container_isolated-3] -0.000177 1.000000 0.000079 0.000536 [component_container_isolated-3] -0.000290 -0.000079 1.000000 0.001249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.568119619] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.003,-0.005} {0.116,-0.060,-0.003} [component_container_isolated-3] [DEBUG] [1762964969.568170697] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.568213228] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.568248385] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 0.000034 0.191246 -0.006864 [component_container_isolated-3] -0.001754 0.999959 0.008823 0.059802 [component_container_isolated-3] -0.191238 -0.008996 0.981502 0.017011 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.568271038] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.525,11.025,-0.102} [component_container_isolated-3] [DEBUG] [1762964969.568301447] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.003,0.004} {-0.640,11.085,-0.100} [component_container_isolated-3] [DEBUG] [1762964969.568352183] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.581115889] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.581165093] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.581202104] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.581244384] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000038 -0.000114 0.000196 [component_container_isolated-3] 0.000038 1.000000 -0.000134 -0.000026 [component_container_isolated-3] 0.000114 0.000134 1.000000 -0.000160 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.581269302] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {0.005,0.018,0.005} [component_container_isolated-3] [DEBUG] [1762964969.581315681] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.581356819] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.581396485] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879486 0.000070 0.475925 -0.001211 [component_container_isolated-3] -0.004695 0.999953 0.008529 0.060121 [component_container_isolated-3] -0.475902 -0.009736 0.879445 0.018183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.581419639] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.634,28.418,-0.306} [component_container_isolated-3] [DEBUG] [1762964969.581451790] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.000} {-0.643,28.400,-0.312} [component_container_isolated-3] [DEBUG] [1762964969.581504762] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.587205879] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.587260514] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.587300981] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.587347730] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000034 -0.000004 0.000008 [component_container_isolated-3] -0.000034 1.000000 -0.000083 0.000068 [component_container_isolated-3] 0.000004 0.000083 1.000000 0.000119 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.587373219] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.005,0.006} {-0.082,0.077,-0.084} [component_container_isolated-3] [DEBUG] [1762964969.587422463] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.587470495] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.587510902] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 0.000063 0.185113 -0.006987 [component_container_isolated-3] -0.000152 1.000000 0.000467 0.059903 [component_container_isolated-3] -0.185113 -0.000487 0.982717 0.017282 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.587535629] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.028,10.668,-0.009} [component_container_isolated-3] [DEBUG] [1762964969.587569514] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.006} {0.069,10.590,0.077} [component_container_isolated-3] [DEBUG] [1762964969.587622956] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.590485182] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.590544125] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.590585714] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.590631441] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000142 0.000102 -0.000150 [component_container_isolated-3] -0.000142 1.000000 -0.000084 0.000270 [component_container_isolated-3] -0.000102 0.000084 1.000000 0.000203 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.590656970] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.003} {-0.011,0.053,0.038} [component_container_isolated-3] [DEBUG] [1762964969.590708038] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.590753364] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.590792519] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979081 0.000008 0.203473 -0.006548 [component_container_isolated-3] 0.002401 0.999930 -0.011597 0.059339 [component_container_isolated-3] -0.203458 0.011843 0.979012 0.018460 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.590818929] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.739,0.141} [component_container_isolated-3] [DEBUG] [1762964969.590849869] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.003,-0.003} {0.696,11.686,0.101} [component_container_isolated-3] [DEBUG] [1762964969.590899483] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.592225856] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.592274379] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.592314516] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.592359401] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000034 -0.000004 0.000008 [component_container_isolated-3] -0.000034 1.000000 -0.000083 0.000068 [component_container_isolated-3] 0.000004 0.000083 1.000000 0.000119 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.592384910] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.005,0.006} {-0.077,0.077,-0.086} [component_container_isolated-3] [DEBUG] [1762964969.592433403] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.592477357] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.592512865] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 0.000063 0.185113 -0.006987 [component_container_isolated-3] -0.000152 1.000000 0.000467 0.059903 [component_container_isolated-3] -0.185113 -0.000487 0.982717 0.017282 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.592535137] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.028,10.668,-0.009} [component_container_isolated-3] [DEBUG] [1762964969.592565836] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.006} {0.065,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964969.592618526] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.603259678] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.603314503] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.603356223] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.603401499] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000071 -0.000099 0.000003 [component_container_isolated-3] 0.000071 1.000000 -0.000079 -0.000316 [component_container_isolated-3] 0.000099 0.000079 1.000000 -0.000407 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.603428360] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.005} {0.120,-0.066,0.001} [component_container_isolated-3] [DEBUG] [1762964969.603478987] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.603526137] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.603566394] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981561 -0.000020 0.191149 -0.006896 [component_container_isolated-3] -0.001682 0.999960 0.008744 0.059793 [component_container_isolated-3] -0.191142 -0.008905 0.981522 0.017016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.603591742] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.520,11.019,-0.098} [component_container_isolated-3] [DEBUG] [1762964969.603623483] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.003,0.005} {-0.640,11.085,-0.100} [component_container_isolated-3] [DEBUG] [1762964969.603673579] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.608398642] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.608458066] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.608498433] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.608543088] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000142 0.000102 -0.000150 [component_container_isolated-3] -0.000142 1.000000 -0.000084 0.000270 [component_container_isolated-3] -0.000102 0.000084 1.000000 0.000203 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.608569138] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.003} {-0.006,0.059,0.030} [component_container_isolated-3] [DEBUG] [1762964969.608617330] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.608661264] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.608700880] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979081 0.000008 0.203473 -0.006548 [component_container_isolated-3] 0.002401 0.999930 -0.011597 0.059339 [component_container_isolated-3] -0.203458 0.011843 0.979012 0.018460 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.608725266] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.739,0.141} [component_container_isolated-3] [DEBUG] [1762964969.608756686] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.002,-0.003} {0.693,11.680,0.109} [component_container_isolated-3] [DEBUG] [1762964969.608806251] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.610655733] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.610716770] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.610758730] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.610803385] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000043 0.000120 -0.000185 [component_container_isolated-3] 0.000043 1.000000 0.000119 -0.000039 [component_container_isolated-3] -0.000120 -0.000119 1.000000 0.000232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.610842159] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.001,0.025,0.008} [component_container_isolated-3] [DEBUG] [1762964969.610893096] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.610979722] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.611021672] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 -0.000024 0.476031 -0.001215 [component_container_isolated-3] -0.004654 0.999952 0.008647 0.060120 [component_container_isolated-3] -0.476008 -0.009820 0.879386 0.018188 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.611044676] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.640,28.425,-0.303} [component_container_isolated-3] [DEBUG] [1762964969.611076086] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.643,28.400,-0.312} [component_container_isolated-3] [DEBUG] [1762964969.611125951] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.630396874] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.630462088] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.630503417] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.630547371] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000034 -0.000054 0.000231 [component_container_isolated-3] 0.000034 1.000000 -0.000038 -0.000068 [component_container_isolated-3] 0.000054 0.000038 1.000000 -0.000097 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.630572780] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.005} {0.123,-0.069,0.003} [component_container_isolated-3] [DEBUG] [1762964969.630622695] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.630666008] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.630701726] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981571 -0.000046 0.191096 -0.006898 [component_container_isolated-3] -0.001648 0.999961 0.008706 0.059780 [component_container_isolated-3] -0.191089 -0.008861 0.981533 0.017001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.630725591] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.517,11.016,-0.096} [component_container_isolated-3] [DEBUG] [1762964969.630758615] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.003,0.005} {-0.640,11.085,-0.100} [component_container_isolated-3] [DEBUG] [1762964969.630812527] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.643799900] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.643856879] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.643896956] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.643971017] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000108 -0.000040 0.000485 [component_container_isolated-3] -0.000108 1.000000 0.000163 0.000464 [component_container_isolated-3] 0.000040 -0.000163 1.000000 -0.000277 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.643999572] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.005,0.006} {-0.087,0.075,-0.092} [component_container_isolated-3] [DEBUG] [1762964969.644049838] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.644095375] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.644136523] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982725 0.000138 0.185073 -0.006883 [component_container_isolated-3] -0.000259 1.000000 0.000630 0.060047 [component_container_isolated-3] -0.185073 -0.000668 0.982725 0.017264 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.644161020] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.039,10.665,-0.015} [component_container_isolated-3] [DEBUG] [1762964969.644194754] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.005,-0.005} {0.065,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964969.644246954] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.650721439] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.650777897] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.650816911] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.650860404] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000043 0.000120 -0.000185 [component_container_isolated-3] 0.000043 1.000000 0.000119 -0.000039 [component_container_isolated-3] -0.000120 -0.000119 1.000000 0.000232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.650884450] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,-0.000,0.001} {-0.008,0.032,0.010} [component_container_isolated-3] [DEBUG] [1762964969.650972458] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.651017644] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.651058432] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 -0.000024 0.476031 -0.001215 [component_container_isolated-3] -0.004654 0.999952 0.008647 0.060120 [component_container_isolated-3] -0.476008 -0.009820 0.879386 0.018188 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.651082198] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.640,28.425,-0.303} [component_container_isolated-3] [DEBUG] [1762964969.651115151] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.637,28.393,-0.315} [component_container_isolated-3] [DEBUG] [1762964969.651166088] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.652888127] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.652967087] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.653005571] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.653048012] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000034 -0.000054 0.000231 [component_container_isolated-3] 0.000034 1.000000 -0.000038 -0.000068 [component_container_isolated-3] 0.000054 0.000038 1.000000 -0.000097 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.653072859] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.005} {0.125,-0.072,0.005} [component_container_isolated-3] [DEBUG] [1762964969.653122234] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.653168151] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.653208158] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981571 -0.000046 0.191096 -0.006898 [component_container_isolated-3] -0.001648 0.999961 0.008706 0.059780 [component_container_isolated-3] -0.191089 -0.008861 0.981533 0.017001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.653232414] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.517,11.016,-0.096} [component_container_isolated-3] [DEBUG] [1762964969.653265107] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.002,0.005} {-0.643,11.089,-0.102} [component_container_isolated-3] [DEBUG] [1762964969.653314992] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.665056916] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.665116750] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.665157849] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.665202414] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000063 0.000081 -0.000466 [component_container_isolated-3] 0.000063 1.000000 0.000138 -0.000111 [component_container_isolated-3] -0.000081 -0.000138 1.000000 0.000437 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.665227973] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.003,0.004} {-0.014,0.064,0.034} [component_container_isolated-3] [DEBUG] [1762964969.665276566] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.665318215] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.665356218] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979064 -0.000081 0.203552 -0.006630 [component_container_isolated-3] 0.002465 0.999931 -0.011459 0.059344 [component_container_isolated-3] -0.203537 0.011721 0.978997 0.018573 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.665380805] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.686,11.744,0.144} [component_container_isolated-3] [DEBUG] [1762964969.665413427] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.002,-0.004} {0.693,11.680,0.109} [component_container_isolated-3] [DEBUG] [1762964969.665463342] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.673246707] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.673303595] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.673343371] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.673387485] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000063 0.000081 -0.000466 [component_container_isolated-3] 0.000063 1.000000 0.000138 -0.000111 [component_container_isolated-3] -0.000081 -0.000138 1.000000 0.000437 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.673412333] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.003,0.004} {-0.022,0.069,0.037} [component_container_isolated-3] [DEBUG] [1762964969.673458742] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.673499239] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.673534827] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979064 -0.000081 0.203552 -0.006630 [component_container_isolated-3] 0.002465 0.999931 -0.011459 0.059344 [component_container_isolated-3] -0.203537 0.011721 0.978997 0.018573 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.673556979] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.686,11.744,0.144} [component_container_isolated-3] [DEBUG] [1762964969.673586546] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.003,-0.004} {0.700,11.676,0.105} [component_container_isolated-3] [DEBUG] [1762964969.673633976] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.673991579] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.674067624] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.674117299] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.674165070] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000117 0.000095 -0.000486 [component_container_isolated-3] 0.000117 1.000000 -0.000146 -0.000451 [component_container_isolated-3] -0.000095 0.000146 1.000000 0.000279 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.674191882] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.005,0.006} {-0.078,0.080,-0.085} [component_container_isolated-3] [DEBUG] [1762964969.674236667] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.674276303] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.674309106] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982707 0.000050 0.185167 -0.006897 [component_container_isolated-3] -0.000142 1.000000 0.000485 0.060059 [component_container_isolated-3] -0.185167 -0.000503 0.982707 0.017328 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.674329865] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.029,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964969.674357608] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.006} {0.065,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964969.674403486] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.678757331] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.678815341] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.678855708] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.678899863] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000027 0.000055 0.000164 [component_container_isolated-3] 0.000027 1.000000 -0.000074 0.000044 [component_container_isolated-3] -0.000055 0.000074 1.000000 0.000045 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.678957393] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.004,0.035,0.012} [component_container_isolated-3] [DEBUG] [1762964969.679010143] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.679052314] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.679088874] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879403 -0.000012 0.476079 -0.001193 [component_container_isolated-3] -0.004627 0.999952 0.008573 0.060121 [component_container_isolated-3] -0.476056 -0.009742 0.879361 0.018194 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.679111727] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.635,28.428,-0.301} [component_container_isolated-3] [DEBUG] [1762964969.679143799] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,0.000,-0.001} {-0.637,28.393,-0.315} [component_container_isolated-3] [DEBUG] [1762964969.679196119] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.697261008] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.697316234] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.697358584] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.697404342] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000018 0.000360 -0.000408 [component_container_isolated-3] 0.000018 1.000000 -0.000047 0.000158 [component_container_isolated-3] -0.000360 0.000047 1.000000 0.001170 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.697429189] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.002,-0.004} {0.127,-0.052,0.006} [component_container_isolated-3] [DEBUG] [1762964969.697479135] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.697522868] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.697558065] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981502 -0.000055 0.191450 -0.006899 [component_container_isolated-3] -0.001633 0.999961 0.008659 0.059791 [component_container_isolated-3] -0.191443 -0.008811 0.981464 0.017354 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.697580729] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.514,11.037,-0.095} [component_container_isolated-3] [DEBUG] [1762964969.697613311] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.003,0.004} {-0.643,11.089,-0.102} [component_container_isolated-3] [DEBUG] [1762964969.697667324] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.705168389] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.705231500] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.705271176] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.705317654] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000003 -0.000004 0.000115 [component_container_isolated-3] -0.000003 1.000000 -0.000016 -0.000031 [component_container_isolated-3] 0.000004 0.000016 1.000000 -0.000075 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.705344576] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.005,0.006} {-0.077,0.080,-0.086} [component_container_isolated-3] [DEBUG] [1762964969.705397477] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.705444296] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.705485094] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 0.000056 0.185162 -0.006889 [component_container_isolated-3] -0.000145 1.000000 0.000469 0.060063 [component_container_isolated-3] -0.185162 -0.000487 0.982708 0.017350 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.705508559] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.028,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964969.705539508] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.006} {0.065,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964969.705589333] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.714962874] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.715015455] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.715057525] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.715101269] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000024 -0.000089 0.000009 [component_container_isolated-3] -0.000024 1.000000 0.000139 -0.000074 [component_container_isolated-3] 0.000089 -0.000139 1.000000 -0.000177 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.715126868] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.012,0.030,0.011} [component_container_isolated-3] [DEBUG] [1762964969.715174368] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.715218693] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.715259250] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879445 -0.000057 0.476000 -0.001193 [component_container_isolated-3] -0.004651 0.999951 0.008712 0.060116 [component_container_isolated-3] -0.475978 -0.009875 0.879402 0.018170 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.715283076] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.423,-0.303} [component_container_isolated-3] [DEBUG] [1762964969.715316540] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.637,28.393,-0.315} [component_container_isolated-3] [DEBUG] [1762964969.715368619] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.727439101] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.727493385] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.727533902] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.727580842] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000063 0.000081 -0.000466 [component_container_isolated-3] 0.000063 1.000000 0.000138 -0.000111 [component_container_isolated-3] -0.000081 -0.000138 1.000000 0.000437 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.727606962] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.003,0.004} {-0.029,0.073,0.041} [component_container_isolated-3] [DEBUG] [1762964969.727655484] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.727697294] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.727734996] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979064 -0.000081 0.203552 -0.006630 [component_container_isolated-3] 0.002465 0.999931 -0.011459 0.059344 [component_container_isolated-3] -0.203537 0.011721 0.978997 0.018573 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.727757499] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.686,11.744,0.144} [component_container_isolated-3] [DEBUG] [1762964969.727788949] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.003,-0.005} {0.707,11.671,0.102} [component_container_isolated-3] [DEBUG] [1762964969.727850296] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.729625456] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.729682986] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.729721931] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.729765654] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000003 -0.000004 0.000115 [component_container_isolated-3] -0.000003 1.000000 -0.000016 -0.000031 [component_container_isolated-3] 0.000004 0.000016 1.000000 -0.000075 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.729790932] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.005,0.006} {-0.077,0.080,-0.086} [component_container_isolated-3] [DEBUG] [1762964969.729838623] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.729884030] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.729963562] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 0.000056 0.185162 -0.006889 [component_container_isolated-3] -0.000145 1.000000 0.000469 0.060063 [component_container_isolated-3] -0.185162 -0.000487 0.982708 0.017350 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.729994391] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.028,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964969.730031842] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.005,-0.006} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964969.730108499] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.739438767] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.739493462] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.739534440] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.739583734] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000099 -0.000219 0.000571 [component_container_isolated-3] -0.000099 1.000000 0.000043 -0.000188 [component_container_isolated-3] 0.000219 -0.000043 1.000000 -0.000929 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.739611107] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.005} {0.125,-0.064,0.000} [component_container_isolated-3] [DEBUG] [1762964969.739665761] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.739713542] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.739754060] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000034 0.191235 -0.006856 [component_container_isolated-3] -0.001730 0.999961 0.008702 0.059774 [component_container_isolated-3] -0.191227 -0.008873 0.981506 0.017284 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.739777484] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.518,11.024,-0.101} [component_container_isolated-3] [DEBUG] [1762964969.739808013] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.002,0.005} {-0.643,11.089,-0.102} [component_container_isolated-3] [DEBUG] [1762964969.739857417] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.740914125] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.740993276] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.741030587] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.741072838] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000063 0.000081 -0.000466 [component_container_isolated-3] 0.000063 1.000000 0.000138 -0.000111 [component_container_isolated-3] -0.000081 -0.000138 1.000000 0.000437 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.741096724] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.003,0.005} {-0.037,0.078,0.044} [component_container_isolated-3] [DEBUG] [1762964969.741143303] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.741183630] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.741217905] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979064 -0.000081 0.203552 -0.006630 [component_container_isolated-3] 0.002465 0.999931 -0.011459 0.059344 [component_container_isolated-3] -0.203537 0.011721 0.978997 0.018573 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.741241530] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.686,11.744,0.144} [component_container_isolated-3] [DEBUG] [1762964969.741273812] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.003,-0.005} {0.714,11.667,0.098} [component_container_isolated-3] [DEBUG] [1762964969.741326683] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.748444546] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.748502517] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.748543525] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.748589613] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000065 -0.000023 -0.000007 [component_container_isolated-3] -0.000065 1.000000 0.000135 0.000066 [component_container_isolated-3] 0.000023 -0.000135 1.000000 -0.000012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.748616495] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.020,0.029,0.007} [component_container_isolated-3] [DEBUG] [1762964969.748668805] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.748712929] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.748752635] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879456 -0.000064 0.475980 -0.001189 [component_container_isolated-3] -0.004715 0.999950 0.008847 0.060120 [component_container_isolated-3] -0.475957 -0.010025 0.879412 0.018149 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.748776460] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.653,28.422,-0.307} [component_container_isolated-3] [DEBUG] [1762964969.748809864] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,0.000,-0.001} {-0.637,28.393,-0.315} [component_container_isolated-3] [DEBUG] [1762964969.748859248] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.750994987] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.751049451] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.751088526] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.751131949] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000099 -0.000219 0.000571 [component_container_isolated-3] -0.000099 1.000000 0.000043 -0.000188 [component_container_isolated-3] 0.000219 -0.000043 1.000000 -0.000929 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.751156566] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.002,-0.006} {0.122,-0.077,-0.006} [component_container_isolated-3] [DEBUG] [1762964969.751236298] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.751285101] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.751325889] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000034 0.191235 -0.006856 [component_container_isolated-3] -0.001730 0.999961 0.008702 0.059774 [component_container_isolated-3] -0.191227 -0.008873 0.981506 0.017284 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.751350686] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.518,11.024,-0.101} [component_container_isolated-3] [DEBUG] [1762964969.751382026] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.002,0.006} {-0.639,11.101,-0.096} [component_container_isolated-3] [DEBUG] [1762964969.751432523] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.775498373] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.775565761] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.775610927] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.775662736] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000134 -0.000261 -0.000725 [component_container_isolated-3] 0.000134 1.000000 -0.000095 -0.000769 [component_container_isolated-3] 0.000261 0.000095 1.000000 -0.001047 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.775691020] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.004,0.005} {-0.071,0.065,-0.078} [component_container_isolated-3] [DEBUG] [1762964969.775745014] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.775792003] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.775834204] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982756 -0.000058 0.184906 -0.007118 [component_container_isolated-3] -0.000012 1.000000 0.000374 0.059867 [component_container_isolated-3] -0.184906 -0.000369 0.982756 0.017123 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.775859662] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.022,10.656,-0.001} [component_container_isolated-3] [DEBUG] [1762964969.775893738] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.004,-0.005} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964969.775980854] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.782243594] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.782301976] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.782342613] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.782388321] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000028 -0.000142 0.000467 [component_container_isolated-3] 0.000028 1.000000 -0.000148 -0.000036 [component_container_isolated-3] 0.000142 0.000148 1.000000 -0.000503 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.782417516] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.003,0.004} {-0.029,0.070,0.046} [component_container_isolated-3] [DEBUG] [1762964969.782405714] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.782516135] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.782470768] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.782558486] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.782602610] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.782639100] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000099 -0.000219 0.000571 [component_container_isolated-3] -0.000099 1.000000 0.000043 -0.000188 [component_container_isolated-3] 0.000219 -0.000043 1.000000 -0.000929 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.782695197] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.002,-0.007} {0.120,-0.089,-0.011} [component_container_isolated-3] [DEBUG] [1762964969.782681941] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979093 -0.000078 0.203413 -0.006621 [component_container_isolated-3] 0.002491 0.999930 -0.011607 0.059342 [component_container_isolated-3] -0.203398 0.011871 0.979024 0.018556 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.782781962] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.736,0.146} [component_container_isolated-3] [DEBUG] [1762964969.782816027] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.003,-0.005} {0.714,11.667,0.098} [component_container_isolated-3] [DEBUG] [1762964969.782751304] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.782883005] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.782951957] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.783024265] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000034 0.191235 -0.006856 [component_container_isolated-3] -0.001730 0.999961 0.008702 0.059774 [component_container_isolated-3] -0.191227 -0.008873 0.981506 0.017284 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.783049153] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.518,11.024,-0.101} [component_container_isolated-3] [DEBUG] [1762964969.783080653] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.002,0.007} {-0.636,11.114,-0.091} [component_container_isolated-3] [DEBUG] [1762964969.783133534] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.785461800] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.785515072] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.785554718] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.785598732] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 0.000056 0.000085 [component_container_isolated-3] -0.000037 1.000000 -0.000032 0.000179 [component_container_isolated-3] -0.000056 0.000032 1.000000 0.000007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.785624291] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.001} {-0.018,0.032,0.005} [component_container_isolated-3] [DEBUG] [1762964969.785672142] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.785713912] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.785749790] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879430 -0.000016 0.476029 -0.001171 [component_container_isolated-3] -0.004753 0.999950 0.008815 0.060147 [component_container_isolated-3] -0.476005 -0.010014 0.879385 0.018135 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.785773556] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.652,28.425,-0.310} [component_container_isolated-3] [DEBUG] [1762964969.785803423] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.001} {-0.637,28.393,-0.315} [component_container_isolated-3] [DEBUG] [1762964969.785853939] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.804967351] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.805019711] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.805060098] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.805105214] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 0.000056 0.000085 [component_container_isolated-3] -0.000037 1.000000 -0.000032 0.000179 [component_container_isolated-3] -0.000056 0.000032 1.000000 0.000007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.805130022] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.001} {-0.016,0.035,0.003} [component_container_isolated-3] [DEBUG] [1762964969.805178104] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.805218601] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.805253257] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879430 -0.000016 0.476029 -0.001171 [component_container_isolated-3] -0.004753 0.999950 0.008815 0.060147 [component_container_isolated-3] -0.476005 -0.010014 0.879385 0.018135 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.805274848] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.652,28.425,-0.310} [component_container_isolated-3] [DEBUG] [1762964969.805304044] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.001} {-0.638,28.390,-0.312} [component_container_isolated-3] [DEBUG] [1762964969.805353789] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.807975997] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.808043426] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.808087710] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.808135472] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000096 0.000421 0.000308 [component_container_isolated-3] -0.000096 1.000000 0.000151 0.000518 [component_container_isolated-3] -0.000421 -0.000151 1.000000 0.001758 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.808162613] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.005,0.006} {-0.080,0.089,-0.084} [component_container_isolated-3] [DEBUG] [1762964969.808211787] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.808255391] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.808296960] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982678 0.000008 0.185319 -0.007054 [component_container_isolated-3] -0.000107 1.000000 0.000525 0.059866 [component_container_isolated-3] -0.185319 -0.000536 0.982678 0.017565 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.808321998] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,0.000} {-0.031,10.680,-0.006} [component_container_isolated-3] [DEBUG] [1762964969.808353658] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.006} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964969.808403724] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.818201415] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.818257382] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.818295415] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.818338407] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000045 0.000245 0.000020 [component_container_isolated-3] -0.000045 1.000000 0.000143 0.000153 [component_container_isolated-3] -0.000245 -0.000143 1.000000 0.000692 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.818362623] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.003,0.005} {-0.037,0.084,0.043} [component_container_isolated-3] [DEBUG] [1762964969.818409432] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.818451994] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.818492210] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979043 -0.000063 0.203654 -0.006577 [component_container_isolated-3] 0.002449 0.999931 -0.011463 0.059363 [component_container_isolated-3] -0.203639 0.011721 0.978976 0.018688 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.818516116] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.686,11.750,0.143} [component_container_isolated-3] [DEBUG] [1762964969.818547656] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.003,-0.005} {0.714,11.667,0.098} [component_container_isolated-3] [DEBUG] [1762964969.818597241] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.831808802] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.831865721] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.831906138] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.831980039] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000011 0.000041 -0.000037 [component_container_isolated-3] 0.000011 1.000000 0.000092 0.000624 [component_container_isolated-3] -0.000041 -0.000092 1.000000 0.000296 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.832006109] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.002,-0.007} {0.115,-0.087,-0.011} [component_container_isolated-3] [DEBUG] [1762964969.832056735] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.832101351] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.832136999] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 0.000005 0.191275 -0.006836 [component_container_isolated-3] -0.001719 0.999960 0.008794 0.059892 [component_container_isolated-3] -0.191267 -0.008961 0.981497 0.017296 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.832162117] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.523,11.027,-0.100} [component_container_isolated-3] [DEBUG] [1762964969.832196172] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,0.007} {-0.636,11.114,-0.091} [component_container_isolated-3] [DEBUG] [1762964969.832250886] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.840032647] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.840094205] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.840135043] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.840181933] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000085 -0.000348 0.000560 [component_container_isolated-3] -0.000085 1.000000 0.000016 0.000492 [component_container_isolated-3] 0.000348 -0.000016 1.000000 -0.001321 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.840207802] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.005,0.005} {-0.081,0.069,-0.088} [component_container_isolated-3] [DEBUG] [1762964969.840258258] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.840331949] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.840375843] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982743 0.000089 0.184977 -0.007007 [component_container_isolated-3] -0.000192 1.000000 0.000541 0.059971 [component_container_isolated-3] -0.184977 -0.000567 0.982743 0.017358 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.840401812] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.660,-0.011} [component_container_isolated-3] [DEBUG] [1762964969.840436038] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.005,-0.005} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964969.840486815] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.846648141] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.846702676] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.846743363] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.846787037] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000126 -0.000084 -0.000189 [component_container_isolated-3] 0.000126 1.000000 -0.000156 -0.000284 [component_container_isolated-3] 0.000084 0.000156 1.000000 0.000054 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.846812225] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,-0.000,0.001} {-0.007,0.030,0.010} [component_container_isolated-3] [DEBUG] [1762964969.846860848] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.846902788] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.846958905] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879470 -0.000053 0.475955 -0.001179 [component_container_isolated-3] -0.004626 0.999952 0.008659 0.060125 [component_container_isolated-3] -0.475932 -0.009817 0.879427 0.018147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.846984925] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.420,-0.301} [component_container_isolated-3] [DEBUG] [1762964969.847019050] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.001} {-0.638,28.390,-0.312} [component_container_isolated-3] [DEBUG] [1762964969.847073003] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.853156411] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.853217628] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.853259478] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.853305906] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000011 0.000041 -0.000037 [component_container_isolated-3] 0.000011 1.000000 0.000092 0.000624 [component_container_isolated-3] -0.000041 -0.000092 1.000000 0.000296 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.853331986] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.003,-0.006} {0.109,-0.085,-0.010} [component_container_isolated-3] [DEBUG] [1762964969.853382172] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.853432117] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.853468266] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 0.000005 0.191275 -0.006836 [component_container_isolated-3] -0.001719 0.999960 0.008794 0.059892 [component_container_isolated-3] -0.191267 -0.008961 0.981497 0.017296 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.853491330] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.523,11.027,-0.100} [component_container_isolated-3] [DEBUG] [1762964969.853522810] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.003,0.006} {-0.631,11.111,-0.091} [component_container_isolated-3] [DEBUG] [1762964969.853584598] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.856849263] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.856949765] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.856996594] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.857048113] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000014 -0.000138 0.000029 [component_container_isolated-3] 0.000014 1.000000 -0.000071 0.000031 [component_container_isolated-3] 0.000138 0.000071 1.000000 -0.000434 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.857075425] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.003,0.005} {-0.033,0.076,0.044} [component_container_isolated-3] [DEBUG] [1762964969.857128065] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.857175576] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.857216003] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 -0.000062 0.203518 -0.006567 [component_container_isolated-3] 0.002461 0.999931 -0.011534 0.059380 [component_container_isolated-3] -0.203503 0.011794 0.979003 0.018694 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.857241121] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.742,0.144} [component_container_isolated-3] [DEBUG] [1762964969.857272331] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.003,-0.005} {0.714,11.667,0.098} [component_container_isolated-3] [DEBUG] [1762964969.857322116] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.874412435] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.874473732] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.874517114] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.874563613] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000010 0.000112 0.000115 [component_container_isolated-3] 0.000010 1.000000 -0.000010 0.000081 [component_container_isolated-3] -0.000112 0.000010 1.000000 -0.000167 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.874589573] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.005,0.005} {-0.080,0.075,-0.088} [component_container_isolated-3] [DEBUG] [1762964969.874639678] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.874683372] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.874719321] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982722 0.000081 0.185087 -0.006967 [component_container_isolated-3] -0.000182 1.000000 0.000531 0.060031 [component_container_isolated-3] -0.185087 -0.000556 0.982722 0.017250 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.874743286] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.032,10.666,-0.011} [component_container_isolated-3] [DEBUG] [1762964969.874776880] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.005,-0.005} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964969.874828369] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.882944839] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.883000235] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.883043608] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.883092672] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000011 0.000041 -0.000037 [component_container_isolated-3] 0.000011 1.000000 0.000092 0.000624 [component_container_isolated-3] -0.000041 -0.000092 1.000000 0.000296 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.883119864] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.004,-0.006} {0.104,-0.082,-0.009} [component_container_isolated-3] [DEBUG] [1762964969.883170801] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.883215907] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.883252136] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 0.000005 0.191275 -0.006836 [component_container_isolated-3] -0.001719 0.999960 0.008794 0.059892 [component_container_isolated-3] -0.191267 -0.008961 0.981497 0.017296 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.883275501] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.523,11.027,-0.100} [component_container_isolated-3] [DEBUG] [1762964969.883305989] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.004,0.006} {-0.626,11.109,-0.092} [component_container_isolated-3] [DEBUG] [1762964969.883355283] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.884270100] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.884320266] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.884359421] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.884404086] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000026 0.000068 -0.000224 [component_container_isolated-3] -0.000026 1.000000 0.000051 0.000058 [component_container_isolated-3] -0.000068 -0.000051 1.000000 0.000106 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.884429134] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.001} {-0.010,0.034,0.008} [component_container_isolated-3] [DEBUG] [1762964969.884477997] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.884520549] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.884556658] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879437 -0.000054 0.476015 -0.001206 [component_container_isolated-3] -0.004653 0.999951 0.008709 0.060123 [component_container_isolated-3] -0.475992 -0.009874 0.879394 0.018173 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.884579491] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.424,-0.303} [component_container_isolated-3] [DEBUG] [1762964969.884608376] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.001} {-0.638,28.390,-0.312} [component_container_isolated-3] [DEBUG] [1762964969.884658392] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.885613556] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.885669322] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.885710351] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.885755166] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 -0.000136 -0.000016 [component_container_isolated-3] -0.000027 1.000000 -0.000032 0.000010 [component_container_isolated-3] 0.000136 0.000032 1.000000 -0.000249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.885780334] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.003,0.004} {-0.031,0.068,0.043} [component_container_isolated-3] [DEBUG] [1762964969.885829168] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.885871238] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.885910142] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979099 -0.000029 0.203385 -0.006568 [component_container_isolated-3] 0.002432 0.999930 -0.011566 0.059396 [component_container_isolated-3] -0.203370 0.011819 0.979030 0.018656 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.885976489] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.734,0.142} [component_container_isolated-3] [DEBUG] [1762964969.886010374] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.003,-0.005} {0.714,11.667,0.098} [component_container_isolated-3] [DEBUG] [1762964969.886064157] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.908110490] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.908168771] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.908211012] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.908256509] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000050 -0.000080 -0.000057 [component_container_isolated-3] 0.000050 1.000000 -0.000028 -0.000349 [component_container_isolated-3] 0.000080 0.000028 1.000000 0.000088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.908281146] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.005,0.005} {-0.079,0.071,-0.085} [component_container_isolated-3] [DEBUG] [1762964969.908329147] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.908371388] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.908406946] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982737 0.000037 0.185009 -0.006950 [component_container_isolated-3] -0.000132 1.000000 0.000503 0.060037 [component_container_isolated-3] -0.185009 -0.000519 0.982737 0.017205 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.908430431] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.030,10.662,-0.008} [component_container_isolated-3] [DEBUG] [1762964969.908460298] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.005,-0.005} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964969.908514441] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.909558916] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.909606416] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.909645060] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.909687141] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000026 0.000068 -0.000224 [component_container_isolated-3] -0.000026 1.000000 0.000051 0.000058 [component_container_isolated-3] -0.000068 -0.000051 1.000000 0.000106 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.909710936] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.001} {-0.013,0.038,0.007} [component_container_isolated-3] [DEBUG] [1762964969.909756814] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.909796099] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.909830685] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879437 -0.000054 0.476015 -0.001206 [component_container_isolated-3] -0.004653 0.999951 0.008709 0.060123 [component_container_isolated-3] -0.475992 -0.009874 0.879394 0.018173 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.909852577] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.424,-0.303} [component_container_isolated-3] [DEBUG] [1762964969.909881191] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.001} {-0.634,28.386,-0.310} [component_container_isolated-3] [DEBUG] [1762964969.909975471] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.916694784] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.916766561] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.916806637] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.916851814] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000068 0.000152 0.000228 [component_container_isolated-3] 0.000068 1.000000 0.000036 -0.000114 [component_container_isolated-3] -0.000152 -0.000036 1.000000 0.000477 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.916877423] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.003,0.005} {-0.033,0.077,0.046} [component_container_isolated-3] [DEBUG] [1762964969.916952125] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.916997422] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.917037478] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979068 -0.000103 0.203534 -0.006513 [component_container_isolated-3] 0.002502 0.999930 -0.011530 0.059399 [component_container_isolated-3] -0.203519 0.011798 0.979000 0.018702 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.917062115] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.690,11.743,0.146} [component_container_isolated-3] [DEBUG] [1762964969.917095589] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.003,-0.005} {0.714,11.667,0.098} [component_container_isolated-3] [DEBUG] [1762964969.917145044] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.923694171] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.923760798] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.923799492] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.923843155] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000011 0.000041 -0.000037 [component_container_isolated-3] 0.000011 1.000000 0.000092 0.000624 [component_container_isolated-3] -0.000041 -0.000092 1.000000 0.000296 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.923868404] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.004,-0.006} {0.099,-0.080,-0.009} [component_container_isolated-3] [DEBUG] [1762964969.923950400] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.924006157] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.924046534] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 0.000005 0.191275 -0.006836 [component_container_isolated-3] -0.001719 0.999960 0.008794 0.059892 [component_container_isolated-3] -0.191267 -0.008961 0.981497 0.017296 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.924072083] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.523,11.027,-0.100} [component_container_isolated-3] [DEBUG] [1762964969.924104645] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.004,0.006} {-0.620,11.107,-0.092} [component_container_isolated-3] [DEBUG] [1762964969.924155983] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.942799437] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.942859582] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.942900440] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.942989861] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000003 0.000202 -0.000148 [component_container_isolated-3] -0.000003 1.000000 0.000018 -0.000121 [component_container_isolated-3] -0.000202 -0.000018 1.000000 0.000686 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.943017303] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.005,0.006} {-0.080,0.082,-0.085} [component_container_isolated-3] [DEBUG] [1762964969.943068211] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.943115030] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.943154766] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982699 0.000037 0.185208 -0.006917 [component_container_isolated-3] -0.000136 1.000000 0.000521 0.060025 [component_container_isolated-3] -0.185208 -0.000537 0.982699 0.017284 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.943179313] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.031,10.673,-0.008} [component_container_isolated-3] [DEBUG] [1762964969.943212456] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.005,-0.006} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964969.943271348] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.947008756] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.947085633] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.947131320] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.947181075] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000017 0.000047 0.000211 [component_container_isolated-3] -0.000017 1.000000 0.000003 -0.000032 [component_container_isolated-3] -0.000047 -0.000003 1.000000 -0.000009 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.947211253] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.001} {-0.013,0.041,0.006} [component_container_isolated-3] [DEBUG] [1762964969.947270967] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.947318848] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.947358815] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879415 -0.000040 0.476056 -0.001202 [component_container_isolated-3] -0.004670 0.999951 0.008712 0.060116 [component_container_isolated-3] -0.476033 -0.009885 0.879372 0.018179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.947382590] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.644,28.427,-0.304} [component_container_isolated-3] [DEBUG] [1762964969.947413259] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.001} {-0.634,28.386,-0.310} [component_container_isolated-3] [DEBUG] [1762964969.947462012] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.956301563] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.956371927] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.956411162] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.956454916] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000000 0.000027 -0.000262 [component_container_isolated-3] -0.000000 1.000000 -0.000020 -0.000251 [component_container_isolated-3] -0.000027 0.000020 1.000000 0.000040 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.956480084] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.003,0.005} {-0.032,0.078,0.046} [component_container_isolated-3] [DEBUG] [1762964969.956528907] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.956571609] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.956610964] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979062 -0.000098 0.203560 -0.006507 [component_container_isolated-3] 0.002502 0.999930 -0.011549 0.059362 [component_container_isolated-3] -0.203545 0.011817 0.978994 0.018735 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.956634749] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.692,11.744,0.146} [component_container_isolated-3] [DEBUG] [1762964969.956667792] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.003,-0.005} {0.714,11.667,0.098} [component_container_isolated-3] [DEBUG] [1762964969.956716876] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.964597546] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.964658893] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.964699812] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.964748865] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000000 0.000027 -0.000262 [component_container_isolated-3] -0.000000 1.000000 -0.000020 -0.000251 [component_container_isolated-3] -0.000027 0.000020 1.000000 0.000040 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.964778291] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.004,0.005} {-0.031,0.080,0.046} [component_container_isolated-3] [DEBUG] [1762964969.964831132] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.964874806] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.964902889] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979062 -0.000098 0.203560 -0.006507 [component_container_isolated-3] 0.002502 0.999930 -0.011549 0.059362 [component_container_isolated-3] -0.203545 0.011817 0.978994 0.018735 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.964943547] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.692,11.744,0.146} [component_container_isolated-3] [DEBUG] [1762964969.964966691] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.003,-0.005} {0.713,11.665,0.098} [component_container_isolated-3] [DEBUG] [1762964969.965008822] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.965395851] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.965447780] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.965488007] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.965533424] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000096 -0.000112 -0.000389 [component_container_isolated-3] 0.000096 1.000000 -0.000216 -0.000936 [component_container_isolated-3] 0.000112 0.000216 1.000000 -0.000205 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.965559584] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.003,-0.006} {0.111,-0.086,-0.003} [component_container_isolated-3] [DEBUG] [1762964969.965609709] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.965656308] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.965697888] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981558 -0.000048 0.191165 -0.006888 [component_container_isolated-3] -0.001622 0.999962 0.008579 0.059739 [component_container_isolated-3] -0.191158 -0.008731 0.981520 0.017305 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.965722605] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.510,11.020,-0.095} [component_container_isolated-3] [DEBUG] [1762964969.965754185] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.006} {-0.620,11.107,-0.092} [component_container_isolated-3] [DEBUG] [1762964969.965804752] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.972118740] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.972180608] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.972219142] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.972262685] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000017 0.000047 0.000211 [component_container_isolated-3] -0.000017 1.000000 0.000003 -0.000032 [component_container_isolated-3] -0.000047 -0.000003 1.000000 -0.000009 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.972287933] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.001} {-0.013,0.043,0.005} [component_container_isolated-3] [DEBUG] [1762964969.972336917] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.972381582] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.972421879] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879415 -0.000040 0.476056 -0.001202 [component_container_isolated-3] -0.004670 0.999951 0.008712 0.060116 [component_container_isolated-3] -0.476033 -0.009885 0.879372 0.018179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.972446806] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.644,28.427,-0.304} [component_container_isolated-3] [DEBUG] [1762964969.972479389] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.001} {-0.633,28.383,-0.309} [component_container_isolated-3] [DEBUG] [1762964969.972541567] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.973417170] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.973468728] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.973507292] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.973551697] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000323 -0.000330 0.000474 [component_container_isolated-3] -0.000323 1.000000 0.000067 0.002284 [component_container_isolated-3] 0.000330 -0.000067 1.000000 -0.001273 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.973578408] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.004} {-0.083,0.063,-0.104} [component_container_isolated-3] [DEBUG] [1762964969.973631840] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.973677306] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.973717203] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982760 0.000342 0.184883 -0.006857 [component_container_isolated-3] -0.000458 1.000000 0.000588 0.061034 [component_container_isolated-3] -0.184883 -0.000663 0.982760 0.016927 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.973741800] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.001} {-0.039,10.654,-0.027} [component_container_isolated-3] [DEBUG] [1762964969.973776055] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.006,-0.005} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964969.973826121] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964969.996248722] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964969.996308206] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964969.996348824] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964969.996393389] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000008 0.000287 0.000100 [component_container_isolated-3] -0.000008 1.000000 0.000287 0.000393 [component_container_isolated-3] -0.000287 -0.000287 1.000000 0.001150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964969.996419158] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.004,-0.005} {0.095,-0.070,-0.004} [component_container_isolated-3] [DEBUG] [1762964969.996468973] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964969.996512907] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964969.996549407] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 -0.000095 0.191447 -0.006829 [component_container_isolated-3] -0.001633 0.999959 0.008865 0.059746 [component_container_isolated-3] -0.191440 -0.009014 0.981463 0.017635 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964969.996572010] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.526,11.037,-0.095} [component_container_isolated-3] [DEBUG] [1762964969.996603790] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.005} {-0.620,11.107,-0.092} [component_container_isolated-3] [DEBUG] [1762964969.996655850] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.009406611] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.009471996] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.009510269] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.009552970] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000017 0.000047 0.000211 [component_container_isolated-3] -0.000017 1.000000 0.000003 -0.000032 [component_container_isolated-3] -0.000047 -0.000003 1.000000 -0.000009 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.009577868] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.001} {-0.013,0.046,0.004} [component_container_isolated-3] [DEBUG] [1762964970.009624297] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.009664934] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.009701975] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879415 -0.000040 0.476056 -0.001202 [component_container_isolated-3] -0.004670 0.999951 0.008712 0.060116 [component_container_isolated-3] -0.476033 -0.009885 0.879372 0.018179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.009725480] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.644,28.427,-0.304} [component_container_isolated-3] [DEBUG] [1762964970.009758312] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.001} {-0.633,28.381,-0.308} [component_container_isolated-3] [DEBUG] [1762964970.009808578] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.011460433] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.011517101] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.011560795] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.011604969] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000024 -0.000005 0.000169 [component_container_isolated-3] 0.000024 1.000000 0.000042 -0.000285 [component_container_isolated-3] 0.000005 -0.000042 1.000000 0.000064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.011631059] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.005} {-0.086,0.063,-0.102} [component_container_isolated-3] [DEBUG] [1762964970.011678840] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.011721632] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.011757641] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982761 0.000310 0.184879 -0.006781 [component_container_isolated-3] -0.000434 1.000000 0.000630 0.061127 [component_container_isolated-3] -0.184878 -0.000700 0.982761 0.016835 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.011780524] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.001} {-0.041,10.654,-0.025} [component_container_isolated-3] [DEBUG] [1762964970.011812886] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.006,-0.005} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964970.011871388] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.015704137] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.015765895] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.015803197] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.015845487] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000008 0.000287 0.000100 [component_container_isolated-3] -0.000008 1.000000 0.000287 0.000393 [component_container_isolated-3] -0.000287 -0.000287 1.000000 0.001150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.015869834] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.004,-0.004} {0.078,-0.053,-0.004} [component_container_isolated-3] [DEBUG] [1762964970.015954315] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.016008769] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.016049597] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 -0.000095 0.191447 -0.006829 [component_container_isolated-3] -0.001633 0.999959 0.008865 0.059746 [component_container_isolated-3] -0.191440 -0.009014 0.981463 0.017635 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.016074375] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.526,11.037,-0.095} [component_container_isolated-3] [DEBUG] [1762964970.016108590] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.004,0.004} {-0.604,11.090,-0.092} [component_container_isolated-3] [DEBUG] [1762964970.016160078] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.019543660] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.019612822] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.019654572] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.019701682] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000015 -0.000166 0.000281 [component_container_isolated-3] -0.000015 1.000000 -0.000045 -0.000035 [component_container_isolated-3] 0.000166 0.000045 1.000000 -0.000812 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.019727311] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.004} {-0.028,0.070,0.046} [component_container_isolated-3] [DEBUG] [1762964970.019780813] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.019826170] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.019866436] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979096 -0.000074 0.203398 -0.006497 [component_container_isolated-3] 0.002485 0.999930 -0.011595 0.059338 [component_container_isolated-3] -0.203382 0.011858 0.979028 0.018577 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.019891144] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.694,11.735,0.145} [component_container_isolated-3] [DEBUG] [1762964970.019962831] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.003,-0.005} {0.713,11.665,0.098} [component_container_isolated-3] [DEBUG] [1762964970.020015501] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.032537736] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.032600265] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.032639580] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.032683554] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000463 0.000079 -0.000863 [component_container_isolated-3] 0.000463 1.000000 0.000016 -0.002789 [component_container_isolated-3] -0.000079 -0.000016 1.000000 0.000528 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.032708832] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.004,0.005} {-0.087,0.068,-0.076} [component_container_isolated-3] [DEBUG] [1762964970.032758287] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.032800858] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.032839251] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982747 -0.000148 0.184956 -0.006891 [component_container_isolated-3] 0.000029 1.000000 0.000646 0.060136 [component_container_isolated-3] -0.184956 -0.000630 0.982747 0.016852 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.032863828] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.001} {-0.037,10.659,0.002} [component_container_isolated-3] [DEBUG] [1762964970.032894838] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.004,-0.005} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964970.032980491] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.034304780] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.034353954] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.034390805] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.034433276] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000015 -0.000166 0.000281 [component_container_isolated-3] -0.000015 1.000000 -0.000045 -0.000035 [component_container_isolated-3] 0.000166 0.000045 1.000000 -0.000812 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.034457322] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.003} {-0.026,0.061,0.045} [component_container_isolated-3] [DEBUG] [1762964970.034503039] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.034548005] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.034588061] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979096 -0.000074 0.203398 -0.006497 [component_container_isolated-3] 0.002485 0.999930 -0.011595 0.059338 [component_container_isolated-3] -0.203382 0.011858 0.979028 0.018577 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.034612147] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.694,11.735,0.145} [component_container_isolated-3] [DEBUG] [1762964970.034644800] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.003,-0.004} {0.710,11.675,0.099} [component_container_isolated-3] [DEBUG] [1762964970.034695517] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.048421961] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.048482436] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.048522593] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.048566216] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000008 0.000287 0.000100 [component_container_isolated-3] -0.000008 1.000000 0.000287 0.000393 [component_container_isolated-3] -0.000287 -0.000287 1.000000 0.001150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.048595492] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.004,-0.002} {0.062,-0.037,-0.004} [component_container_isolated-3] [DEBUG] [1762964970.048658352] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.048743695] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.048787549] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 -0.000095 0.191447 -0.006829 [component_container_isolated-3] -0.001633 0.999959 0.008865 0.059746 [component_container_isolated-3] -0.191440 -0.009014 0.981463 0.017635 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.048813228] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.526,11.037,-0.095} [component_container_isolated-3] [DEBUG] [1762964970.048849948] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.005,0.003} {-0.587,11.074,-0.091} [component_container_isolated-3] [DEBUG] [1762964970.048904793] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.052311469] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.052368838] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.052407853] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.052449993] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000023 -0.000049 0.000054 [component_container_isolated-3] -0.000023 1.000000 -0.000077 0.000140 [component_container_isolated-3] 0.000049 0.000077 1.000000 -0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.052474640] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.001} {-0.009,0.043,0.003} [component_container_isolated-3] [DEBUG] [1762964970.052522141] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.052565825] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.052603096] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879438 0.000017 0.476013 -0.001192 [component_container_isolated-3] -0.004693 0.999952 0.008635 0.060125 [component_container_isolated-3] -0.475990 -0.009828 0.879396 0.018182 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.052626891] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.640,28.424,-0.306} [component_container_isolated-3] [DEBUG] [1762964970.052657600] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.001} {-0.633,28.381,-0.308} [component_container_isolated-3] [DEBUG] [1762964970.052707084] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.072056677] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.072113225] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.072150386] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.072191906] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000023 -0.000049 0.000054 [component_container_isolated-3] -0.000023 1.000000 -0.000077 0.000140 [component_container_isolated-3] 0.000049 0.000077 1.000000 -0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.072216002] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.001} {-0.004,0.040,0.001} [component_container_isolated-3] [DEBUG] [1762964970.072262520] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.072303950] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.072339628] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879438 0.000017 0.476013 -0.001192 [component_container_isolated-3] -0.004693 0.999952 0.008635 0.060125 [component_container_isolated-3] -0.475990 -0.009828 0.879396 0.018182 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.072361690] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.640,28.424,-0.306} [component_container_isolated-3] [DEBUG] [1762964970.072391918] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.001} {-0.636,28.383,-0.307} [component_container_isolated-3] [DEBUG] [1762964970.072439719] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.072485115] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.072539008] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.072570969] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.072606608] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000118 0.000004 -0.000081 [component_container_isolated-3] -0.000118 1.000000 -0.000092 0.000442 [component_container_isolated-3] -0.000004 0.000092 1.000000 -0.000142 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.072626866] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.004,0.005} {-0.081,0.068,-0.083} [component_container_isolated-3] [DEBUG] [1762964970.072670620] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.072730414] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.072780299] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982746 -0.000015 0.184960 -0.006932 [component_container_isolated-3] -0.000089 1.000000 0.000555 0.060077 [component_container_isolated-3] -0.184960 -0.000562 0.982746 0.016847 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.072800117] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.001} {-0.033,10.659,-0.005} [component_container_isolated-3] [DEBUG] [1762964970.072822480] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.004,-0.005} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964970.072865292] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.081950672] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.082014084] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.082055112] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.082102162] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000101 0.000040 -0.000350 [component_container_isolated-3] -0.000101 1.000000 0.000001 0.000331 [component_container_isolated-3] -0.000040 -0.000001 1.000000 0.000468 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.082127701] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.003,0.004} {-0.026,0.063,0.039} [component_container_isolated-3] [DEBUG] [1762964970.082179660] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.082226840] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.082265143] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979088 0.000024 0.203436 -0.006510 [component_container_isolated-3] 0.002384 0.999930 -0.011593 0.059362 [component_container_isolated-3] -0.203423 0.011836 0.979020 0.018588 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.082287385] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.693,11.737,0.140} [component_container_isolated-3] [DEBUG] [1762964970.082318014] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.003,-0.004} {0.710,11.675,0.099} [component_container_isolated-3] [DEBUG] [1762964970.082368781] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.095966670] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.096031714] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.096071470] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.096114482] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000002 -0.000030 0.000418 [component_container_isolated-3] -0.000002 1.000000 -0.000124 0.000133 [component_container_isolated-3] 0.000030 0.000124 1.000000 -0.000109 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.096139309] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.005,-0.003} {0.069,-0.039,-0.005} [component_container_isolated-3] [DEBUG] [1762964970.096186970] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.096234651] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.096274007] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981509 -0.000069 0.191418 -0.006753 [component_container_isolated-3] -0.001635 0.999960 0.008742 0.059763 [component_container_isolated-3] -0.191411 -0.008893 0.981470 0.017694 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.096297892] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.001} {-0.519,11.035,-0.095} [component_container_isolated-3] [DEBUG] [1762964970.096331316] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.005,0.003} {-0.587,11.074,-0.091} [component_container_isolated-3] [DEBUG] [1762964970.096381883] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.111669418] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.111736857] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.111789277] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.111847037] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000043 0.000079 0.000576 [component_container_isolated-3] -0.000043 1.000000 -0.000168 0.000516 [component_container_isolated-3] -0.000079 0.000168 1.000000 0.000060 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.111887555] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.005,0.005} {-0.072,0.072,-0.085} [component_container_isolated-3] [DEBUG] [1762964970.111997024] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.112063691] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.112112254] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982731 0.000058 0.185038 -0.006863 [component_container_isolated-3] -0.000132 1.000000 0.000387 0.060084 [component_container_isolated-3] -0.185038 -0.000405 0.982731 0.016835 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.112138093] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.001} {-0.024,10.663,-0.008} [component_container_isolated-3] [DEBUG] [1762964970.112173290] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.005,-0.005} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964970.112230309] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.114878897] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.114965773] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.115010038] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.115056246] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000044 0.000108 -0.000201 [component_container_isolated-3] -0.000044 1.000000 0.000237 -0.000006 [component_container_isolated-3] -0.000108 -0.000237 1.000000 0.000107 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.115082055] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.001} {-0.018,0.047,-0.001} [component_container_isolated-3] [DEBUG] [1762964970.115131249] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.115172378] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.115208417] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879387 -0.000057 0.476108 -0.001206 [component_container_isolated-3] -0.004738 0.999949 0.008872 0.060135 [component_container_isolated-3] -0.476085 -0.010058 0.879342 0.018195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.115230489] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.655,28.430,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.115260426] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.001} {-0.636,28.383,-0.307} [component_container_isolated-3] [DEBUG] [1762964970.115308317] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.124502676] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.124560757] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.124602507] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.124648816] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000168 0.000070 0.000126 [component_container_isolated-3] 0.000168 1.000000 -0.000117 -0.000480 [component_container_isolated-3] -0.000070 0.000117 1.000000 0.000189 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.124674445] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.004} {-0.019,0.067,0.048} [component_container_isolated-3] [DEBUG] [1762964970.124723689] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.124773514] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.124809743] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979074 -0.000116 0.203505 -0.006506 [component_container_isolated-3] 0.002553 0.999928 -0.011710 0.059285 [component_container_isolated-3] -0.203489 0.011984 0.979004 0.018628 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.124832667] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.701,11.741,0.149} [component_container_isolated-3] [DEBUG] [1762964970.124862995] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.003,-0.004} {0.710,11.675,0.099} [component_container_isolated-3] [DEBUG] [1762964970.124913932] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.131322451] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.131377866] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.131420338] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.131467097] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000037 -0.000298 -0.000050 [component_container_isolated-3] 0.000037 1.000000 -0.000006 -0.000764 [component_container_isolated-3] 0.000298 0.000006 1.000000 -0.001733 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.131493217] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.004,-0.004} {0.069,-0.056,-0.002} [component_container_isolated-3] [DEBUG] [1762964970.131542010] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.131586104] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.131622043] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981566 -0.000104 0.191125 -0.006829 [component_container_isolated-3] -0.001595 0.999961 0.008736 0.059592 [component_container_isolated-3] -0.191118 -0.008880 0.981527 0.017229 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.131644796] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.518,11.018,-0.093} [component_container_isolated-3] [DEBUG] [1762964970.131674854] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.004,0.004} {-0.587,11.074,-0.091} [component_container_isolated-3] [DEBUG] [1762964970.131728306] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.134796094] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.134849887] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.134891206] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.134966830] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000044 0.000108 -0.000201 [component_container_isolated-3] -0.000044 1.000000 0.000237 -0.000006 [component_container_isolated-3] -0.000108 -0.000237 1.000000 0.000107 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.134995094] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.001} {-0.032,0.053,-0.004} [component_container_isolated-3] [DEBUG] [1762964970.135043627] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.135084595] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.135118991] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879387 -0.000057 0.476108 -0.001206 [component_container_isolated-3] -0.004738 0.999949 0.008872 0.060135 [component_container_isolated-3] -0.476085 -0.010058 0.879342 0.018195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.135141404] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.655,28.430,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.135173425] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.001} {-0.621,28.377,-0.304} [component_container_isolated-3] [DEBUG] [1762964970.135222539] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.141410136] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.141463848] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.141499336] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.141552017] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000036 0.000213 -0.000348 [component_container_isolated-3] -0.000036 1.000000 -0.000045 -0.000057 [component_container_isolated-3] -0.000213 0.000045 1.000000 0.000792 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.141579780] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.005,0.006} {-0.069,0.085,-0.087} [component_container_isolated-3] [DEBUG] [1762964970.141630747] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.141676755] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.141713605] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982692 0.000101 0.185248 -0.006842 [component_container_isolated-3] -0.000168 1.000000 0.000342 0.060081 [component_container_isolated-3] -0.185247 -0.000367 0.982692 0.017027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.141736920] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.001} {-0.021,10.676,-0.010} [component_container_isolated-3] [DEBUG] [1762964970.141768219] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.006} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964970.141821181] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.143383655] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.143431827] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.143466944] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.143502972] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000168 0.000070 0.000126 [component_container_isolated-3] 0.000168 1.000000 -0.000117 -0.000480 [component_container_isolated-3] -0.000070 0.000117 1.000000 0.000189 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.143522089] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.004} {-0.013,0.071,0.058} [component_container_isolated-3] [DEBUG] [1762964970.143564931] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.143601150] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.143629634] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979074 -0.000116 0.203505 -0.006506 [component_container_isolated-3] 0.002553 0.999928 -0.011710 0.059285 [component_container_isolated-3] -0.203489 0.011984 0.979004 0.018628 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.143648811] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.701,11.741,0.149} [component_container_isolated-3] [DEBUG] [1762964970.143670142] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.005} {0.702,11.671,0.089} [component_container_isolated-3] [DEBUG] [1762964970.143708435] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.167240816] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.167292455] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.167330998] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.167374431] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000044 0.000108 -0.000201 [component_container_isolated-3] -0.000044 1.000000 0.000237 -0.000006 [component_container_isolated-3] -0.000108 -0.000237 1.000000 0.000107 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.167399309] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.001} {-0.045,0.059,-0.006} [component_container_isolated-3] [DEBUG] [1762964970.167445948] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.167486495] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.167521061] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879387 -0.000057 0.476108 -0.001206 [component_container_isolated-3] -0.004738 0.999949 0.008872 0.060135 [component_container_isolated-3] -0.476085 -0.010058 0.879342 0.018195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.167542432] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.655,28.430,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.167574794] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.001} {-0.606,28.371,-0.301} [component_container_isolated-3] [DEBUG] [1762964970.167627114] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.171003392] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.171062985] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.171101760] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.171138971] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000073 -0.000015 -0.000162 [component_container_isolated-3] -0.000073 1.000000 0.000048 0.000711 [component_container_isolated-3] 0.000015 -0.000048 1.000000 0.000059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.171159750] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.005,-0.004} {0.067,-0.057,-0.007} [component_container_isolated-3] [DEBUG] [1762964970.171201831] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.171238040] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.171265482] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981569 -0.000042 0.191110 -0.006838 [component_container_isolated-3] -0.001668 0.999960 0.008784 0.059645 [component_container_isolated-3] -0.191103 -0.008941 0.981529 0.017136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.171283426] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.522,11.017,-0.097} [component_container_isolated-3] [DEBUG] [1762964970.171306000] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.005,0.004} {-0.587,11.074,-0.091} [component_container_isolated-3] [DEBUG] [1762964970.171344533] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.173502414] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.173554233] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.173593268] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.173635959] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000168 0.000070 0.000126 [component_container_isolated-3] 0.000168 1.000000 -0.000117 -0.000480 [component_container_isolated-3] -0.000070 0.000117 1.000000 0.000189 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.173661167] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.005,0.004} {-0.006,0.075,0.068} [component_container_isolated-3] [DEBUG] [1762964970.173710261] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.173751780] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.173786346] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979074 -0.000116 0.203505 -0.006506 [component_container_isolated-3] 0.002553 0.999928 -0.011710 0.059285 [component_container_isolated-3] -0.203489 0.011984 0.979004 0.018628 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.173810072] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.701,11.741,0.149} [component_container_isolated-3] [DEBUG] [1762964970.173843035] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.005} {0.693,11.667,0.079} [component_container_isolated-3] [DEBUG] [1762964970.173892780] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.176110515] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.176168165] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.176210185] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.176256384] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000244 -0.000238 -0.000346 [component_container_isolated-3] 0.000244 1.000000 -0.000146 -0.001046 [component_container_isolated-3] 0.000238 0.000146 1.000000 -0.001089 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.176283686] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.004,0.005} {-0.061,0.071,-0.073} [component_container_isolated-3] [DEBUG] [1762964970.176333861] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.176381002] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.176422170] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982736 -0.000111 0.185014 -0.006968 [component_container_isolated-3] 0.000076 1.000000 0.000196 0.059751 [component_container_isolated-3] -0.185014 -0.000178 0.982736 0.016881 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.176447529] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.010,10.662,0.004} [component_container_isolated-3] [DEBUG] [1762964970.176478969] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.004,-0.005} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964970.176530146] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.202857054] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.202916839] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.202995389] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.203039373] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000064 -0.000076 0.000354 [component_container_isolated-3] 0.000064 1.000000 -0.000115 -0.000318 [component_container_isolated-3] 0.000076 0.000115 1.000000 -0.000155 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.203064871] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.004,-0.004} {0.073,-0.061,-0.003} [component_container_isolated-3] [DEBUG] [1762964970.203116460] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.203161837] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.203202254] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981583 -0.000082 0.191036 -0.006794 [component_container_isolated-3] -0.001603 0.999961 0.008669 0.059620 [component_container_isolated-3] -0.191029 -0.008816 0.981545 0.017030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.203226921] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,-0.000} {-0.515,11.013,-0.094} [component_container_isolated-3] [DEBUG] [1762964970.203260164] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.005,0.004} {-0.587,11.074,-0.091} [component_container_isolated-3] [DEBUG] [1762964970.203311683] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.207488950] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.207546590] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.207589392] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.207633306] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000125 0.000231 0.000422 [component_container_isolated-3] -0.000125 1.000000 0.000118 0.001004 [component_container_isolated-3] -0.000231 -0.000118 1.000000 0.001134 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.207660448] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.005,0.006} {-0.068,0.084,-0.080} [component_container_isolated-3] [DEBUG] [1762964970.207711856] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.207793752] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.207838628] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982693 -0.000010 0.185241 -0.006906 [component_container_isolated-3] -0.000049 1.000000 0.000314 0.059827 [component_container_isolated-3] -0.185241 -0.000318 0.982693 0.017090 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.207863766] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.019,10.675,-0.003} [component_container_isolated-3] [DEBUG] [1762964970.207896899] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.005,-0.006} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964970.207966262] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.215257366] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.215340204] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.215385891] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.215438953] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000015 -0.000020 0.000061 [component_container_isolated-3] 0.000015 1.000000 -0.000240 -0.000047 [component_container_isolated-3] 0.000020 0.000240 1.000000 0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.215468579] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.001} {-0.031,0.058,-0.006} [component_container_isolated-3] [DEBUG] [1762964970.215520358] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.215564292] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.215602976] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879396 0.000043 0.476091 -0.001201 [component_container_isolated-3] -0.004722 0.999952 0.008632 0.060132 [component_container_isolated-3] -0.476068 -0.009839 0.879354 0.018224 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.215626451] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.641,28.429,-0.308} [component_container_isolated-3] [DEBUG] [1762964970.215656979] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.001} {-0.606,28.371,-0.301} [component_container_isolated-3] [DEBUG] [1762964970.215708237] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.223626639] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.223679741] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.223723364] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.223771155] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000194 -0.000281 -0.000291 [component_container_isolated-3] -0.000194 1.000000 0.000032 0.000579 [component_container_isolated-3] 0.000281 -0.000032 1.000000 -0.000845 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.223798508] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.003} {-0.008,0.059,0.057} [component_container_isolated-3] [DEBUG] [1762964970.223848994] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.223890553] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.223948885] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979131 0.000067 0.203230 -0.006580 [component_container_isolated-3] 0.002355 0.999929 -0.011678 0.059350 [component_container_isolated-3] -0.203216 0.011913 0.979061 0.018460 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.223972580] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.697,11.725,0.138} [component_container_isolated-3] [DEBUG] [1762964970.224003128] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.004} {0.693,11.667,0.079} [component_container_isolated-3] [DEBUG] [1762964970.224054967] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.230188310] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.230240250] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.230279825] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.230323950] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000064 -0.000076 0.000354 [component_container_isolated-3] 0.000064 1.000000 -0.000115 -0.000318 [component_container_isolated-3] 0.000076 0.000115 1.000000 -0.000155 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.230348536] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.004,-0.005} {0.080,-0.065,0.001} [component_container_isolated-3] [DEBUG] [1762964970.230396228] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.230439290] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.230474557] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981583 -0.000082 0.191036 -0.006794 [component_container_isolated-3] -0.001603 0.999961 0.008669 0.059620 [component_container_isolated-3] -0.191029 -0.008816 0.981545 0.017030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.230499345] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,-0.000} {-0.515,11.013,-0.094} [component_container_isolated-3] [DEBUG] [1762964970.230531897] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.004,0.005} {-0.595,11.078,-0.095} [component_container_isolated-3] [DEBUG] [1762964970.230585068] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.240861454] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.240969370] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.241014496] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.241061446] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000088 -0.000365 -0.000629 [component_container_isolated-3] 0.000088 1.000000 0.000018 -0.000754 [component_container_isolated-3] 0.000365 -0.000018 1.000000 -0.001068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.241089459] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.004,0.005} {-0.069,0.063,-0.075} [component_container_isolated-3] [DEBUG] [1762964970.241141639] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.241186414] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.241225699] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982761 -0.000100 0.184882 -0.007073 [component_container_isolated-3] 0.000039 1.000000 0.000332 0.059693 [component_container_isolated-3] -0.184882 -0.000319 0.982761 0.016955 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.241250527] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.019,10.654,0.002} [component_container_isolated-3] [DEBUG] [1762964970.241281416] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.004,-0.005} {0.064,10.591,0.079} [component_container_isolated-3] [DEBUG] [1762964970.241336110] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.248668834] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.248731423] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.248772502] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.248818309] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000027 -0.000043 0.000064 [component_container_isolated-3] -0.000027 1.000000 0.000134 0.000148 [component_container_isolated-3] 0.000043 -0.000134 1.000000 -0.000079 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.248845151] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.001} {-0.039,0.055,-0.007} [component_container_isolated-3] [DEBUG] [1762964970.248893483] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.248972273] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.249015215] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879416 0.000003 0.476053 -0.001202 [component_container_isolated-3] -0.004749 0.999950 0.008766 0.060155 [component_container_isolated-3] -0.476030 -0.009969 0.879373 0.018221 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.249040684] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.650,28.426,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.249074529] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.001} {-0.606,28.371,-0.301} [component_container_isolated-3] [DEBUG] [1762964970.249127089] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.258297412] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.258354902] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.258395650] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.258442359] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000088 -0.000365 -0.000629 [component_container_isolated-3] 0.000088 1.000000 0.000018 -0.000754 [component_container_isolated-3] 0.000365 -0.000018 1.000000 -0.001068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.258470112] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.003,0.004} {-0.070,0.042,-0.070} [component_container_isolated-3] [DEBUG] [1762964970.258552319] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.258601994] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.258640718] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982761 -0.000100 0.184882 -0.007073 [component_container_isolated-3] 0.000039 1.000000 0.000332 0.059693 [component_container_isolated-3] -0.184882 -0.000319 0.982761 0.016955 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.258665164] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.019,10.654,0.002} [component_container_isolated-3] [DEBUG] [1762964970.258726722] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.004,-0.004} {0.064,10.612,0.074} [component_container_isolated-3] [DEBUG] [1762964970.258782589] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.260850348] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.260901736] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.260980416] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.261030071] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000073 0.000167 -0.000008 [component_container_isolated-3] 0.000073 1.000000 0.000062 -0.000143 [component_container_isolated-3] -0.000167 -0.000062 1.000000 0.000488 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.261055820] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.004} {-0.011,0.069,0.061} [component_container_isolated-3] [DEBUG] [1762964970.261105415] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.261147976] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.261183965] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 -0.000017 0.203393 -0.006605 [component_container_isolated-3] 0.002431 0.999930 -0.011616 0.059359 [component_container_isolated-3] -0.203379 0.011867 0.979028 0.018465 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.261205386] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.735,0.142} [component_container_isolated-3] [DEBUG] [1762964970.261236976] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.005} {0.693,11.667,0.079} [component_container_isolated-3] [DEBUG] [1762964970.261301038] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.265121494] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.265176159] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.265210074] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.265245411] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000143 0.000039 -0.000224 [component_container_isolated-3] -0.000143 1.000000 0.000152 0.000957 [component_container_isolated-3] -0.000039 -0.000152 1.000000 0.000155 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.265269948] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.005,-0.004} {0.071,-0.063,-0.008} [component_container_isolated-3] [DEBUG] [1762964970.265328600] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.265367134] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.265393494] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981576 0.000029 0.191074 -0.006786 [component_container_isolated-3] -0.001746 0.999959 0.008821 0.059863 [component_container_isolated-3] -0.191066 -0.008993 0.981536 0.016958 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.265411027] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.525,11.015,-0.102} [component_container_isolated-3] [DEBUG] [1762964970.265435604] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.005,0.004} {-0.595,11.078,-0.095} [component_container_isolated-3] [DEBUG] [1762964970.265498374] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.283227402] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.283285413] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.283323386] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.283367400] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000032 0.000187 -0.000081 [component_container_isolated-3] 0.000032 1.000000 -0.000057 -0.000123 [component_container_isolated-3] -0.000187 0.000057 1.000000 0.000489 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.283392558] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.004} {-0.008,0.079,0.063} [component_container_isolated-3] [DEBUG] [1762964970.283441351] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.283485475] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.283525311] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979059 -0.000037 0.203576 -0.006615 [component_container_isolated-3] 0.002465 0.999929 -0.011672 0.059350 [component_container_isolated-3] -0.203561 0.011930 0.978990 0.018582 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.283549147] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.745,0.144} [component_container_isolated-3] [DEBUG] [1762964970.283580978] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.005} {0.693,11.667,0.079} [component_container_isolated-3] [DEBUG] [1762964970.283632807] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.285591577] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.285654588] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.285695997] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.285743367] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000017 -0.000010 -0.000021 [component_container_isolated-3] -0.000017 1.000000 -0.000117 -0.000052 [component_container_isolated-3] 0.000010 0.000117 1.000000 0.000003 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.285771100] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.001} {-0.032,0.055,-0.008} [component_container_isolated-3] [DEBUG] [1762964970.285828340] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.285877173] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.285918031] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879421 0.000074 0.476045 -0.001198 [component_container_isolated-3] -0.004765 0.999951 0.008649 0.060162 [component_container_isolated-3] -0.476021 -0.009874 0.879379 0.018232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.285979879] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.426,-0.310} [component_container_isolated-3] [DEBUG] [1762964970.286013914] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.001} {-0.606,28.371,-0.301} [component_container_isolated-3] [DEBUG] [1762964970.286073408] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.292233772] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.292307163] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.292362939] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.292427893] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000088 -0.000365 -0.000629 [component_container_isolated-3] 0.000088 1.000000 0.000018 -0.000754 [component_container_isolated-3] 0.000365 -0.000018 1.000000 -0.001068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.292472588] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.002,0.003} {-0.071,0.021,-0.065} [component_container_isolated-3] [DEBUG] [1762964970.292549055] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.292624148] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.292684283] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982761 -0.000100 0.184882 -0.007073 [component_container_isolated-3] 0.000039 1.000000 0.000332 0.059693 [component_container_isolated-3] -0.184882 -0.000319 0.982761 0.016955 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.292722586] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.019,10.654,0.002} [component_container_isolated-3] [DEBUG] [1762964970.292793451] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.003} {0.064,10.633,0.068} [component_container_isolated-3] [DEBUG] [1762964970.292897590] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.299842694] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.299892048] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.299964486] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.300009642] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000032 0.000187 -0.000081 [component_container_isolated-3] 0.000032 1.000000 -0.000057 -0.000123 [component_container_isolated-3] -0.000187 0.000057 1.000000 0.000489 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.300036694] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.005,0.005} {-0.005,0.090,0.064} [component_container_isolated-3] [DEBUG] [1762964970.300088673] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.300133890] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.300172904] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979059 -0.000037 0.203576 -0.006615 [component_container_isolated-3] 0.002465 0.999929 -0.011672 0.059350 [component_container_isolated-3] -0.203561 0.011930 0.978990 0.018582 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.300195938] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.745,0.144} [component_container_isolated-3] [DEBUG] [1762964970.300226607] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.005} {0.689,11.656,0.077} [component_container_isolated-3] [DEBUG] [1762964970.300275660] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.302009892] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.302062703] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.302106096] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.302150631] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000039 0.000035 0.000259 [component_container_isolated-3] 0.000039 1.000000 -0.000149 -0.000247 [component_container_isolated-3] -0.000035 0.000149 1.000000 -0.000157 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.302176130] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.005,-0.005} {0.080,-0.061,-0.005} [component_container_isolated-3] [DEBUG] [1762964970.302224823] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.302268767] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.302304455] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981569 0.000019 0.191108 -0.006749 [component_container_isolated-3] -0.001708 0.999961 0.008672 0.059904 [component_container_isolated-3] -0.191100 -0.008839 0.981531 0.016885 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.302330174] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.516,11.017,-0.100} [component_container_isolated-3] [DEBUG] [1762964970.302362165] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.005,0.004} {-0.595,11.078,-0.095} [component_container_isolated-3] [DEBUG] [1762964970.302413513] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.317848891] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.317906381] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.317978448] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.318023885] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000023 0.000004 0.000016 [component_container_isolated-3] -0.000023 1.000000 0.000095 0.000068 [component_container_isolated-3] -0.000004 -0.000095 1.000000 -0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.318050316] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.001} {-0.038,0.055,-0.009} [component_container_isolated-3] [DEBUG] [1762964970.318099850] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.318143874] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.318185263] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879419 0.000049 0.476048 -0.001198 [component_container_isolated-3] -0.004789 0.999950 0.008744 0.060179 [component_container_isolated-3] -0.476024 -0.009970 0.879376 0.018229 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.318210411] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.650,28.426,-0.312} [component_container_isolated-3] [DEBUG] [1762964970.318244176] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.001} {-0.606,28.371,-0.301} [component_container_isolated-3] [DEBUG] [1762964970.318297297] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.332984206] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.333035955] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.333077845] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.333126999] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000065 0.000002 0.000048 [component_container_isolated-3] -0.000065 1.000000 0.000081 0.000111 [component_container_isolated-3] -0.000002 -0.000081 1.000000 -0.000086 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.333154972] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.005,-0.005} {0.075,-0.061,-0.009} [component_container_isolated-3] [DEBUG] [1762964970.333207352] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.333254562] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.333296963] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981569 0.000068 0.191110 -0.006723 [component_container_isolated-3] -0.001773 0.999960 0.008754 0.059954 [component_container_isolated-3] -0.191101 -0.008931 0.981530 0.016804 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.333319476] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.521,11.017,-0.104} [component_container_isolated-3] [DEBUG] [1762964970.333349824] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.005,0.004} {-0.595,11.078,-0.095} [component_container_isolated-3] [DEBUG] [1762964970.333399238] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.337482887] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.337549595] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.337597025] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.337652952] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000005 0.000088 0.000005 [component_container_isolated-3] 0.000005 1.000000 0.000094 -0.000097 [component_container_isolated-3] -0.000088 -0.000094 1.000000 -0.000048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.337685194] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.002,0.003} {-0.076,0.026,-0.065} [component_container_isolated-3] [DEBUG] [1762964970.337780556] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.337857152] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.337917898] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982745 -0.000122 0.184968 -0.007133 [component_container_isolated-3] 0.000044 1.000000 0.000426 0.059620 [component_container_isolated-3] -0.184968 -0.000411 0.982745 0.016900 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.337986439] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.024,10.659,0.003} [component_container_isolated-3] [DEBUG] [1762964970.338028609] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.003} {0.064,10.633,0.068} [component_container_isolated-3] [DEBUG] [1762964970.338094355] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.343787077] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.343869454] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.343913117] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.343998040] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000032 0.000187 -0.000081 [component_container_isolated-3] 0.000032 1.000000 -0.000057 -0.000123 [component_container_isolated-3] -0.000187 0.000057 1.000000 0.000489 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.344028257] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.005,0.005} {-0.001,0.101,0.066} [component_container_isolated-3] [DEBUG] [1762964970.344083152] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.344125954] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.344162343] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979059 -0.000037 0.203576 -0.006615 [component_container_isolated-3] 0.002465 0.999929 -0.011672 0.059350 [component_container_isolated-3] -0.203561 0.011930 0.978990 0.018582 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.344184696] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.745,0.144} [component_container_isolated-3] [DEBUG] [1762964970.344214954] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.006} {0.686,11.645,0.075} [component_container_isolated-3] [DEBUG] [1762964970.344263216] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.349437718] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.349493064] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.349534683] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.349579679] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000041 0.000003 0.000040 [component_container_isolated-3] -0.000041 1.000000 -0.000135 -0.000020 [component_container_isolated-3] -0.000003 0.000135 1.000000 0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.349605609] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.001} {-0.030,0.055,-0.012} [component_container_isolated-3] [DEBUG] [1762964970.349654352] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.349697795] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.349733192] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879418 0.000149 0.476051 -0.001188 [component_container_isolated-3] -0.004830 0.999951 0.008609 0.060188 [component_container_isolated-3] -0.476026 -0.009870 0.879376 0.018237 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.349755876] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.643,28.426,-0.315} [component_container_isolated-3] [DEBUG] [1762964970.349787276] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.001} {-0.606,28.371,-0.301} [component_container_isolated-3] [DEBUG] [1762964970.349838704] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.366953088] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.367006400] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.367046988] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.367090441] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000036 0.000087 -0.000155 [component_container_isolated-3] 0.000036 1.000000 -0.000048 0.000277 [component_container_isolated-3] -0.000087 0.000048 1.000000 0.000312 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.367115879] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.005,-0.004} {0.078,-0.056,-0.007} [component_container_isolated-3] [DEBUG] [1762964970.367167117] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.367212634] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.367253231] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981552 0.000042 0.191195 -0.006711 [component_container_isolated-3] -0.001738 0.999961 0.008706 0.060060 [component_container_isolated-3] -0.191187 -0.008878 0.981514 0.016773 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.367277818] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.518,11.022,-0.101} [component_container_isolated-3] [DEBUG] [1762964970.367311994] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.005,0.004} {-0.595,11.078,-0.095} [component_container_isolated-3] [DEBUG] [1762964970.367365696] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.375853786] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.375909292] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.375980298] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.376026586] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000028 -0.000067 0.000086 [component_container_isolated-3] 0.000028 1.000000 -0.000036 -0.000049 [component_container_isolated-3] 0.000067 0.000036 1.000000 -0.000006 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.376052877] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.002,0.003} {-0.074,0.023,-0.063} [component_container_isolated-3] [DEBUG] [1762964970.376102752] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.376146485] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.376185089] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982757 -0.000143 0.184902 -0.007176 [component_container_isolated-3] 0.000072 1.000000 0.000390 0.059562 [component_container_isolated-3] -0.184903 -0.000370 0.982757 0.016870 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.376209285] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.022,10.655,0.004} [component_container_isolated-3] [DEBUG] [1762964970.376239663] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.003} {0.064,10.633,0.068} [component_container_isolated-3] [DEBUG] [1762964970.376289859] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.383838405] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.383903670] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.383972932] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.384019922] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000003 0.000125 0.000015 [component_container_isolated-3] 0.000003 1.000000 0.000147 0.000103 [component_container_isolated-3] -0.000125 -0.000147 1.000000 0.000294 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.384045010] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.005,0.006} {-0.010,0.108,0.067} [component_container_isolated-3] [DEBUG] [1762964970.384096167] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.384137977] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.384173044] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979034 -0.000071 0.203699 -0.006611 [component_container_isolated-3] 0.002470 0.999931 -0.011525 0.059357 [component_container_isolated-3] -0.203684 0.011787 0.978966 0.018704 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.384195998] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.752,0.145} [component_container_isolated-3] [DEBUG] [1762964970.384228951] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.006} {0.686,11.645,0.075} [component_container_isolated-3] [DEBUG] [1762964970.384280760] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.386563379] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.386618925] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.386660254] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.386704879] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000022 0.000004 -0.000007 [component_container_isolated-3] -0.000022 1.000000 0.000223 0.000062 [component_container_isolated-3] -0.000004 -0.000223 1.000000 -0.000047 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.386730889] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.001} {-0.043,0.056,-0.013} [component_container_isolated-3] [DEBUG] [1762964970.386780634] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.386827493] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.386867850] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879416 0.000062 0.476054 -0.001191 [component_container_isolated-3] -0.004852 0.999949 0.008832 0.060209 [component_container_isolated-3] -0.476029 -0.010077 0.879372 0.018224 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.386891165] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.657,28.426,-0.316} [component_container_isolated-3] [DEBUG] [1762964970.386958383] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.001} {-0.606,28.371,-0.301} [component_container_isolated-3] [DEBUG] [1762964970.387012827] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.401263843] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.401315863] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.401355328] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.401398641] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000155 0.000160 -0.000240 [component_container_isolated-3] -0.000155 1.000000 0.000048 0.000494 [component_container_isolated-3] -0.000160 -0.000048 1.000000 0.000545 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.401424380] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.006,-0.004} {0.075,-0.047,-0.016} [component_container_isolated-3] [DEBUG] [1762964970.401477041] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.401525423] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.401564558] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981522 0.000185 0.191352 -0.006704 [component_container_isolated-3] -0.001895 0.999960 0.008753 0.060286 [component_container_isolated-3] -0.191342 -0.008954 0.981483 0.016858 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.401588574] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.523,11.031,-0.111} [component_container_isolated-3] [DEBUG] [1762964970.401621907] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.005,0.004} {-0.595,11.078,-0.095} [component_container_isolated-3] [DEBUG] [1762964970.401673115] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.404268882] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.404326703] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.404364996] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.404408088] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000003 0.000125 0.000015 [component_container_isolated-3] 0.000003 1.000000 0.000147 0.000103 [component_container_isolated-3] -0.000125 -0.000147 1.000000 0.000294 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.404432835] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.006} {-0.018,0.115,0.067} [component_container_isolated-3] [DEBUG] [1762964970.404479835] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.404523248] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.404562323] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979034 -0.000071 0.203699 -0.006611 [component_container_isolated-3] 0.002470 0.999931 -0.011525 0.059357 [component_container_isolated-3] -0.203684 0.011787 0.978966 0.018704 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.404585597] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.752,0.145} [component_container_isolated-3] [DEBUG] [1762964970.404618610] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.006} {0.694,11.638,0.075} [component_container_isolated-3] [DEBUG] [1762964970.404669287] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.410879267] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.410984407] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.411026047] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.411069630] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000147 0.000233 0.000548 [component_container_isolated-3] -0.000147 1.000000 0.000185 0.000935 [component_container_isolated-3] -0.000233 -0.000185 1.000000 0.000941 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.411096071] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.003,0.003} {-0.085,0.036,-0.072} [component_container_isolated-3] [DEBUG] [1762964970.411145455] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.411190391] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.411228033] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 -0.000033 0.185132 -0.007074 [component_container_isolated-3] -0.000075 1.000000 0.000576 0.059707 [component_container_isolated-3] -0.185132 -0.000580 0.982714 0.017022 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.411250796] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.034,10.669,-0.004} [component_container_isolated-3] [DEBUG] [1762964970.411315931] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.004,-0.004} {0.064,10.633,0.068} [component_container_isolated-3] [DEBUG] [1762964970.411375224] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.422119322] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.422176331] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.422218652] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.422263508] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000021 0.000007 0.000206 [component_container_isolated-3] 0.000021 1.000000 -0.000261 -0.000055 [component_container_isolated-3] -0.000007 0.000261 1.000000 -0.000027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.422288976] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.001} {-0.028,0.056,-0.012} [component_container_isolated-3] [DEBUG] [1762964970.422338090] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.422380662] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.422416029] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879413 0.000168 0.476060 -0.001158 [component_container_isolated-3] -0.004830 0.999952 0.008571 0.060214 [component_container_isolated-3] -0.476036 -0.009837 0.879371 0.018219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.422438662] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.427,-0.315} [component_container_isolated-3] [DEBUG] [1762964970.422468920] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.001} {-0.606,28.371,-0.301} [component_container_isolated-3] [DEBUG] [1762964970.422548372] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.432114000] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.432171379] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.432213029] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.432258065] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000210 -0.000005 0.000162 [component_container_isolated-3] 0.000210 1.000000 0.000192 -0.001126 [component_container_isolated-3] 0.000005 -0.000192 1.000000 0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.432284345] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.004,-0.004} {0.064,-0.047,-0.004} [component_container_isolated-3] [DEBUG] [1762964970.432332577] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.432377072] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.432412760] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981523 -0.000059 0.191346 -0.006703 [component_container_isolated-3] -0.001684 0.999959 0.008946 0.060188 [component_container_isolated-3] -0.191339 -0.009103 0.981482 0.016886 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.432435083] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.531,11.031,-0.098} [component_container_isolated-3] [DEBUG] [1762964970.432465832] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.004,0.004} {-0.595,11.078,-0.095} [component_container_isolated-3] [DEBUG] [1762964970.432519885] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.436710278] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.436772025] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.436810569] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.436853361] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000003 0.000125 0.000015 [component_container_isolated-3] 0.000003 1.000000 0.000147 0.000103 [component_container_isolated-3] -0.000125 -0.000147 1.000000 0.000294 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.436877797] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.006} {-0.027,0.122,0.067} [component_container_isolated-3] [DEBUG] [1762964970.436885632] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.437033575] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.436976095] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.437080084] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.437130540] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.437184203] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000198 -0.000159 -0.000476 [component_container_isolated-3] 0.000198 1.000000 -0.000099 -0.001011 [component_container_isolated-3] 0.000159 0.000099 1.000000 -0.000932 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.437242805] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.002,0.003} {-0.079,0.027,-0.060} [component_container_isolated-3] [DEBUG] [1762964970.437216574] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979034 -0.000071 0.203699 -0.006611 [component_container_isolated-3] 0.002470 0.999931 -0.011525 0.059357 [component_container_isolated-3] -0.203684 0.011787 0.978966 0.018704 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.437322908] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.752,0.145} [component_container_isolated-3] [DEBUG] [1762964970.437357774] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.007} {0.702,11.631,0.075} [component_container_isolated-3] [DEBUG] [1762964970.437299673] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.437412288] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.437440773] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.437481731] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982743 -0.000209 0.184976 -0.007158 [component_container_isolated-3] 0.000123 1.000000 0.000477 0.059517 [component_container_isolated-3] -0.184976 -0.000446 0.982743 0.016904 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.437504354] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.026,10.660,0.007} [component_container_isolated-3] [DEBUG] [1762964970.437534862] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.003} {0.064,10.633,0.068} [component_container_isolated-3] [DEBUG] [1762964970.437584577] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.453113123] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.453170402] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.453210439] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.453253421] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000042 0.000112 -0.000228 [component_container_isolated-3] 0.000042 1.000000 0.000218 0.000045 [component_container_isolated-3] -0.000112 -0.000218 1.000000 0.000146 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.453278208] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.001} {-0.040,0.062,-0.009} [component_container_isolated-3] [DEBUG] [1762964970.453332322] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.453379822] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.453418907] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879359 0.000026 0.476159 -0.001161 [component_container_isolated-3] -0.004789 0.999950 0.008789 0.060229 [component_container_isolated-3] -0.476134 -0.010009 0.879316 0.018225 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.453442031] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.652,28.433,-0.312} [component_container_isolated-3] [DEBUG] [1762964970.453475084] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.001} {-0.606,28.371,-0.301} [component_container_isolated-3] [DEBUG] [1762964970.453526142] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.455361106] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.455418676] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.455456578] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.455499941] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000198 -0.000159 -0.000476 [component_container_isolated-3] 0.000198 1.000000 -0.000099 -0.001011 [component_container_isolated-3] 0.000159 0.000099 1.000000 -0.000932 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.455524959] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.001,0.002} {-0.073,0.018,-0.049} [component_container_isolated-3] [DEBUG] [1762964970.455574273] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.455619720] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.455659827] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982743 -0.000209 0.184976 -0.007158 [component_container_isolated-3] 0.000123 1.000000 0.000477 0.059517 [component_container_isolated-3] -0.184976 -0.000446 0.982743 0.016904 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.455683742] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.026,10.660,0.007} [component_container_isolated-3] [DEBUG] [1762964970.455717026] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.002,-0.002} {0.057,10.642,0.057} [component_container_isolated-3] [DEBUG] [1762964970.455768324] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.466412051] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.466470913] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.466511711] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.466557228] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000093 -0.000110 -0.000343 [component_container_isolated-3] -0.000093 1.000000 -0.000154 0.001056 [component_container_isolated-3] 0.000110 0.000154 1.000000 -0.000133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.466582637] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.005,-0.004} {0.073,-0.053,-0.009} [component_container_isolated-3] [DEBUG] [1762964970.466631610] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.466676786] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.466711903] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000062 0.191239 -0.006745 [component_container_isolated-3] -0.001776 0.999960 0.008792 0.060425 [component_container_isolated-3] -0.191231 -0.008970 0.981504 0.016918 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.466733705] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.524,11.025,-0.104} [component_container_isolated-3] [DEBUG] [1762964970.466763863] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.005,0.004} {-0.595,11.078,-0.095} [component_container_isolated-3] [DEBUG] [1762964970.466815371] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.484225099] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.484277389] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.484325461] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.484373733] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000025 -0.000097 0.000253 [component_container_isolated-3] 0.000025 1.000000 0.000059 -0.000023 [component_container_isolated-3] 0.000097 -0.000059 1.000000 -0.000179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.484400795] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.001} {-0.044,0.057,-0.008} [component_container_isolated-3] [DEBUG] [1762964970.484451161] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.484493462] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.484529451] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879405 -0.000024 0.476074 -0.001141 [component_container_isolated-3] -0.004763 0.999950 0.008848 0.060238 [component_container_isolated-3] -0.476050 -0.010049 0.879361 0.018198 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.484551753] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.655,28.428,-0.310} [component_container_isolated-3] [DEBUG] [1762964970.484583454] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.001} {-0.606,28.371,-0.301} [component_container_isolated-3] [DEBUG] [1762964970.484599534] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.484711568] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.484759981] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.484808233] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000043 -0.000188 0.000129 [component_container_isolated-3] -0.000043 1.000000 -0.000051 0.000128 [component_container_isolated-3] 0.000188 0.000051 1.000000 -0.000408 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.484834413] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.006} {-0.024,0.111,0.064} [component_container_isolated-3] [DEBUG] [1762964970.484895109] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.484968088] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.485011141] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979072 -0.000018 0.203514 -0.006617 [component_container_isolated-3] 0.002425 0.999930 -0.011577 0.059379 [component_container_isolated-3] -0.203500 0.011828 0.979004 0.018734 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.485041338] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.742,0.142} [component_container_isolated-3] [DEBUG] [1762964970.485081305] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.006} {0.702,11.631,0.075} [component_container_isolated-3] [DEBUG] [1762964970.484642657] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.485155847] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.492646432] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.492709923] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.492751793] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.492796980] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000198 -0.000159 -0.000476 [component_container_isolated-3] 0.000198 1.000000 -0.000099 -0.001011 [component_container_isolated-3] 0.000159 0.000099 1.000000 -0.000932 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.492822208] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.000,0.001} {-0.068,0.009,-0.038} [component_container_isolated-3] [DEBUG] [1762964970.492870610] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.492912590] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.492993515] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982743 -0.000209 0.184976 -0.007158 [component_container_isolated-3] 0.000123 1.000000 0.000477 0.059517 [component_container_isolated-3] -0.184976 -0.000446 0.982743 0.016904 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.493019344] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.026,10.660,0.007} [component_container_isolated-3] [DEBUG] [1762964970.493052117] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.001,-0.002} {0.049,10.651,0.045} [component_container_isolated-3] [DEBUG] [1762964970.493105569] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.500697778] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.500757703] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.500798551] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.500843116] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000025 -0.000097 0.000253 [component_container_isolated-3] 0.000025 1.000000 0.000059 -0.000023 [component_container_isolated-3] 0.000097 -0.000059 1.000000 -0.000179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.500868284] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.001} {-0.047,0.051,-0.006} [component_container_isolated-3] [DEBUG] [1762964970.500916867] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.500995807] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.501033079] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879405 -0.000024 0.476074 -0.001141 [component_container_isolated-3] -0.004763 0.999950 0.008848 0.060238 [component_container_isolated-3] -0.476050 -0.010049 0.879361 0.018198 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.501056884] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.655,28.428,-0.310} [component_container_isolated-3] [DEBUG] [1762964970.501087142] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.001} {-0.604,28.377,-0.302} [component_container_isolated-3] [DEBUG] [1762964970.501135745] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.517876576] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.517960887] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.518004400] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.518050157] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000001 0.000005 0.000291 [component_container_isolated-3] 0.000001 1.000000 0.000024 -0.000533 [component_container_isolated-3] -0.000005 -0.000024 1.000000 -0.000385 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.518076317] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.005,-0.004} {0.071,-0.053,-0.009} [component_container_isolated-3] [DEBUG] [1762964970.518127164] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.518171278] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.518210603] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 0.000056 0.191244 -0.006747 [component_container_isolated-3] -0.001775 0.999959 0.008817 0.060437 [component_container_isolated-3] -0.191236 -0.008993 0.981503 0.016866 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.518236323] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.525,11.025,-0.104} [component_container_isolated-3] [DEBUG] [1762964970.518268845] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.005,0.004} {-0.595,11.078,-0.095} [component_container_isolated-3] [DEBUG] [1762964970.518318890] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.522808625] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.522857939] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.522896011] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.522970103] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000001 0.000005 0.000291 [component_container_isolated-3] 0.000001 1.000000 0.000024 -0.000533 [component_container_isolated-3] -0.000005 -0.000024 1.000000 -0.000385 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.522996343] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.004,-0.005} {0.070,-0.053,-0.009} [component_container_isolated-3] [DEBUG] [1762964970.523044816] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.523090302] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.523129036] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 0.000056 0.191244 -0.006747 [component_container_isolated-3] -0.001775 0.999959 0.008817 0.060437 [component_container_isolated-3] -0.191236 -0.008993 0.981503 0.016866 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.523153483] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.525,11.025,-0.104} [component_container_isolated-3] [DEBUG] [1762964970.523185224] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.004,0.005} {-0.593,11.078,-0.095} [component_container_isolated-3] [DEBUG] [1762964970.523250508] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.524095622] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.524147031] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.524186907] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.524230320] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000031 -0.000140 -0.000088 [component_container_isolated-3] -0.000031 1.000000 0.000052 0.000292 [component_container_isolated-3] 0.000140 -0.000052 1.000000 -0.000479 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.524255838] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.005} {-0.027,0.103,0.063} [component_container_isolated-3] [DEBUG] [1762964970.524303349] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.524348285] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.524387630] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979101 0.000001 0.203377 -0.006652 [component_container_isolated-3] 0.002393 0.999931 -0.011525 0.059457 [component_container_isolated-3] -0.203363 0.011771 0.979033 0.018660 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.524411456] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.734,0.140} [component_container_isolated-3] [DEBUG] [1762964970.524443747] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.006} {0.702,11.631,0.075} [component_container_isolated-3] [DEBUG] [1762964970.524492601] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.530260275] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.530313727] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.530352431] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.530424058] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000198 -0.000159 -0.000476 [component_container_isolated-3] 0.000198 1.000000 -0.000099 -0.001011 [component_container_isolated-3] 0.000159 0.000099 1.000000 -0.000932 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.530449126] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.001,-0.000} {-0.062,-0.000,-0.026} [component_container_isolated-3] [DEBUG] [1762964970.530497268] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.530540250] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.530579926] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982743 -0.000209 0.184976 -0.007158 [component_container_isolated-3] 0.000123 1.000000 0.000477 0.059517 [component_container_isolated-3] -0.184976 -0.000446 0.982743 0.016904 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.530604343] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.026,10.660,0.007} [component_container_isolated-3] [DEBUG] [1762964970.530635632] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.000,-0.001} {0.041,10.660,0.034} [component_container_isolated-3] [DEBUG] [1762964970.530685257] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.536657032] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.536718499] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.536761100] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.536807379] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000031 -0.000140 -0.000088 [component_container_isolated-3] -0.000031 1.000000 0.000052 0.000292 [component_container_isolated-3] 0.000140 -0.000052 1.000000 -0.000479 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.536832397] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.005} {-0.030,0.095,0.061} [component_container_isolated-3] [DEBUG] [1762964970.536880518] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.536946995] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.536986090] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979101 0.000001 0.203377 -0.006652 [component_container_isolated-3] 0.002393 0.999931 -0.011525 0.059457 [component_container_isolated-3] -0.203363 0.011771 0.979033 0.018660 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.537009294] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.734,0.140} [component_container_isolated-3] [DEBUG] [1762964970.537039572] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.003,-0.005} {0.706,11.639,0.077} [component_container_isolated-3] [DEBUG] [1762964970.537097934] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.541888743] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.541987281] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.542029101] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.542075901] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000025 -0.000097 0.000253 [component_container_isolated-3] 0.000025 1.000000 0.000059 -0.000023 [component_container_isolated-3] 0.000097 -0.000059 1.000000 -0.000179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.542102411] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.051,0.046,-0.005} [component_container_isolated-3] [DEBUG] [1762964970.542152787] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.542194757] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.542232189] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879405 -0.000024 0.476074 -0.001141 [component_container_isolated-3] -0.004763 0.999950 0.008848 0.060238 [component_container_isolated-3] -0.476050 -0.010049 0.879361 0.018198 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.542257257] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.655,28.428,-0.310} [component_container_isolated-3] [DEBUG] [1762964970.542290791] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.001} {-0.601,28.382,-0.304} [component_container_isolated-3] [DEBUG] [1762964970.542341267] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.553514586] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.553567296] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.553602083] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.553652188] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000198 -0.000159 -0.000476 [component_container_isolated-3] 0.000198 1.000000 -0.000099 -0.001011 [component_container_isolated-3] 0.000159 0.000099 1.000000 -0.000932 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.553678058] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.002,-0.001} {-0.056,-0.009,-0.015} [component_container_isolated-3] [DEBUG] [1762964970.553727182] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.553769322] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.553804990] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982743 -0.000209 0.184976 -0.007158 [component_container_isolated-3] 0.000123 1.000000 0.000477 0.059517 [component_container_isolated-3] -0.184976 -0.000446 0.982743 0.016904 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.553826942] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.026,10.660,0.007} [component_container_isolated-3] [DEBUG] [1762964970.553857741] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.001,0.000} {0.033,10.669,0.022} [component_container_isolated-3] [DEBUG] [1762964970.553909079] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.564221904] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.564275907] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.564313339] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.564356200] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000012 -0.000116 0.000506 [component_container_isolated-3] -0.000012 1.000000 0.000022 0.000130 [component_container_isolated-3] 0.000116 -0.000022 1.000000 -0.000308 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.564382461] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.005,-0.005} {0.069,-0.059,-0.010} [component_container_isolated-3] [DEBUG] [1762964970.564433298] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.564478985] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.564518891] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981565 0.000064 0.191130 -0.006648 [component_container_isolated-3] -0.001786 0.999959 0.008839 0.060457 [component_container_isolated-3] -0.191122 -0.009017 0.981525 0.016748 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.564542887] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.526,11.018,-0.104} [component_container_isolated-3] [DEBUG] [1762964970.564574297] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.004,0.005} {-0.593,11.078,-0.095} [component_container_isolated-3] [DEBUG] [1762964970.564623190] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.566752577] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.566806059] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.566846216] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.566889037] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000025 -0.000097 0.000253 [component_container_isolated-3] 0.000025 1.000000 0.000059 -0.000023 [component_container_isolated-3] 0.000097 -0.000059 1.000000 -0.000179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.566915578] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.054,0.040,-0.003} [component_container_isolated-3] [DEBUG] [1762964970.567001001] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.567042350] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.567078840] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879405 -0.000024 0.476074 -0.001141 [component_container_isolated-3] -0.004763 0.999950 0.008848 0.060238 [component_container_isolated-3] -0.476050 -0.010049 0.879361 0.018198 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.567102756] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.655,28.428,-0.310} [component_container_isolated-3] [DEBUG] [1762964970.567135568] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.599,28.388,-0.306} [component_container_isolated-3] [DEBUG] [1762964970.567186546] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.589965057] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.590019832] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.590058956] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.590103582] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000033 0.000254 0.000147 [component_container_isolated-3] 0.000033 1.000000 -0.000085 -0.000154 [component_container_isolated-3] -0.000254 0.000085 1.000000 0.000917 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.590128790] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.006} {-0.025,0.110,0.063} [component_container_isolated-3] [DEBUG] [1762964970.590177162] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.590217790] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.590252306] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979049 -0.000014 0.203625 -0.006613 [component_container_isolated-3] 0.002429 0.999930 -0.011609 0.059480 [component_container_isolated-3] -0.203611 0.011861 0.978980 0.018838 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.590275179] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.748,0.142} [component_container_isolated-3] [DEBUG] [1762964970.590307040] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.006} {0.706,11.639,0.077} [component_container_isolated-3] [DEBUG] [1762964970.590358388] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.599419062] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.599478295] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.599518863] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.599561995] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000033 0.000254 0.000147 [component_container_isolated-3] 0.000033 1.000000 -0.000085 -0.000154 [component_container_isolated-3] -0.000254 0.000085 1.000000 0.000917 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.599587434] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.007} {-0.020,0.124,0.065} [component_container_isolated-3] [DEBUG] [1762964970.599634463] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.599674800] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.599709527] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979049 -0.000014 0.203625 -0.006613 [component_container_isolated-3] 0.002429 0.999930 -0.011609 0.059480 [component_container_isolated-3] -0.203611 0.011861 0.978980 0.018838 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.599731248] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.748,0.142} [component_container_isolated-3] [DEBUG] [1762964970.599760815] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.007} {0.701,11.625,0.074} [component_container_isolated-3] [DEBUG] [1762964970.599812664] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.601656335] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.601716930] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.601756506] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.601800179] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000019 0.000114 -0.000402 [component_container_isolated-3] -0.000019 1.000000 0.000118 0.000145 [component_container_isolated-3] -0.000114 -0.000118 1.000000 0.000531 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.601825508] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.005,-0.004} {0.062,-0.053,-0.011} [component_container_isolated-3] [DEBUG] [1762964970.601875543] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.601952420] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.601991375] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 0.000059 0.191242 -0.006638 [component_container_isolated-3] -0.001806 0.999958 0.008957 0.060499 [component_container_isolated-3] -0.191233 -0.009137 0.981502 0.016764 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.602016052] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.533,11.025,-0.105} [component_container_isolated-3] [DEBUG] [1762964970.602049215] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.004,0.004} {-0.593,11.078,-0.095} [component_container_isolated-3] [DEBUG] [1762964970.602102056] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.605671392] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.605724103] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.605764019] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.605808404] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000025 -0.000097 0.000253 [component_container_isolated-3] 0.000025 1.000000 0.000059 -0.000023 [component_container_isolated-3] 0.000097 -0.000059 1.000000 -0.000179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.605834644] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.057,0.035,-0.002} [component_container_isolated-3] [DEBUG] [1762964970.605881975] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.605961707] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.606004128] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879405 -0.000024 0.476074 -0.001141 [component_container_isolated-3] -0.004763 0.999950 0.008848 0.060238 [component_container_isolated-3] -0.476050 -0.010049 0.879361 0.018198 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.606028534] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.655,28.428,-0.310} [component_container_isolated-3] [DEBUG] [1762964970.606061748] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.596,28.393,-0.308} [component_container_isolated-3] [DEBUG] [1762964970.606115000] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.608589345] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.608648037] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.608690809] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.608737488] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000220 0.000208 0.000389 [component_container_isolated-3] -0.000220 1.000000 -0.000029 0.001114 [component_container_isolated-3] -0.000208 0.000029 1.000000 0.000978 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.608765241] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.001,-0.000} {-0.055,0.002,-0.027} [component_container_isolated-3] [DEBUG] [1762964970.608814796] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.608858479] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.608895380] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 0.000012 0.185180 -0.007082 [component_container_isolated-3] -0.000096 1.000000 0.000448 0.059710 [component_container_isolated-3] -0.185180 -0.000458 0.982705 0.017064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.608954182] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.027,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964970.608990070] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,0.000,-0.001} {0.033,10.669,0.022} [component_container_isolated-3] [DEBUG] [1762964970.609051818] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.616593461] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.616645230] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.616687621] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.616731996] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000019 0.000114 -0.000402 [component_container_isolated-3] -0.000019 1.000000 0.000118 0.000145 [component_container_isolated-3] -0.000114 -0.000118 1.000000 0.000531 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.616756522] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.005,-0.004} {0.055,-0.046,-0.012} [component_container_isolated-3] [DEBUG] [1762964970.616805015] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.616847646] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.616882994] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 0.000059 0.191242 -0.006638 [component_container_isolated-3] -0.001806 0.999958 0.008957 0.060499 [component_container_isolated-3] -0.191233 -0.009137 0.981502 0.016764 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.616905697] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.533,11.025,-0.105} [component_container_isolated-3] [DEBUG] [1762964970.616985049] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.004,0.004} {-0.586,11.071,-0.094} [component_container_isolated-3] [DEBUG] [1762964970.617041366] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.626494850] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.626548393] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.626589511] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.626634096] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000220 0.000208 0.000389 [component_container_isolated-3] -0.000220 1.000000 -0.000029 0.001114 [component_container_isolated-3] -0.000208 0.000029 1.000000 0.000978 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.626658864] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.000,0.001} {-0.053,0.014,-0.040} [component_container_isolated-3] [DEBUG] [1762964970.626705523] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.626746912] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.626796587] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 0.000012 0.185180 -0.007082 [component_container_isolated-3] -0.000096 1.000000 0.000448 0.059710 [component_container_isolated-3] -0.185180 -0.000458 0.982705 0.017064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.626819941] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.027,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964970.626854036] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.001,-0.001} {0.034,10.657,0.035} [component_container_isolated-3] [DEBUG] [1762964970.626966651] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.634894792] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.634978292] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.635021454] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.635065598] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000025 -0.000097 0.000253 [component_container_isolated-3] 0.000025 1.000000 0.000059 -0.000023 [component_container_isolated-3] 0.000097 -0.000059 1.000000 -0.000179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.635091237] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.061,0.029,-0.001} [component_container_isolated-3] [DEBUG] [1762964970.635139509] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.635181019] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.635216106] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879405 -0.000024 0.476074 -0.001141 [component_container_isolated-3] -0.004763 0.999950 0.008848 0.060238 [component_container_isolated-3] -0.476050 -0.010049 0.879361 0.018198 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.635238188] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.655,28.428,-0.310} [component_container_isolated-3] [DEBUG] [1762964970.635268876] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.635321347] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.647988819] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.648039345] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.648080674] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.648125379] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000019 0.000114 -0.000402 [component_container_isolated-3] -0.000019 1.000000 0.000118 0.000145 [component_container_isolated-3] -0.000114 -0.000118 1.000000 0.000531 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.648150267] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.005,-0.003} {0.048,-0.040,-0.013} [component_container_isolated-3] [DEBUG] [1762964970.648198760] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.648241401] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.648276758] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 0.000059 0.191242 -0.006638 [component_container_isolated-3] -0.001806 0.999958 0.008957 0.060499 [component_container_isolated-3] -0.191233 -0.009137 0.981502 0.016764 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.648299662] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.533,11.025,-0.105} [component_container_isolated-3] [DEBUG] [1762964970.648329429] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.005,0.003} {-0.579,11.065,-0.093} [component_container_isolated-3] [DEBUG] [1762964970.648383392] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.657445779] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.657510573] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.657552793] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.657599503] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000020 -0.000058 -0.000460 [component_container_isolated-3] -0.000020 1.000000 -0.000050 -0.000232 [component_container_isolated-3] 0.000058 0.000050 1.000000 -0.000495 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.657625643] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.004,0.006} {-0.017,0.121,0.064} [component_container_isolated-3] [DEBUG] [1762964970.657674746] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.657721275] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.657759929] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979061 0.000016 0.203568 -0.006703 [component_container_isolated-3] 0.002408 0.999929 -0.011660 0.059473 [component_container_isolated-3] -0.203554 0.011906 0.978991 0.018852 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.657783614] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.697,11.745,0.141} [component_container_isolated-3] [DEBUG] [1762964970.657814503] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.007} {0.701,11.625,0.074} [component_container_isolated-3] [DEBUG] [1762964970.657864168] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.670907498] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.670994794] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.671035783] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.671085919] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000142 -0.000177 -0.000134 [component_container_isolated-3] 0.000142 1.000000 -0.000026 -0.000665 [component_container_isolated-3] 0.000177 0.000026 1.000000 -0.000772 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.671113341] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,-0.000} {-0.052,0.004,-0.032} [component_container_isolated-3] [DEBUG] [1762964970.671164008] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.671206799] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.671251645] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982737 -0.000123 0.185006 -0.007106 [component_container_isolated-3] 0.000046 1.000000 0.000422 0.059661 [component_container_isolated-3] -0.185006 -0.000406 0.982737 0.016986 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.671270641] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.024,10.661,0.003} [component_container_isolated-3] [DEBUG] [1762964970.671292563] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.000,-0.001} {0.034,10.657,0.035} [component_container_isolated-3] [DEBUG] [1762964970.671333241] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.683798917] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.683855696] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.683895542] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.683960295] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000019 0.000114 -0.000402 [component_container_isolated-3] -0.000019 1.000000 0.000118 0.000145 [component_container_isolated-3] -0.000114 -0.000118 1.000000 0.000531 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.683987097] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.005,-0.003} {0.042,-0.033,-0.014} [component_container_isolated-3] [DEBUG] [1762964970.684035860] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.684082058] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.684120131] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 0.000059 0.191242 -0.006638 [component_container_isolated-3] -0.001806 0.999958 0.008957 0.060499 [component_container_isolated-3] -0.191233 -0.009137 0.981502 0.016764 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.684144337] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.533,11.025,-0.105} [component_container_isolated-3] [DEBUG] [1762964970.684175506] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.005,0.002} {-0.572,11.058,-0.091} [component_container_isolated-3] [DEBUG] [1762964970.684225342] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.686424732] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.686490598] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.686533209] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.686580760] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000025 -0.000023 0.000169 [component_container_isolated-3] 0.000025 1.000000 0.000073 -0.000130 [component_container_isolated-3] 0.000023 -0.000073 1.000000 0.000077 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.686608272] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.006} {-0.021,0.120,0.065} [component_container_isolated-3] [DEBUG] [1762964970.686661945] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.686708925] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.686749272] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979065 -0.000023 0.203546 -0.006729 [component_container_isolated-3] 0.002432 0.999930 -0.011587 0.059451 [component_container_isolated-3] -0.203531 0.011839 0.978997 0.018858 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.686773197] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.744,0.142} [component_container_isolated-3] [DEBUG] [1762964970.686804207] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.007} {0.701,11.625,0.074} [component_container_isolated-3] [DEBUG] [1762964970.686853851] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.688990191] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.689044114] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.689091725] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.689140248] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000033 0.000008 -0.000248 [component_container_isolated-3] -0.000033 1.000000 -0.000140 -0.000014 [component_container_isolated-3] -0.000008 0.000140 1.000000 0.000106 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.689167680] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.053,0.030,-0.002} [component_container_isolated-3] [DEBUG] [1762964970.689219980] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.689266048] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.689307367] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000071 0.476080 -0.001141 [component_container_isolated-3] -0.004796 0.999951 0.008708 0.060242 [component_container_isolated-3] -0.476056 -0.009941 0.879359 0.018213 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.689331814] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.648,28.428,-0.312} [component_container_isolated-3] [DEBUG] [1762964970.689362322] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.689411666] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.705586496] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.705652913] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.705692889] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.705735521] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000025 -0.000097 -0.000481 [component_container_isolated-3] -0.000025 1.000000 -0.000038 -0.000284 [component_container_isolated-3] 0.000097 0.000038 1.000000 -0.000224 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.705760719] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,-0.000,-0.000} {-0.049,-0.001,-0.033} [component_container_isolated-3] [DEBUG] [1762964970.705809392] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.705851292] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.705887461] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982755 -0.000091 0.184910 -0.007217 [component_container_isolated-3] 0.000020 1.000000 0.000384 0.059579 [component_container_isolated-3] -0.184910 -0.000373 0.982755 0.016924 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.705910806] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.022,10.656,0.001} [component_container_isolated-3] [DEBUG] [1762964970.705995267] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,0.000,-0.001} {0.034,10.657,0.035} [component_container_isolated-3] [DEBUG] [1762964970.706079728] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.712706594] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.712764545] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.712802898] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.712847253] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000003 0.000010 -0.000051 [component_container_isolated-3] -0.000003 1.000000 0.000018 0.000040 [component_container_isolated-3] -0.000010 -0.000018 1.000000 -0.000036 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.712871459] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.054,0.030,-0.003} [component_container_isolated-3] [DEBUG] [1762964970.712955439] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.713004182] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.713044589] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879397 0.000065 0.476089 -0.001151 [component_container_isolated-3] -0.004798 0.999950 0.008726 0.060253 [component_container_isolated-3] -0.476065 -0.009958 0.879354 0.018217 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.713069056] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.649,28.429,-0.313} [component_container_isolated-3] [DEBUG] [1762964970.713100336] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.713148468] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.715290669] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.715348820] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.715388926] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.715433732] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000019 0.000114 -0.000402 [component_container_isolated-3] -0.000019 1.000000 0.000118 0.000145 [component_container_isolated-3] -0.000114 -0.000118 1.000000 0.000531 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.715460794] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.005,-0.002} {0.035,-0.027,-0.015} [component_container_isolated-3] [DEBUG] [1762964970.715511881] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.715555875] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.715591383] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 0.000059 0.191242 -0.006638 [component_container_isolated-3] -0.001806 0.999958 0.008957 0.060499 [component_container_isolated-3] -0.191233 -0.009137 0.981502 0.016764 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.715613786] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.533,11.025,-0.105} [component_container_isolated-3] [DEBUG] [1762964970.715643773] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.002} {-0.565,11.052,-0.090} [component_container_isolated-3] [DEBUG] [1762964970.715693628] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.726525565] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.726587182] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.726627129] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.726672285] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000075 0.000126 -0.000050 [component_container_isolated-3] 0.000075 1.000000 -0.000024 -0.000018 [component_container_isolated-3] -0.000126 0.000024 1.000000 0.000274 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.726697814] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.004,0.007} {-0.020,0.127,0.069} [component_container_isolated-3] [DEBUG] [1762964970.726746777] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.726788828] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.726825588] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979040 -0.000092 0.203670 -0.006743 [component_container_isolated-3] 0.002509 0.999930 -0.011611 0.059432 [component_container_isolated-3] -0.203654 0.011878 0.978971 0.018916 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.726850515] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.695,11.751,0.147} [component_container_isolated-3] [DEBUG] [1762964970.726883118] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.007} {0.701,11.625,0.074} [component_container_isolated-3] [DEBUG] [1762964970.726962830] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.749017629] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.749074868] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.749114524] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.749160893] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000017 -0.000000 -0.000156 [component_container_isolated-3] 0.000017 1.000000 0.000041 -0.000040 [component_container_isolated-3] 0.000000 -0.000041 1.000000 0.000133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.749186201] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.004,0.007} {-0.022,0.127,0.070} [component_container_isolated-3] [DEBUG] [1762964970.749234343] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.749277616] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.749314055] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979040 -0.000117 0.203669 -0.006780 [component_container_isolated-3] 0.002526 0.999930 -0.011569 0.059412 [component_container_isolated-3] -0.203654 0.011841 0.978971 0.018977 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.749337029] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.693,11.751,0.148} [component_container_isolated-3] [DEBUG] [1762964970.749367147] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.007} {0.701,11.625,0.074} [component_container_isolated-3] [DEBUG] [1762964970.749425187] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.749456778] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.749509088] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.749549305] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.749597296] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000019 0.000114 -0.000402 [component_container_isolated-3] -0.000019 1.000000 0.000118 0.000145 [component_container_isolated-3] -0.000114 -0.000118 1.000000 0.000531 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.749624528] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.005,-0.002} {0.028,-0.020,-0.016} [component_container_isolated-3] [DEBUG] [1762964970.749672440] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.749714280] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.749750599] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 0.000059 0.191242 -0.006638 [component_container_isolated-3] -0.001806 0.999958 0.008957 0.060499 [component_container_isolated-3] -0.191233 -0.009137 0.981502 0.016764 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.749773282] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.533,11.025,-0.105} [component_container_isolated-3] [DEBUG] [1762964970.749803600] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.001} {-0.558,11.045,-0.089} [component_container_isolated-3] [DEBUG] [1762964970.749852013] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.754028028] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.754082201] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.754121336] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.754166262] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000055 0.000020 0.000062 [component_container_isolated-3] 0.000055 1.000000 0.000001 -0.000049 [component_container_isolated-3] -0.000020 -0.000001 1.000000 0.000049 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.754191670] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.054,0.031,0.001} [component_container_isolated-3] [DEBUG] [1762964970.754241005] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.754283025] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.754323933] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879388 0.000016 0.476107 -0.001154 [component_container_isolated-3] -0.004743 0.999951 0.008727 0.060257 [component_container_isolated-3] -0.476083 -0.009933 0.879344 0.018224 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.754348670] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.430,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.754382845] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.754450154] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.755386562] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.755447589] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.755492515] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.755541438] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000127 0.000240 0.000562 [component_container_isolated-3] -0.000127 1.000000 0.000100 0.000838 [component_container_isolated-3] -0.000240 -0.000100 1.000000 0.000977 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.755569311] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.000,0.001} {-0.055,0.012,-0.041} [component_container_isolated-3] [DEBUG] [1762964970.755627713] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.755681866] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.755712625] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 0.000015 0.185147 -0.007138 [component_container_isolated-3] -0.000107 1.000000 0.000484 0.059705 [component_container_isolated-3] -0.185147 -0.000495 0.982711 0.017078 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.755731501] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.670,-0.006} [component_container_isolated-3] [DEBUG] [1762964970.755754114] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.001,-0.001} {0.034,10.657,0.035} [component_container_isolated-3] [DEBUG] [1762964970.755793109] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.762101606] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.762154958] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.762190476] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.762245221] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000127 0.000240 0.000562 [component_container_isolated-3] -0.000127 1.000000 0.000100 0.000838 [component_container_isolated-3] -0.000240 -0.000100 1.000000 0.000977 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.762269848] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.001,0.002} {-0.061,0.026,-0.048} [component_container_isolated-3] [DEBUG] [1762964970.762311798] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.762346815] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.762385428] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 0.000015 0.185147 -0.007138 [component_container_isolated-3] -0.000107 1.000000 0.000484 0.059705 [component_container_isolated-3] -0.185147 -0.000495 0.982711 0.017078 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.762413983] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.670,-0.006} [component_container_isolated-3] [DEBUG] [1762964970.762438800] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.041,10.643,0.043} [component_container_isolated-3] [DEBUG] [1762964970.762480270] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.783544607] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.783601366] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.783642184] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.783686939] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 -0.000108 0.000186 [component_container_isolated-3] -0.000027 1.000000 -0.000046 0.000048 [component_container_isolated-3] 0.000108 0.000046 1.000000 -0.000196 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.783713169] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.007} {-0.020,0.121,0.069} [component_container_isolated-3] [DEBUG] [1762964970.783761672] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.783802059] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.783837457] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979062 -0.000081 0.203563 -0.006792 [component_container_isolated-3] 0.002498 0.999929 -0.011616 0.059399 [component_container_isolated-3] -0.203548 0.011881 0.978993 0.019002 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.783859028] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.695,11.745,0.146} [component_container_isolated-3] [DEBUG] [1762964970.783891750] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.007} {0.701,11.625,0.074} [component_container_isolated-3] [DEBUG] [1762964970.783985029] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.787270503] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.787323504] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.787362499] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.787407464] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000065 0.000011 -0.000017 [component_container_isolated-3] -0.000065 1.000000 0.000015 0.000068 [component_container_isolated-3] -0.000011 -0.000015 1.000000 -0.000020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.787432753] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.055,0.032,-0.003} [component_container_isolated-3] [DEBUG] [1762964970.787481035] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.787561238] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.787602557] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879382 0.000066 0.476117 -0.001153 [component_container_isolated-3] -0.004809 0.999950 0.008742 0.060269 [component_container_isolated-3] -0.476092 -0.009977 0.879339 0.018225 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.787625781] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.650,28.430,-0.313} [component_container_isolated-3] [DEBUG] [1762964970.787656630] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.787709251] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.800020072] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.800085757] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.800125934] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.800168756] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000019 -0.000039 -0.000251 [component_container_isolated-3] 0.000019 1.000000 0.000005 -0.000196 [component_container_isolated-3] 0.000039 -0.000005 1.000000 0.000182 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.800194034] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.005,-0.002} {0.028,-0.023,-0.015} [component_container_isolated-3] [DEBUG] [1762964970.800241805] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.800285959] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.800323130] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981550 0.000040 0.191204 -0.006669 [component_container_isolated-3] -0.001787 0.999958 0.008962 0.060509 [component_container_isolated-3] -0.191195 -0.009139 0.981509 0.016812 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.800348248] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.533,11.023,-0.104} [component_container_isolated-3] [DEBUG] [1762964970.800381832] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.001} {-0.558,11.045,-0.089} [component_container_isolated-3] [DEBUG] [1762964970.800431668] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.805959625] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.806023877] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.806065256] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.806111234] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000064 -0.000121 -0.000236 [component_container_isolated-3] 0.000064 1.000000 0.000077 -0.000166 [component_container_isolated-3] 0.000121 -0.000077 1.000000 -0.000255 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.806137625] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.001,0.001} {-0.065,0.019,-0.044} [component_container_isolated-3] [DEBUG] [1762964970.806187911] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.806231043] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.806271590] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982733 -0.000062 0.185028 -0.007153 [component_container_isolated-3] -0.000043 1.000000 0.000561 0.059725 [component_container_isolated-3] -0.185028 -0.000559 0.982733 0.017096 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.806296348] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.663,-0.002} [component_container_isolated-3] [DEBUG] [1762964970.806329661] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.041,10.643,0.043} [component_container_isolated-3] [DEBUG] [1762964970.806380068] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.807507611] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.807558027] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.807596471] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.807639132] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 -0.000108 0.000186 [component_container_isolated-3] -0.000027 1.000000 -0.000046 0.000048 [component_container_isolated-3] 0.000108 0.000046 1.000000 -0.000196 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.807662817] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.006} {-0.017,0.115,0.067} [component_container_isolated-3] [DEBUG] [1762964970.807709767] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.807749914] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.807784359] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979062 -0.000081 0.203563 -0.006792 [component_container_isolated-3] 0.002498 0.999929 -0.011616 0.059399 [component_container_isolated-3] -0.203548 0.011881 0.978993 0.019002 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.807806341] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.695,11.745,0.146} [component_container_isolated-3] [DEBUG] [1762964970.807836138] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.006} {0.698,11.631,0.076} [component_container_isolated-3] [DEBUG] [1762964970.807887136] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.815252552] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.815310232] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.815349237] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.815392910] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000065 -0.000005 0.000018 [component_container_isolated-3] 0.000065 1.000000 0.000081 -0.000041 [component_container_isolated-3] 0.000005 -0.000081 1.000000 0.000067 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.815417587] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.059,0.032,0.001} [component_container_isolated-3] [DEBUG] [1762964970.815465228] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.815506647] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.815544009] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879385 -0.000030 0.476112 -0.001155 [component_container_isolated-3] -0.004743 0.999950 0.008824 0.060275 [component_container_isolated-3] -0.476088 -0.010018 0.879341 0.018233 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.815567704] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.653,28.430,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.815600957] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.815652957] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.822089288] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.822142841] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.822183538] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.822226490] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000064 -0.000121 -0.000236 [component_container_isolated-3] 0.000064 1.000000 0.000077 -0.000166 [component_container_isolated-3] 0.000121 -0.000077 1.000000 -0.000255 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.822252340] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.001,0.001} {-0.070,0.012,-0.041} [component_container_isolated-3] [DEBUG] [1762964970.822300532] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.822343193] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.822378861] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982733 -0.000062 0.185028 -0.007153 [component_container_isolated-3] -0.000043 1.000000 0.000561 0.059725 [component_container_isolated-3] -0.185028 -0.000559 0.982733 0.017096 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.822402857] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.663,-0.002} [component_container_isolated-3] [DEBUG] [1762964970.822436101] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.001,-0.002} {0.045,10.650,0.039} [component_container_isolated-3] [DEBUG] [1762964970.822488080] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.834784052] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.834848185] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.834888702] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.834970759] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000063 0.000216 -0.000135 [component_container_isolated-3] 0.000063 1.000000 -0.000180 -0.000458 [component_container_isolated-3] -0.000216 0.000180 1.000000 0.000335 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.834999153] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.005,-0.001} {0.038,-0.010,-0.011} [component_container_isolated-3] [DEBUG] [1762964970.835054118] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.835102791] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.835142617] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981509 0.000012 0.191415 -0.006693 [component_container_isolated-3] -0.001725 0.999960 0.008782 0.060424 [component_container_isolated-3] -0.191408 -0.008950 0.981470 0.016932 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.835168176] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.522,11.035,-0.101} [component_container_isolated-3] [DEBUG] [1762964970.835199275] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.001} {-0.558,11.045,-0.089} [component_container_isolated-3] [DEBUG] [1762964970.835250653] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.850015791] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.850079513] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.850121223] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.850164786] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 -0.000039 -0.000044 [component_container_isolated-3] -0.000037 1.000000 -0.000121 -0.000027 [component_container_isolated-3] 0.000039 0.000121 1.000000 -0.000015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.850189663] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.052,0.029,-0.001} [component_container_isolated-3] [DEBUG] [1762964970.850238727] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.850280857] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.850317297] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879404 0.000060 0.476077 -0.001154 [component_container_isolated-3] -0.004779 0.999951 0.008702 0.060275 [component_container_isolated-3] -0.476053 -0.009928 0.879360 0.018247 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.850342235] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.647,28.428,-0.311} [component_container_isolated-3] [DEBUG] [1762964970.850374747] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.850424191] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.860299871] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.860356269] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.860397999] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.860444017] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000008 -0.000086 0.000055 [component_container_isolated-3] 0.000008 1.000000 -0.000037 0.000089 [component_container_isolated-3] 0.000086 0.000037 1.000000 -0.000458 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.860471499] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.006} {-0.015,0.110,0.068} [component_container_isolated-3] [DEBUG] [1762964970.860523949] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.860570057] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.860608841] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 -0.000081 0.203480 -0.006813 [component_container_isolated-3] 0.002505 0.999929 -0.011653 0.059398 [component_container_isolated-3] -0.203464 0.011919 0.979010 0.018937 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.860631144] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.698,11.740,0.147} [component_container_isolated-3] [DEBUG] [1762964970.860661572] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.006} {0.698,11.631,0.076} [component_container_isolated-3] [DEBUG] [1762964970.860710295] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.869167797] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.869225006] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.869269772] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.869317793] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000144 -0.000201 -0.000032 [component_container_isolated-3] -0.000144 1.000000 0.000009 0.000565 [component_container_isolated-3] 0.000201 -0.000009 1.000000 -0.000515 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.869343432] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.005,-0.002} {0.037,-0.022,-0.020} [component_container_isolated-3] [DEBUG] [1762964970.869394249] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.869440758] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.869476937] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981548 0.000152 0.191218 -0.006725 [component_container_isolated-3] -0.001867 0.999960 0.008791 0.060478 [component_container_isolated-3] -0.191209 -0.008986 0.981508 0.016923 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.869499560] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.525,11.023,-0.109} [component_container_isolated-3] [DEBUG] [1762964970.869530069] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.001} {-0.558,11.045,-0.089} [component_container_isolated-3] [DEBUG] [1762964970.869589132] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.873708869] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.873779474] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.873819330] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.873863374] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000040 0.000175 0.000207 [component_container_isolated-3] -0.000040 1.000000 0.000033 0.000131 [component_container_isolated-3] -0.000175 -0.000033 1.000000 0.000345 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.873888202] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.001,0.002} {-0.072,0.022,-0.043} [component_container_isolated-3] [DEBUG] [1762964970.873972633] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.874018320] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.874057676] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 -0.000029 0.185200 -0.007114 [component_container_isolated-3] -0.000083 1.000000 0.000594 0.059762 [component_container_isolated-3] -0.185200 -0.000599 0.982701 0.017176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.874082453] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.035,10.673,-0.005} [component_container_isolated-3] [DEBUG] [1762964970.874115676] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.045,10.650,0.039} [component_container_isolated-3] [DEBUG] [1762964970.874167355] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.884087019] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.884155560] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.884196137] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.884240642] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000066 0.000102 -0.000136 [component_container_isolated-3] -0.000066 1.000000 0.000062 0.000103 [component_container_isolated-3] -0.000102 -0.000062 1.000000 0.000312 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.884265901] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.006} {-0.018,0.116,0.064} [component_container_isolated-3] [DEBUG] [1762964970.884314263] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.884357956] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.884397652] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979058 -0.000029 0.203579 -0.006830 [component_container_isolated-3] 0.002440 0.999930 -0.011591 0.059410 [component_container_isolated-3] -0.203565 0.011845 0.978990 0.018946 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.884421628] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.693,11.745,0.143} [component_container_isolated-3] [DEBUG] [1762964970.884454491] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.006} {0.698,11.631,0.076} [component_container_isolated-3] [DEBUG] [1762964970.884506139] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.885151582] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.885190617] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.885225593] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.885266131] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000040 -0.000007 0.000025 [component_container_isolated-3] -0.000040 1.000000 0.000052 0.000033 [component_container_isolated-3] 0.000007 -0.000052 1.000000 0.000004 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.885290427] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.055,0.029,-0.004} [component_container_isolated-3] [DEBUG] [1762964970.885335213] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.885376071] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.885411949] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879407 0.000070 0.476071 -0.001153 [component_container_isolated-3] -0.004819 0.999950 0.008755 0.060281 [component_container_isolated-3] -0.476046 -0.009993 0.879363 0.018249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.885436115] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.651,28.427,-0.314} [component_container_isolated-3] [DEBUG] [1762964970.885468878] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.885519044] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.896774409] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.896832029] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.896872466] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.896917703] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000301 0.000221 -0.000200 [component_container_isolated-3] 0.000301 1.000000 -0.000062 -0.001473 [component_container_isolated-3] -0.000221 0.000062 1.000000 0.001019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.897004038] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.001} {0.041,-0.009,-0.002} [component_container_isolated-3] [DEBUG] [1762964970.897055516] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.897101073] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.897137723] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981505 -0.000132 0.191435 -0.006750 [component_container_isolated-3] -0.001568 0.999961 0.008729 0.060019 [component_container_isolated-3] -0.191429 -0.008867 0.981467 0.017226 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.897163963] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.518,11.036,-0.092} [component_container_isolated-3] [DEBUG] [1762964970.897197246] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.001} {-0.558,11.045,-0.089} [component_container_isolated-3] [DEBUG] [1762964970.897247633] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.907581157] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.907655910] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.907702489] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.907750821] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000050 -0.000002 0.000055 [component_container_isolated-3] -0.000050 1.000000 -0.000005 0.000009 [component_container_isolated-3] 0.000002 0.000005 1.000000 -0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.907778404] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.001,0.002} {-0.071,0.022,-0.046} [component_container_isolated-3] [DEBUG] [1762964970.907828159] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.907875289] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.907916247] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000021 0.185198 -0.007086 [component_container_isolated-3] -0.000133 1.000000 0.000589 0.059788 [component_container_isolated-3] -0.185198 -0.000603 0.982701 0.017208 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.907971062] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.035,10.673,-0.008} [component_container_isolated-3] [DEBUG] [1762964970.908003113] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.045,10.650,0.039} [component_container_isolated-3] [DEBUG] [1762964970.908066384] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.916174248] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.916233080] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.916275551] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.916321058] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000046 0.000012 0.000143 [component_container_isolated-3] 0.000046 1.000000 -0.000094 -0.000007 [component_container_isolated-3] -0.000012 0.000094 1.000000 -0.000072 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.916347198] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.050,0.030,-0.001} [component_container_isolated-3] [DEBUG] [1762964970.916399268] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.916446327] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.916484641] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879401 0.000074 0.476081 -0.001140 [component_container_isolated-3] -0.004773 0.999951 0.008661 0.060283 [component_container_isolated-3] -0.476057 -0.009889 0.879359 0.018246 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.916507755] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.644,28.428,-0.311} [component_container_isolated-3] [DEBUG] [1762964970.916538624] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.916588028] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.925015703] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.925070357] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.925110865] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.925156612] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000049 0.000057 0.000078 [component_container_isolated-3] 0.000049 1.000000 -0.000014 0.000088 [component_container_isolated-3] -0.000057 0.000014 1.000000 0.000468 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.925182822] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.007} {-0.018,0.119,0.067} [component_container_isolated-3] [DEBUG] [1762964970.925232096] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.925277753] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.925316387] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979047 -0.000074 0.203635 -0.006818 [component_container_isolated-3] 0.002490 0.999929 -0.011605 0.059428 [component_container_isolated-3] -0.203620 0.011869 0.978978 0.019055 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.925340874] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.695,11.749,0.146} [component_container_isolated-3] [DEBUG] [1762964970.925373306] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.004,-0.007} {0.698,11.631,0.076} [component_container_isolated-3] [DEBUG] [1762964970.925423452] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.933562856] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.933617801] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.933657407] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.933701611] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000149 -0.000164 0.000576 [component_container_isolated-3] -0.000149 1.000000 0.000037 0.000722 [component_container_isolated-3] 0.000164 -0.000037 1.000000 -0.001042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.933728332] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.005,-0.002} {0.039,-0.019,-0.011} [component_container_isolated-3] [DEBUG] [1762964970.933778247] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.933824927] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.933864472] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 0.000008 0.191274 -0.006728 [component_container_isolated-3] -0.001716 0.999960 0.008766 0.059999 [component_container_isolated-3] -0.191266 -0.008932 0.981498 0.017114 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.933888428] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.521,11.027,-0.100} [component_container_isolated-3] [DEBUG] [1762964970.933968551] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.002} {-0.558,11.045,-0.089} [component_container_isolated-3] [DEBUG] [1762964970.934026381] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.944027741] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.944087195] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.944122092] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.944160144] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000066 -0.000065 0.000009 [component_container_isolated-3] 0.000066 1.000000 0.000052 -0.000040 [component_container_isolated-3] 0.000065 -0.000052 1.000000 -0.000072 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.944182016] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.001,0.001} {-0.074,0.019,-0.042} [component_container_isolated-3] [DEBUG] [1762964970.944221882] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.944257450] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.944284862] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 -0.000054 0.185134 -0.007071 [component_container_isolated-3] -0.000066 1.000000 0.000641 0.059808 [component_container_isolated-3] -0.185134 -0.000643 0.982713 0.017232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.944302907] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.669,-0.004} [component_container_isolated-3] [DEBUG] [1762964970.944324869] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.045,10.650,0.039} [component_container_isolated-3] [DEBUG] [1762964970.944422415] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.953554525] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.953642874] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.953688631] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.953739078] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000079 -0.000147 0.000491 [component_container_isolated-3] 0.000079 1.000000 0.000061 -0.000418 [component_container_isolated-3] 0.000147 -0.000061 1.000000 -0.000919 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.953767031] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.004,0.006} {-0.021,0.110,0.071} [component_container_isolated-3] [DEBUG] [1762964970.953819852] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.953865950] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.953904794] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 -0.000164 0.203491 -0.006766 [component_container_isolated-3] 0.002567 0.999930 -0.011544 0.059379 [component_container_isolated-3] -0.203475 0.011825 0.979009 0.018895 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.953957344] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.740,0.150} [component_container_isolated-3] [DEBUG] [1762964970.953992331] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.004,-0.006} {0.698,11.631,0.076} [component_container_isolated-3] [DEBUG] [1762964970.954045683] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.953907519] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.954208204] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.954249673] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.954294769] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000036 -0.000100 -0.000083 [component_container_isolated-3] 0.000036 1.000000 0.000034 -0.000017 [component_container_isolated-3] 0.000100 -0.000034 1.000000 -0.000101 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.954323604] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.052,0.024,0.001} [component_container_isolated-3] [DEBUG] [1762964970.954382647] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.954425739] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.954463691] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879449 0.000027 0.475993 -0.001150 [component_container_isolated-3] -0.004737 0.999951 0.008695 0.060284 [component_container_isolated-3] -0.475970 -0.009902 0.879406 0.018231 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.954487868] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.645,28.423,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.954523666] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.954575756] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.964096328] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.964159879] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.964200687] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.964244861] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000062 0.000004 -0.000494 [component_container_isolated-3] -0.000062 1.000000 0.000032 0.000619 [component_container_isolated-3] -0.000004 -0.000032 1.000000 0.000653 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.964272955] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.005,-0.001} {0.037,-0.018,-0.015} [component_container_isolated-3] [DEBUG] [1762964970.964325956] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.964373126] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.964413533] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981536 0.000063 0.191277 -0.006778 [component_container_isolated-3] -0.001778 0.999960 0.008798 0.060136 [component_container_isolated-3] -0.191269 -0.008976 0.981497 0.017209 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.964438481] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.524,11.027,-0.104} [component_container_isolated-3] [DEBUG] [1762964970.964470502] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.001} {-0.558,11.045,-0.089} [component_container_isolated-3] [DEBUG] [1762964970.964519546] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.975656224] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.975721849] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.975764862] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.975811671] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000016 0.000031 0.000105 [component_container_isolated-3] -0.000016 1.000000 -0.000098 -0.000047 [component_container_isolated-3] -0.000031 0.000098 1.000000 -0.000011 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.975837621] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.001,0.001} {-0.069,0.020,-0.043} [component_container_isolated-3] [DEBUG] [1762964970.975886955] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.975967839] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.976009569] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 -0.000020 0.185164 -0.007035 [component_container_isolated-3] -0.000083 1.000000 0.000544 0.059821 [component_container_isolated-3] -0.185164 -0.000550 0.982707 0.017254 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.976035639] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.671,-0.005} [component_container_isolated-3] [DEBUG] [1762964970.976068331] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.045,10.650,0.039} [component_container_isolated-3] [DEBUG] [1762964970.976120421] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.976654651] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.976708764] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.976750173] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.976799307] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000079 -0.000147 0.000491 [component_container_isolated-3] 0.000079 1.000000 0.000061 -0.000418 [component_container_isolated-3] 0.000147 -0.000061 1.000000 -0.000919 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.976826569] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.005,0.005} {-0.025,0.102,0.076} [component_container_isolated-3] [DEBUG] [1762964970.976878067] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.976947089] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.976988048] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 -0.000164 0.203491 -0.006766 [component_container_isolated-3] 0.002567 0.999930 -0.011544 0.059379 [component_container_isolated-3] -0.203475 0.011825 0.979009 0.018895 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.977011252] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.740,0.150} [component_container_isolated-3] [DEBUG] [1762964970.977042191] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.005,-0.005} {0.701,11.639,0.072} [component_container_isolated-3] [DEBUG] [1762964970.977094190] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.979637167] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.979703383] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.979743370] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.979789067] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000078 0.000036 -0.000059 [component_container_isolated-3] -0.000078 1.000000 0.000075 0.000134 [component_container_isolated-3] -0.000036 -0.000075 1.000000 0.000032 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.979814596] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.056,0.026,-0.004} [component_container_isolated-3] [DEBUG] [1762964970.979867056] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.979912933] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.979988899] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879432 0.000059 0.476025 -0.001155 [component_container_isolated-3] -0.004815 0.999950 0.008771 0.060305 [component_container_isolated-3] -0.476001 -0.010005 0.879388 0.018221 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.980012183] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.652,28.425,-0.314} [component_container_isolated-3] [DEBUG] [1762964970.980043543] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964970.980095071] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.990869197] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.990960842] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.991003844] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.991048169] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000016 0.000031 0.000105 [component_container_isolated-3] -0.000016 1.000000 -0.000098 -0.000047 [component_container_isolated-3] -0.000031 0.000098 1.000000 -0.000011 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.991073748] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.001,0.001} {-0.063,0.022,-0.044} [component_container_isolated-3] [DEBUG] [1762964970.991123383] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.991166345] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.991202975] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 -0.000020 0.185164 -0.007035 [component_container_isolated-3] -0.000083 1.000000 0.000544 0.059821 [component_container_isolated-3] -0.185164 -0.000550 0.982707 0.017254 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.991227481] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.671,-0.005} [component_container_isolated-3] [DEBUG] [1762964970.991261156] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.039,10.649,0.040} [component_container_isolated-3] [DEBUG] [1762964970.991320329] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964970.998456297] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964970.998506312] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964970.998543243] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964970.998586014] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000079 -0.000147 0.000491 [component_container_isolated-3] 0.000079 1.000000 0.000061 -0.000418 [component_container_isolated-3] 0.000147 -0.000061 1.000000 -0.000919 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964970.998609730] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.005,0.004} {-0.028,0.094,0.080} [component_container_isolated-3] [DEBUG] [1762964970.998656279] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964970.998699401] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964970.998738606] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 -0.000164 0.203491 -0.006766 [component_container_isolated-3] 0.002567 0.999930 -0.011544 0.059379 [component_container_isolated-3] -0.203475 0.011825 0.979009 0.018895 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964970.998761991] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.740,0.150} [component_container_isolated-3] [DEBUG] [1762964970.998794443] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.005,-0.004} {0.703,11.648,0.067} [component_container_isolated-3] [DEBUG] [1762964970.998845430] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.002328712] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.002390089] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.002431559] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.002476094] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000030 -0.000000 0.000447 [component_container_isolated-3] 0.000030 1.000000 -0.000029 -0.000078 [component_container_isolated-3] 0.000000 0.000029 1.000000 -0.000280 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.002502424] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.005,-0.001} {0.039,-0.018,-0.013} [component_container_isolated-3] [DEBUG] [1762964971.002553421] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.002600080] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.002637642] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981536 0.000039 0.191277 -0.006750 [component_container_isolated-3] -0.001748 0.999960 0.008769 0.060168 [component_container_isolated-3] -0.191269 -0.008942 0.981497 0.017210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.002661227] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.522,11.027,-0.102} [component_container_isolated-3] [DEBUG] [1762964971.002693228] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.001} {-0.558,11.045,-0.089} [component_container_isolated-3] [DEBUG] [1762964971.002743765] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.017525013] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.017622860] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.017667506] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.017720787] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000106 -0.000036 0.000306 [component_container_isolated-3] 0.000105 1.000000 -0.000167 -0.000258 [component_container_isolated-3] 0.000036 0.000167 1.000000 -0.000085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.017752438] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.047,0.024,0.003} [component_container_isolated-3] [DEBUG] [1762964971.017808896] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.017857839] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.017897785] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879449 0.000046 0.475994 -0.001125 [component_container_isolated-3] -0.004709 0.999952 0.008603 0.060282 [component_container_isolated-3] -0.475970 -0.009808 0.879407 0.018195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.017938914] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.423,-0.307} [component_container_isolated-3] [DEBUG] [1762964971.017973710] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.018042411] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.031204308] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.031262849] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.031302856] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.031346830] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000007 -0.000086 0.000043 [component_container_isolated-3] -0.000007 1.000000 0.000008 -0.000115 [component_container_isolated-3] 0.000086 -0.000008 1.000000 -0.000432 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.031371477] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.005,-0.002} {0.038,-0.023,-0.013} [component_container_isolated-3] [DEBUG] [1762964971.031433656] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.031481317] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.031520922] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981553 0.000045 0.191193 -0.006747 [component_container_isolated-3] -0.001755 0.999960 0.008777 0.060190 [component_container_isolated-3] -0.191185 -0.008951 0.981513 0.017125 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.031547603] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.522,11.022,-0.102} [component_container_isolated-3] [DEBUG] [1762964971.031579254] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.002} {-0.558,11.045,-0.089} [component_container_isolated-3] [DEBUG] [1762964971.031620542] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.041296812] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.041363259] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.041410319] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.041462829] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000118 -0.000271 -0.000584 [component_container_isolated-3] 0.000118 1.000000 -0.000026 -0.000784 [component_container_isolated-3] 0.000271 0.000026 1.000000 -0.000966 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.041496914] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.000,0.000} {-0.062,0.007,-0.037} [component_container_isolated-3] [DEBUG] [1762964971.041559824] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.041623466] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.041674964] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982758 -0.000131 0.184898 -0.007166 [component_container_isolated-3] 0.000036 1.000000 0.000518 0.059641 [component_container_isolated-3] -0.184898 -0.000502 0.982758 0.017048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.041705342] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.655,0.002} [component_container_isolated-3] [DEBUG] [1762964971.041743435] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.000,-0.001} {0.039,10.649,0.040} [component_container_isolated-3] [DEBUG] [1762964971.041810433] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.043694020] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.043746350] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.043786526] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.043830280] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000079 -0.000147 0.000491 [component_container_isolated-3] 0.000079 1.000000 0.000061 -0.000418 [component_container_isolated-3] 0.000147 -0.000061 1.000000 -0.000919 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.043854907] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.006,0.003} {-0.032,0.085,0.085} [component_container_isolated-3] [DEBUG] [1762964971.043902949] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.043971329] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.044010624] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 -0.000164 0.203491 -0.006766 [component_container_isolated-3] 0.002567 0.999930 -0.011544 0.059379 [component_container_isolated-3] -0.203475 0.011825 0.979009 0.018895 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.044033107] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.740,0.150} [component_container_isolated-3] [DEBUG] [1762964971.044065088] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.005,-0.003} {0.706,11.656,0.063} [component_container_isolated-3] [DEBUG] [1762964971.044116216] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.049953103] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.050013318] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.050052954] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.050097609] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000086 0.000065 -0.000258 [component_container_isolated-3] -0.000086 1.000000 0.000098 0.000144 [component_container_isolated-3] -0.000065 -0.000098 1.000000 0.000098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.050123939] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.052,0.028,-0.002} [component_container_isolated-3] [DEBUG] [1762964971.050174306] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.050222187] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.050262945] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879418 0.000076 0.476051 -0.001128 [component_container_isolated-3] -0.004796 0.999951 0.008701 0.060289 [component_container_isolated-3] -0.476027 -0.009935 0.879375 0.018186 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.050288173] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.426,-0.312} [component_container_isolated-3] [DEBUG] [1762964971.050320214] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.050371392] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.068695747] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.068762935] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.068803222] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.068847096] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000055 -0.000039 -0.000399 [component_container_isolated-3] -0.000055 1.000000 0.000050 0.000112 [component_container_isolated-3] 0.000039 -0.000050 1.000000 0.000048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.068872074] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.005,-0.002} {0.035,-0.026,-0.016} [component_container_isolated-3] [DEBUG] [1762964971.068945584] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.069550209] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.069629180] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981560 0.000089 0.191154 -0.006797 [component_container_isolated-3] -0.001810 0.999959 0.008828 0.060223 [component_container_isolated-3] -0.191146 -0.009011 0.981520 0.017104 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.069667283] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.526,11.020,-0.106} [component_container_isolated-3] [DEBUG] [1762964971.069712779] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.002} {-0.558,11.045,-0.089} [component_container_isolated-3] [DEBUG] [1762964971.069888725] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.074421802] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.074489662] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.074532664] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.074550398] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.074625772] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.074586547] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000074 0.000052 0.000000 [component_container_isolated-3] 0.000074 1.000000 -0.000085 -0.000046 [component_container_isolated-3] -0.000052 0.000085 1.000000 0.000010 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.074699843] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.000,0.000} {-0.057,0.009,-0.033} [component_container_isolated-3] [DEBUG] [1762964971.074671539] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.074802459] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000079 -0.000147 0.000491 [component_container_isolated-3] 0.000079 1.000000 0.000061 -0.000418 [component_container_isolated-3] 0.000147 -0.000061 1.000000 -0.000919 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.074831475] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.006,0.002} {-0.035,0.077,0.089} [component_container_isolated-3] [DEBUG] [1762964971.074760259] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.074883895] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.074960632] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.075040614] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.075053970] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982748 -0.000188 0.184949 -0.007212 [component_container_isolated-3] 0.000110 1.000000 0.000433 0.059567 [component_container_isolated-3] -0.184949 -0.000405 0.982748 0.016992 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.075097663] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.024,10.658,0.006} [component_container_isolated-3] [DEBUG] [1762964971.075121088] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.000,-0.001} {0.039,10.649,0.040} [component_container_isolated-3] [DEBUG] [1762964971.075082885] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 -0.000164 0.203491 -0.006766 [component_container_isolated-3] 0.002567 0.999930 -0.011544 0.059379 [component_container_isolated-3] -0.203475 0.011825 0.979009 0.018895 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.075184860] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.740,0.150} [component_container_isolated-3] [DEBUG] [1762964971.075211801] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.006,-0.002} {0.709,11.665,0.058} [component_container_isolated-3] [DEBUG] [1762964971.075168228] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.075260023] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.082572037] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.082636781] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.082676507] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.082723597] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000024 0.000039 0.000026 [component_container_isolated-3] -0.000024 1.000000 0.000115 0.000125 [component_container_isolated-3] -0.000039 -0.000115 1.000000 0.000009 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.082750969] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.059,0.030,-0.004} [component_container_isolated-3] [DEBUG] [1762964971.082803690] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.082847123] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.082882490] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879399 0.000042 0.476086 -0.001131 [component_container_isolated-3] -0.004821 0.999950 0.008816 0.060311 [component_container_isolated-3] -0.476061 -0.010048 0.879355 0.018178 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.082904883] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.655,28.428,-0.314} [component_container_isolated-3] [DEBUG] [1762964971.082976169] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.083029882] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.084160832] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.084209455] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.084247537] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.084289948] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000055 -0.000039 -0.000399 [component_container_isolated-3] -0.000055 1.000000 0.000050 0.000112 [component_container_isolated-3] 0.000039 -0.000050 1.000000 0.000048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.084314525] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.005,-0.002} {0.032,-0.028,-0.020} [component_container_isolated-3] [DEBUG] [1762964971.084362397] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.084493808] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.084531259] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981560 0.000089 0.191154 -0.006797 [component_container_isolated-3] -0.001810 0.999959 0.008828 0.060223 [component_container_isolated-3] -0.191146 -0.009011 0.981520 0.017104 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.084556337] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.526,11.020,-0.106} [component_container_isolated-3] [DEBUG] [1762964971.084587887] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.005,0.001} {-0.555,11.048,-0.086} [component_container_isolated-3] [DEBUG] [1762964971.084637141] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.106677403] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.106748208] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.106792944] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.106843640] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000001 -0.000065 0.000107 [component_container_isolated-3] 0.000001 1.000000 0.000046 -0.000069 [component_container_isolated-3] 0.000065 -0.000046 1.000000 -0.000042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.106871263] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,0.000} {-0.059,0.006,-0.033} [component_container_isolated-3] [DEBUG] [1762964971.106960013] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.107013715] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.107056968] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982760 -0.000198 0.184885 -0.007240 [component_container_isolated-3] 0.000111 1.000000 0.000479 0.059504 [component_container_isolated-3] -0.184885 -0.000450 0.982760 0.016938 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.107082356] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.026,10.654,0.006} [component_container_isolated-3] [DEBUG] [1762964971.107113736] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.000,-0.001} {0.039,10.649,0.040} [component_container_isolated-3] [DEBUG] [1762964971.107164543] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.114406073] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.114464164] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.114502417] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.114545750] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000022 -0.000065 -0.000010 [component_container_isolated-3] -0.000022 1.000000 -0.000065 -0.000093 [component_container_isolated-3] 0.000065 0.000065 1.000000 -0.000226 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.114570527] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.006,0.002} {-0.031,0.073,0.088} [component_container_isolated-3] [DEBUG] [1762964971.114617797] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.114663284] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.114703851] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979090 -0.000129 0.203428 -0.006752 [component_container_isolated-3] 0.002544 0.999929 -0.011610 0.059338 [component_container_isolated-3] -0.203412 0.011885 0.979021 0.018785 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.114727366] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.737,0.149} [component_container_isolated-3] [DEBUG] [1762964971.114759658] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.006,-0.002} {0.709,11.665,0.058} [component_container_isolated-3] [DEBUG] [1762964971.114812459] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.116975911] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.117042508] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.117081222] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.117124214] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000047 0.000017 0.000094 [component_container_isolated-3] 0.000047 1.000000 -0.000080 -0.000175 [component_container_isolated-3] -0.000017 0.000080 1.000000 0.000020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.117149973] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.054,0.031,-0.001} [component_container_isolated-3] [DEBUG] [1762964971.117198866] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.117245235] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.117284690] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879391 0.000039 0.476100 -0.001121 [component_container_isolated-3] -0.004774 0.999950 0.008737 0.060304 [component_container_isolated-3] -0.476076 -0.009956 0.879348 0.018179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.117308305] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.649,28.429,-0.311} [component_container_isolated-3] [DEBUG] [1762964971.117340978] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.117390613] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.129800042] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.129863673] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.129905653] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.129993982] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000086 0.000056 0.000152 [component_container_isolated-3] 0.000086 1.000000 -0.000133 -0.000191 [component_container_isolated-3] -0.000056 0.000133 1.000000 0.000411 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.130022376] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.005,-0.001} {0.040,-0.025,-0.015} [component_container_isolated-3] [DEBUG] [1762964971.130075478] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.130125994] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.130166852] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981549 0.000030 0.191209 -0.006799 [component_container_isolated-3] -0.001724 0.999961 0.008695 0.060227 [component_container_isolated-3] -0.191202 -0.008864 0.981511 0.017144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.130192431] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.517,11.023,-0.101} [component_container_isolated-3] [DEBUG] [1762964971.130225244] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.001} {-0.555,11.048,-0.086} [component_container_isolated-3] [DEBUG] [1762964971.130276271] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.143556774] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.143615947] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.143658177] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.143705578] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000046 0.000047 -0.000291 [component_container_isolated-3] -0.000046 1.000000 -0.000052 0.000256 [component_container_isolated-3] -0.000047 0.000052 1.000000 0.000092 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.143732589] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,0.000,0.001} {-0.056,0.008,-0.035} [component_container_isolated-3] [DEBUG] [1762964971.143783957] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.143831128] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.143871625] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982752 -0.000143 0.184931 -0.007310 [component_container_isolated-3] 0.000065 1.000000 0.000427 0.059471 [component_container_isolated-3] -0.184931 -0.000408 0.982752 0.016912 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.143896593] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.024,10.657,0.004} [component_container_isolated-3] [DEBUG] [1762964971.143972227] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.001,-0.001} {0.039,10.649,0.040} [component_container_isolated-3] [DEBUG] [1762964971.144029086] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.149416214] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.149479294] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.149519812] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.149565729] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000017 -0.000066 -0.000158 [component_container_isolated-3] -0.000017 1.000000 -0.000098 0.000017 [component_container_isolated-3] 0.000066 0.000098 1.000000 0.000085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.149591518] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.006,0.002} {-0.026,0.069,0.087} [component_container_isolated-3] [DEBUG] [1762964971.149640923] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.149682973] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.149718802] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979103 -0.000092 0.203364 -0.006742 [component_container_isolated-3] 0.002526 0.999928 -0.011708 0.059313 [component_container_isolated-3] -0.203348 0.011977 0.979033 0.018745 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.149740924] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.701,11.733,0.148} [component_container_isolated-3] [DEBUG] [1762964971.149771021] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.006,-0.002} {0.709,11.665,0.058} [component_container_isolated-3] [DEBUG] [1762964971.149820886] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.152424749] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.152494653] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.152537615] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.152583112] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000096 -0.000006 -0.000052 [component_container_isolated-3] 0.000096 1.000000 -0.000098 -0.000105 [component_container_isolated-3] 0.000006 0.000098 1.000000 0.000035 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.152609693] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.049,0.031,0.004} [component_container_isolated-3] [DEBUG] [1762964971.152660720] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.152705816] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.152744029] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879394 0.000001 0.476095 -0.001119 [component_container_isolated-3] -0.004678 0.999952 0.008638 0.060284 [component_container_isolated-3] -0.476072 -0.009824 0.879352 0.018188 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.152769478] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.429,-0.305} [component_container_isolated-3] [DEBUG] [1762964971.152802190] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.152853428] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.164451768] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.164515379] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.164555426] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.164598889] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000002 0.000177 0.000028 [component_container_isolated-3] -0.000002 1.000000 0.000215 0.000284 [component_container_isolated-3] -0.000177 -0.000215 1.000000 0.000079 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.164624578] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.005,-0.001} {0.028,-0.014,-0.015} [component_container_isolated-3] [DEBUG] [1762964971.164673351] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.164721052] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.164760658] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981515 -0.000009 0.191383 -0.006795 [component_container_isolated-3] -0.001728 0.999959 0.008910 0.060282 [component_container_isolated-3] -0.191376 -0.009076 0.981475 0.017160 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.164785525] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.530,11.033,-0.101} [component_container_isolated-3] [DEBUG] [1762964971.164818839] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.001} {-0.555,11.048,-0.086} [component_container_isolated-3] [DEBUG] [1762964971.164872001] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.172970917] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.173042815] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.173087761] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.173136353] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000148 0.000002 0.000953 [component_container_isolated-3] 0.000148 1.000000 0.000058 -0.000877 [component_container_isolated-3] -0.000002 -0.000058 1.000000 -0.000243 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.173163385] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.001,0.000} {-0.060,0.009,-0.027} [component_container_isolated-3] [DEBUG] [1762964971.173215094] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.173264278] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.173305436] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982751 -0.000300 0.184933 -0.007161 [component_container_isolated-3] 0.000214 1.000000 0.000485 0.059179 [component_container_isolated-3] -0.184933 -0.000437 0.982751 0.016794 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.173361523] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.026,10.657,0.012} [component_container_isolated-3] [DEBUG] [1762964971.173393184] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.000,-0.001} {0.039,10.649,0.040} [component_container_isolated-3] [DEBUG] [1762964971.173446185] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.182639532] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.182704857] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.182743721] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.182787184] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000064 -0.000015 0.000130 [component_container_isolated-3] -0.000064 1.000000 -0.000045 0.000078 [component_container_isolated-3] 0.000015 0.000045 1.000000 -0.000014 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.182813144] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.046,0.030,0.001} [component_container_isolated-3] [DEBUG] [1762964971.182865504] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.182912263] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.182984321] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879401 0.000078 0.476082 -0.001097 [component_container_isolated-3] -0.004741 0.999952 0.008594 0.060279 [component_container_isolated-3] -0.476058 -0.009815 0.879359 0.018180 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.183009308] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.428,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.183041891] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.183096415] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.193420551] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.193491667] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.193533277] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.193579715] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000004 0.000196 -0.000083 [component_container_isolated-3] -0.000004 1.000000 0.000141 0.000094 [component_container_isolated-3] -0.000196 -0.000141 1.000000 0.000335 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.193607087] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.006,0.002} {-0.034,0.080,0.087} [component_container_isolated-3] [DEBUG] [1762964971.193660930] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.193708631] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.193749069] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979063 -0.000117 0.203555 -0.006738 [component_container_isolated-3] 0.002524 0.999930 -0.011567 0.059299 [component_container_isolated-3] -0.203540 0.011839 0.978995 0.018732 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.193773736] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.744,0.148} [component_container_isolated-3] [DEBUG] [1762964971.193804434] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.006,-0.002} {0.709,11.665,0.058} [component_container_isolated-3] [DEBUG] [1762964971.193858558] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.200607647] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.200670617] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.200710283] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.200754157] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000019 -0.000010 -0.000145 [component_container_isolated-3] -0.000019 1.000000 -0.000218 -0.000082 [component_container_isolated-3] 0.000010 0.000218 1.000000 0.000069 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.200779405] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.005,-0.001} {0.040,-0.015,-0.016} [component_container_isolated-3] [DEBUG] [1762964971.200827036] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.200871561] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.200906808] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 0.000052 0.191374 -0.006807 [component_container_isolated-3] -0.001747 0.999961 0.008692 0.060300 [component_container_isolated-3] -0.191366 -0.008866 0.981479 0.017204 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.200972624] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.518,11.033,-0.102} [component_container_isolated-3] [DEBUG] [1762964971.201007400] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.001} {-0.555,11.048,-0.086} [component_container_isolated-3] [DEBUG] [1762964971.201061163] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.214407341] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.214468167] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.214508635] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.214554262] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000088 0.000019 -0.000194 [component_container_isolated-3] -0.000088 1.000000 -0.000015 0.000207 [component_container_isolated-3] -0.000019 0.000015 1.000000 0.000060 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.214581614] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,0.000} {-0.059,0.010,-0.032} [component_container_isolated-3] [DEBUG] [1762964971.214628173] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.214670173] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.214734396] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982748 -0.000210 0.184952 -0.007136 [component_container_isolated-3] 0.000126 1.000000 0.000470 0.059113 [component_container_isolated-3] -0.184952 -0.000439 0.982747 0.016747 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.214758892] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.026,10.658,0.007} [component_container_isolated-3] [DEBUG] [1762964971.214789351] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.000,-0.001} {0.039,10.649,0.040} [component_container_isolated-3] [DEBUG] [1762964971.214839737] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.221561885] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.221620146] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.221661906] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.221709977] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000073 0.000071 -0.000098 [component_container_isolated-3] -0.000073 1.000000 0.000010 0.000318 [component_container_isolated-3] -0.000071 -0.000010 1.000000 0.000313 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.221736388] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.006,0.003} {-0.034,0.084,0.083} [component_container_isolated-3] [DEBUG] [1762964971.221785682] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.221829055] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.221868129] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979049 -0.000047 0.203625 -0.006731 [component_container_isolated-3] 0.002452 0.999930 -0.011558 0.059334 [component_container_isolated-3] -0.203610 0.011815 0.978981 0.018785 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.221890382] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.748,0.143} [component_container_isolated-3] [DEBUG] [1762964971.221942982] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.005,-0.003} {0.709,11.665,0.058} [component_container_isolated-3] [DEBUG] [1762964971.221997977] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.226591340] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.226657656] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.226697262] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.226742228] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000034 0.000006 -0.000110 [component_container_isolated-3] 0.000034 1.000000 0.000122 -0.000003 [component_container_isolated-3] -0.000006 -0.000122 1.000000 0.000060 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.226767807] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.053,0.030,0.003} [component_container_isolated-3] [DEBUG] [1762964971.226816389] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.226859822] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.226898987] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879398 -0.000010 0.476087 -0.001095 [component_container_isolated-3] -0.004707 0.999951 0.008716 0.060277 [component_container_isolated-3] -0.476064 -0.009906 0.879355 0.018181 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.226954142] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.645,28.429,-0.307} [component_container_isolated-3] [DEBUG] [1762964971.226988789] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.227042171] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.234814594] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.234874548] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.234915727] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.234992474] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000039 -0.000173 -0.000258 [component_container_isolated-3] 0.000039 1.000000 0.000025 -0.000124 [component_container_isolated-3] 0.000173 -0.000025 1.000000 -0.000666 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.235018163] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.005,-0.002} {0.039,-0.025,-0.014} [component_container_isolated-3] [DEBUG] [1762964971.235068248] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.235113795] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.235149554] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981550 0.000008 0.191204 -0.006895 [component_container_isolated-3] -0.001707 0.999961 0.008717 0.060305 [component_container_isolated-3] -0.191196 -0.008883 0.981512 0.017109 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.235174451] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.519,11.023,-0.100} [component_container_isolated-3] [DEBUG] [1762964971.235208236] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.005,0.001} {-0.555,11.048,-0.086} [component_container_isolated-3] [DEBUG] [1762964971.235260205] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.243706906] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.243785707] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.243829861] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.243876700] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000077 -0.000027 -0.000303 [component_container_isolated-3] -0.000077 1.000000 0.000010 0.000295 [component_container_isolated-3] 0.000027 -0.000010 1.000000 0.000048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.243903101] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,0.000} {-0.059,0.008,-0.036} [component_container_isolated-3] [DEBUG] [1762964971.243986580] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.244033740] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.244069939] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982753 -0.000136 0.184926 -0.007155 [component_container_isolated-3] 0.000048 1.000000 0.000480 0.059080 [component_container_isolated-3] -0.184926 -0.000463 0.982752 0.016714 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.244093454] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.027,10.657,0.003} [component_container_isolated-3] [DEBUG] [1762964971.244124524] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.001,-0.001} {0.039,10.649,0.040} [component_container_isolated-3] [DEBUG] [1762964971.244174589] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.251606282] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.251678500] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.251723766] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.251769764] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 -0.000078 -0.000038 [component_container_isolated-3] -0.000027 1.000000 -0.000059 -0.000036 [component_container_isolated-3] 0.000078 0.000059 1.000000 -0.000337 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.251796956] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.006,0.002} {-0.031,0.080,0.081} [component_container_isolated-3] [DEBUG] [1762964971.251847052] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.251889052] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.251955800] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979065 -0.000009 0.203548 -0.006746 [component_container_isolated-3] 0.002424 0.999930 -0.011617 0.059346 [component_container_isolated-3] -0.203534 0.011867 0.978996 0.018773 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.251981449] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.744,0.142} [component_container_isolated-3] [DEBUG] [1762964971.252018459] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.005,-0.002} {0.709,11.665,0.058} [component_container_isolated-3] [DEBUG] [1762964971.252079366] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.251988312] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.252379529] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.252432811] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.252492995] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000035 0.000020 -0.000209 [component_container_isolated-3] -0.000035 1.000000 0.000011 -0.000007 [component_container_isolated-3] -0.000020 -0.000011 1.000000 0.000094 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.252525928] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.054,0.031,0.001} [component_container_isolated-3] [DEBUG] [1762964971.252600210] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.252669362] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.252724067] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 0.000015 0.476104 -0.001109 [component_container_isolated-3] -0.004742 0.999951 0.008727 0.060274 [component_container_isolated-3] -0.476081 -0.009933 0.879346 0.018210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.252758813] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.430,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.252801815] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.252876708] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.266566963] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.266632569] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.266675180] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.266718282] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000143 0.000107 0.000267 [component_container_isolated-3] 0.000143 1.000000 0.000052 -0.000747 [component_container_isolated-3] -0.000107 -0.000052 1.000000 0.000723 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.266743901] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.001} {0.036,-0.019,-0.005} [component_container_isolated-3] [DEBUG] [1762964971.266792925] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.266838522] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.266874761] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000142 0.191308 -0.006893 [component_container_isolated-3] -0.001564 0.999960 0.008769 0.060122 [component_container_isolated-3] -0.191302 -0.008907 0.981491 0.017202 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.266900210] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.520,11.029,-0.091} [component_container_isolated-3] [DEBUG] [1762964971.266956968] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.001} {-0.555,11.048,-0.086} [component_container_isolated-3] [DEBUG] [1762964971.267018355] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.271075423] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.271141339] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.271183119] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.271227414] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000014 -0.000012 -0.000064 [component_container_isolated-3] 0.000014 1.000000 -0.000047 0.000026 [component_container_isolated-3] 0.000012 0.000047 1.000000 0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.271255788] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,0.000} {-0.057,0.007,-0.036} [component_container_isolated-3] [DEBUG] [1762964971.271308478] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.271355849] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.271396967] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982755 -0.000142 0.184913 -0.007178 [component_container_isolated-3] 0.000062 1.000000 0.000434 0.059063 [component_container_isolated-3] -0.184913 -0.000414 0.982755 0.016693 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.271421464] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.024,10.656,0.004} [component_container_isolated-3] [DEBUG] [1762964971.271452413] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.001,-0.001} {0.039,10.649,0.040} [component_container_isolated-3] [DEBUG] [1762964971.271503240] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.273717118] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.273778636] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.273816598] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.273859390] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 -0.000078 -0.000038 [component_container_isolated-3] -0.000027 1.000000 -0.000059 -0.000036 [component_container_isolated-3] 0.000078 0.000059 1.000000 -0.000337 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.273884007] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.006,0.002} {-0.028,0.076,0.080} [component_container_isolated-3] [DEBUG] [1762964971.273965893] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.274014496] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.274055214] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979065 -0.000009 0.203548 -0.006746 [component_container_isolated-3] 0.002424 0.999930 -0.011617 0.059346 [component_container_isolated-3] -0.203534 0.011867 0.978996 0.018773 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.274079881] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.744,0.142} [component_container_isolated-3] [DEBUG] [1762964971.274113405] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.005,-0.002} {0.705,11.669,0.060} [component_container_isolated-3] [DEBUG] [1762964971.274163170] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.279449165] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.279509520] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.279550689] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.279596256] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000068 -0.000054 0.000067 [component_container_isolated-3] 0.000068 1.000000 -0.000084 -0.000074 [component_container_isolated-3] 0.000054 0.000084 1.000000 -0.000081 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.279623468] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.049,0.028,0.005} [component_container_isolated-3] [DEBUG] [1762964971.279672512] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.279715273] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.279751222] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879415 -0.000004 0.476056 -0.001116 [component_container_isolated-3] -0.004674 0.999952 0.008643 0.060259 [component_container_isolated-3] -0.476033 -0.009826 0.879372 0.018227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.279777973] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.427,-0.305} [component_container_isolated-3] [DEBUG] [1762964971.279808932] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.279859860] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.301861828] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.301963572] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.302007015] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.302052873] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000056 -0.000251 0.000318 [component_container_isolated-3] -0.000056 1.000000 -0.000171 -0.000008 [component_container_isolated-3] 0.000251 0.000171 1.000000 -0.001017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.302078862] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.002} {0.046,-0.033,-0.009} [component_container_isolated-3] [DEBUG] [1762964971.302127776] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.302172391] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.302208630] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981578 -0.000054 0.191062 -0.006885 [component_container_isolated-3] -0.001619 0.999962 0.008599 0.060053 [component_container_isolated-3] -0.191055 -0.008750 0.981540 0.016992 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.302231604] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.511,11.014,-0.094} [component_container_isolated-3] [DEBUG] [1762964971.302265359] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.002} {-0.555,11.048,-0.086} [component_container_isolated-3] [DEBUG] [1762964971.302317969] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.309835586] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.309898236] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.309967037] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.310016682] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000105 0.000009 -0.000078 [component_container_isolated-3] 0.000105 1.000000 -0.000072 0.000073 [component_container_isolated-3] -0.000009 0.000072 1.000000 0.000048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.310044285] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,0.000} {-0.053,0.008,-0.029} [component_container_isolated-3] [DEBUG] [1762964971.310095552] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.310140608] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.310181016] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982753 -0.000232 0.184922 -0.007209 [component_container_isolated-3] 0.000168 1.000000 0.000361 0.059055 [component_container_isolated-3] -0.184922 -0.000324 0.982753 0.016682 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.310206995] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.019,10.657,0.010} [component_container_isolated-3] [DEBUG] [1762964971.310238666] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.001,-0.002} {0.039,10.649,0.040} [component_container_isolated-3] [DEBUG] [1762964971.310288691] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.311715616] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.311773066] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.311826909] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.311886443] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000120 -0.000009 0.000261 [component_container_isolated-3] -0.000120 1.000000 0.000139 0.000218 [component_container_isolated-3] 0.000009 -0.000139 1.000000 -0.000128 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.311955124] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.057,0.027,-0.002} [component_container_isolated-3] [DEBUG] [1762964971.312032832] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.312100121] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.312155336] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879419 0.000035 0.476048 -0.001093 [component_container_isolated-3] -0.004794 0.999950 0.008782 0.060279 [component_container_isolated-3] -0.476024 -0.010006 0.879375 0.018195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.312189061] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.652,28.426,-0.312} [component_container_isolated-3] [DEBUG] [1762964971.312229157] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.312305583] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.315654288] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.315723671] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.315765260] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.315812039] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000081 -0.000213 0.000164 [component_container_isolated-3] 0.000081 1.000000 0.000147 -0.000142 [component_container_isolated-3] 0.000213 -0.000147 1.000000 -0.000702 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.315837368] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.006,0.001} {-0.036,0.063,0.084} [component_container_isolated-3] [DEBUG] [1762964971.315886311] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.315984709] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.316031228] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979108 -0.000118 0.203340 -0.006786 [component_container_isolated-3] 0.002503 0.999931 -0.011471 0.059346 [component_container_isolated-3] -0.203325 0.011740 0.979041 0.018568 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.316053921] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.687,11.731,0.146} [component_container_isolated-3] [DEBUG] [1762964971.316087495] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.006,-0.001} {0.705,11.669,0.060} [component_container_isolated-3] [DEBUG] [1762964971.316141439] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.331206389] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.331272145] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.331313874] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.331358580] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000039 0.000176 -0.000127 [component_container_isolated-3] 0.000039 1.000000 0.000088 -0.000367 [component_container_isolated-3] -0.000176 -0.000088 1.000000 0.000994 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.331383738] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.001} {0.041,-0.023,-0.006} [component_container_isolated-3] [DEBUG] [1762964971.331432871] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.331477226] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.331515549] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 -0.000109 0.191235 -0.006849 [component_container_isolated-3] -0.001581 0.999961 0.008687 0.059900 [component_container_isolated-3] -0.191228 -0.008829 0.981506 0.017119 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.331540036] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.515,11.024,-0.092} [component_container_isolated-3] [DEBUG] [1762964971.331571737] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.001} {-0.555,11.048,-0.086} [component_container_isolated-3] [DEBUG] [1762964971.331622694] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.340639945] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.340706532] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.340745526] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.340788979] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000091 -0.000086 0.000078 [component_container_isolated-3] -0.000091 1.000000 0.000134 -0.000095 [component_container_isolated-3] 0.000086 -0.000134 1.000000 -0.000085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.340814709] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,0.000} {-0.060,0.003,-0.035} [component_container_isolated-3] [DEBUG] [1762964971.340862349] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.340913948] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.340982870] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982769 -0.000167 0.184837 -0.007223 [component_container_isolated-3] 0.000077 1.000000 0.000495 0.059042 [component_container_isolated-3] -0.184837 -0.000472 0.982769 0.016647 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.341006044] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.028,10.652,0.004} [component_container_isolated-3] [DEBUG] [1762964971.341036302] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.001,-0.001} {0.039,10.649,0.040} [component_container_isolated-3] [DEBUG] [1762964971.341094753] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.347635264] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.347704516] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.347748370] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.347798175] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000130 0.000054 -0.000134 [component_container_isolated-3] 0.000130 1.000000 -0.000243 -0.000238 [component_container_isolated-3] -0.000054 0.000243 1.000000 0.000002 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.347826519] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.043,0.031,0.005} [component_container_isolated-3] [DEBUG] [1762964971.347882647] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.347973490] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.348018897] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879393 0.000037 0.476096 -0.001093 [component_container_isolated-3] -0.004664 0.999953 0.008539 0.060254 [component_container_isolated-3] -0.476073 -0.009730 0.879352 0.018204 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.348044566] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.634,28.429,-0.304} [component_container_isolated-3] [DEBUG] [1762964971.348079192] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.348135860] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.349685750] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.349736076] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.349777205] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.349822010] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000039 0.000176 -0.000127 [component_container_isolated-3] 0.000039 1.000000 0.000088 -0.000367 [component_container_isolated-3] -0.000176 -0.000088 1.000000 0.000994 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.349847870] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.000} {0.035,-0.013,-0.004} [component_container_isolated-3] [DEBUG] [1762964971.349896412] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.349969582] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.350008326] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 -0.000109 0.191235 -0.006849 [component_container_isolated-3] -0.001581 0.999961 0.008687 0.059900 [component_container_isolated-3] -0.191228 -0.008829 0.981506 0.017119 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.350031671] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.515,11.024,-0.092} [component_container_isolated-3] [DEBUG] [1762964971.350063792] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,-0.000} {-0.550,11.038,-0.088} [component_container_isolated-3] [DEBUG] [1762964971.350117004] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.360127631] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.360203657] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.360246368] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.360294891] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000035 0.000145 0.000028 [component_container_isolated-3] 0.000035 1.000000 -0.000013 -0.000235 [component_container_isolated-3] -0.000145 0.000013 1.000000 0.000470 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.360321702] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.006,0.002} {-0.035,0.072,0.086} [component_container_isolated-3] [DEBUG] [1762964971.360370365] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.360416744] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.360457461] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 -0.000149 0.203482 -0.006779 [component_container_isolated-3] 0.002539 0.999931 -0.011483 0.059305 [component_container_isolated-3] -0.203466 0.011760 0.979011 0.018547 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.360482078] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.740,0.149} [component_container_isolated-3] [DEBUG] [1762964971.360512767] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.006,-0.002} {0.705,11.669,0.060} [component_container_isolated-3] [DEBUG] [1762964971.360563183] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.371426580] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.371491303] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.371530348] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.371573961] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000035 0.000145 0.000028 [component_container_isolated-3] 0.000035 1.000000 -0.000013 -0.000235 [component_container_isolated-3] -0.000145 0.000013 1.000000 0.000470 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.371598218] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.006,0.002} {-0.034,0.080,0.088} [component_container_isolated-3] [DEBUG] [1762964971.371645027] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.371687087] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.371723096] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 -0.000149 0.203482 -0.006779 [component_container_isolated-3] 0.002539 0.999931 -0.011483 0.059305 [component_container_isolated-3] -0.203466 0.011760 0.979011 0.018547 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.371745148] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.740,0.149} [component_container_isolated-3] [DEBUG] [1762964971.371774414] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.006,-0.002} {0.704,11.661,0.058} [component_container_isolated-3] [DEBUG] [1762964971.371824480] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.379178975] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.379243959] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.379284096] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.379327268] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000147 -0.000238 0.000597 [component_container_isolated-3] -0.000147 1.000000 -0.000034 0.000954 [component_container_isolated-3] 0.000238 0.000034 1.000000 -0.001536 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.379352036] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.001,-0.001} {-0.058,-0.011,-0.043} [component_container_isolated-3] [DEBUG] [1762964971.379400478] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.379442268] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.379477886] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982813 -0.000016 0.184603 -0.007227 [component_container_isolated-3] -0.000070 1.000000 0.000461 0.059284 [component_container_isolated-3] -0.184603 -0.000466 0.982813 0.015971 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.379501210] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.002} {-0.027,10.638,-0.004} [component_container_isolated-3] [DEBUG] [1762964971.379534855] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {0.039,10.649,0.040} [component_container_isolated-3] [DEBUG] [1762964971.379587936] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.389884169] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.389972338] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.390017815] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.390063632] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000100 -0.000024 0.000061 [component_container_isolated-3] -0.000100 1.000000 0.000171 0.000213 [component_container_isolated-3] 0.000024 -0.000171 1.000000 -0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.390090273] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.053,0.029,-0.001} [component_container_isolated-3] [DEBUG] [1762964971.390140770] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.390183842] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.390220001] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879405 0.000043 0.476075 -0.001089 [component_container_isolated-3] -0.004765 0.999951 0.008710 0.060271 [component_container_isolated-3] -0.476051 -0.009928 0.879362 0.018184 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.390244107] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.428,-0.310} [component_container_isolated-3] [DEBUG] [1762964971.390276689] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.390326364] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.399887193] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.399979309] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.400022471] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.400066124] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000149 0.000022 0.000395 [component_container_isolated-3] -0.000149 1.000000 0.000130 0.000879 [component_container_isolated-3] -0.000022 -0.000130 1.000000 -0.000532 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.400091052] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.001} {0.028,-0.012,-0.013} [component_container_isolated-3] [DEBUG] [1762964971.400141328] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.400185573] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.400223595] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981540 0.000012 0.191256 -0.006763 [component_container_isolated-3] -0.001730 0.999960 0.008817 0.059958 [component_container_isolated-3] -0.191248 -0.008985 0.981501 0.017060 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.400247942] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.525,11.026,-0.101} [component_container_isolated-3] [DEBUG] [1762964971.400281736] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.000} {-0.550,11.038,-0.088} [component_container_isolated-3] [DEBUG] [1762964971.400334106] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.406900687] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.406979658] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.407023541] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.407070140] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000103 0.000297 -0.000991 [component_container_isolated-3] 0.000103 1.000000 0.000051 -0.000622 [component_container_isolated-3] -0.000297 -0.000051 1.000000 0.001612 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.407096330] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.002,0.000,0.000} {-0.061,0.006,-0.037} [component_container_isolated-3] [DEBUG] [1762964971.407146707] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.407194949] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.407232270] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982758 -0.000127 0.184895 -0.007364 [component_container_isolated-3] 0.000033 1.000000 0.000512 0.059276 [component_container_isolated-3] -0.184895 -0.000497 0.982758 0.016186 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.407255324] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.029,10.655,0.002} [component_container_isolated-3] [DEBUG] [1762964971.407289740] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.001,-0.002} {0.039,10.649,0.040} [component_container_isolated-3] [DEBUG] [1762964971.407342000] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.413273086] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.413329925] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.413367367] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.413409798] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000004 0.000095 -0.000118 [component_container_isolated-3] 0.000004 1.000000 -0.000104 -0.000129 [component_container_isolated-3] -0.000095 0.000104 1.000000 0.000139 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.413436238] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.047,0.035,-0.000} [component_container_isolated-3] [DEBUG] [1762964971.413487927] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.413532512] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.413572679] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879359 0.000089 0.476159 -0.001085 [component_container_isolated-3] -0.004761 0.999952 0.008606 0.060264 [component_container_isolated-3] -0.476135 -0.009834 0.879317 0.018202 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.413595673] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.433,-0.310} [component_container_isolated-3] [DEBUG] [1762964971.413629187] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.413677218] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.422847231] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.422911864] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.422978522] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.423023357] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000051 -0.000097 0.000046 [component_container_isolated-3] -0.000051 1.000000 -0.000055 0.000066 [component_container_isolated-3] 0.000097 0.000055 1.000000 -0.000056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.423049878] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.006,0.002} {-0.031,0.074,0.085} [component_container_isolated-3] [DEBUG] [1762964971.423102789] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.423147975] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.423185928] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 -0.000088 0.203387 -0.006767 [component_container_isolated-3] 0.002487 0.999930 -0.011538 0.059289 [component_container_isolated-3] -0.203372 0.011803 0.979030 0.018532 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.423208330] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.734,0.146} [component_container_isolated-3] [DEBUG] [1762964971.423237977] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.006,-0.002} {0.704,11.661,0.058} [component_container_isolated-3] [DEBUG] [1762964971.423286109] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.432334680] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.432400916] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.432443537] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.432488433] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000076 -0.000042 -0.000123 [component_container_isolated-3] 0.000076 1.000000 -0.000023 -0.000363 [component_container_isolated-3] 0.000042 0.000023 1.000000 0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.432514022] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.001} {0.029,-0.014,-0.008} [component_container_isolated-3] [DEBUG] [1762964971.432563927] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.432608342] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.432644251] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981548 -0.000058 0.191214 -0.006741 [component_container_isolated-3] -0.001654 0.999960 0.008794 0.059923 [component_container_isolated-3] -0.191207 -0.008948 0.981509 0.017041 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.432667104] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.522,11.023,-0.097} [component_container_isolated-3] [DEBUG] [1762964971.432699887] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.000} {-0.550,11.038,-0.088} [component_container_isolated-3] [DEBUG] [1762964971.432751195] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.439321443] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.439386477] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.439425972] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.439469966] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000020 -0.000040 0.000222 [component_container_isolated-3] 0.000020 1.000000 -0.000033 -0.000129 [component_container_isolated-3] 0.000040 0.000033 1.000000 0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.439495174] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.000,0.000} {-0.059,0.004,-0.036} [component_container_isolated-3] [DEBUG] [1762964971.439544318] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.439588132] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.439628499] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982766 -0.000141 0.184856 -0.007379 [component_container_isolated-3] 0.000053 1.000000 0.000479 0.059253 [component_container_isolated-3] -0.184856 -0.000461 0.982766 0.016246 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.439651854] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.001,-0.001,-0.001} {-0.027,10.653,0.003} [component_container_isolated-3] [DEBUG] [1762964971.439683474] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.001,-0.002} {0.039,10.649,0.040} [component_container_isolated-3] [DEBUG] [1762964971.439768767] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.451052246] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.451119013] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.451160162] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.451205218] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000030 0.000071 -0.000204 [component_container_isolated-3] 0.000030 1.000000 -0.000046 -0.000105 [component_container_isolated-3] -0.000071 0.000046 1.000000 0.000219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.451229494] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.006,0.002} {-0.029,0.078,0.087} [component_container_isolated-3] [DEBUG] [1762964971.451278027] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.451319276] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.451354843] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 -0.000108 0.203457 -0.006777 [component_container_isolated-3] 0.002517 0.999930 -0.011584 0.059259 [component_container_isolated-3] -0.203441 0.011854 0.979015 0.018549 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.451388628] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.694,11.738,0.147} [component_container_isolated-3] [DEBUG] [1762964971.451421611] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.006,-0.002} {0.704,11.661,0.058} [component_container_isolated-3] [DEBUG] [1762964971.451474051] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.454317862] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.454384409] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.454428584] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.454476004] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000005 -0.000077 0.000131 [component_container_isolated-3] -0.000005 1.000000 0.000136 0.000047 [component_container_isolated-3] 0.000077 -0.000136 1.000000 -0.000081 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.454503106] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.055,0.030,-0.001} [component_container_isolated-3] [DEBUG] [1762964971.454554254] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.454603257] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.454645768] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879396 0.000029 0.476091 -0.001081 [component_container_isolated-3] -0.004766 0.999951 0.008742 0.060266 [component_container_isolated-3] -0.476067 -0.009956 0.879352 0.018189 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.454669514] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.649,28.429,-0.310} [component_container_isolated-3] [DEBUG] [1762964971.454701254] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.454753174] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.459958474] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.460017106] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.460057694] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.460101838] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000020 -0.000040 0.000222 [component_container_isolated-3] 0.000020 1.000000 -0.000033 -0.000129 [component_container_isolated-3] 0.000040 0.000033 1.000000 0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.460127738] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,0.001} {-0.057,0.002,-0.035} [component_container_isolated-3] [DEBUG] [1762964971.460177402] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.460220555] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.460259459] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982766 -0.000141 0.184856 -0.007379 [component_container_isolated-3] 0.000053 1.000000 0.000479 0.059253 [component_container_isolated-3] -0.184856 -0.000461 0.982766 0.016246 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.460283746] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.001,-0.001,-0.001} {-0.027,10.653,0.003} [component_container_isolated-3] [DEBUG] [1762964971.460318281] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.037,10.651,0.039} [component_container_isolated-3] [DEBUG] [1762964971.460369910] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.470010461] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.470069434] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.470117776] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.470183181] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000030 0.000071 -0.000204 [component_container_isolated-3] 0.000030 1.000000 -0.000046 -0.000105 [component_container_isolated-3] -0.000071 0.000046 1.000000 0.000219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.470216074] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.007,0.003} {-0.026,0.083,0.089} [component_container_isolated-3] [DEBUG] [1762964971.470290596] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.470354268] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.470402590] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 -0.000108 0.203457 -0.006777 [component_container_isolated-3] 0.002517 0.999930 -0.011584 0.059259 [component_container_isolated-3] -0.203441 0.011854 0.979015 0.018549 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.470430824] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.694,11.738,0.147} [component_container_isolated-3] [DEBUG] [1762964971.470469728] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.006,-0.003} {0.701,11.657,0.056} [component_container_isolated-3] [DEBUG] [1762964971.470539391] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.471109069] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.471173202] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.471213298] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.471256621] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000002 0.000028 -0.000539 [component_container_isolated-3] 0.000002 1.000000 -0.000104 0.000242 [component_container_isolated-3] -0.000028 0.000104 1.000000 0.000155 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.471284635] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.001} {0.035,-0.013,-0.008} [component_container_isolated-3] [DEBUG] [1762964971.471343196] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.471382602] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.471410545] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 -0.000041 0.191242 -0.006805 [component_container_isolated-3] -0.001652 0.999961 0.008690 0.059931 [component_container_isolated-3] -0.191235 -0.008846 0.981504 0.017063 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.471427998] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.516,11.025,-0.096} [component_container_isolated-3] [DEBUG] [1762964971.471449700] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.000} {-0.550,11.038,-0.088} [component_container_isolated-3] [DEBUG] [1762964971.471509554] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.489986451] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.490051946] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.490092884] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.490139703] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000054 0.000020 -0.000021 [component_container_isolated-3] 0.000054 1.000000 -0.000143 -0.000082 [component_container_isolated-3] -0.000020 0.000143 1.000000 0.000076 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.490166524] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.046,0.031,0.002} [component_container_isolated-3] [DEBUG] [1762964971.490219135] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.490265624] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.490303726] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879386 0.000049 0.476109 -0.001071 [component_container_isolated-3] -0.004711 0.999952 0.008599 0.060255 [component_container_isolated-3] -0.476086 -0.009805 0.879344 0.018202 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.490329846] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.430,-0.307} [component_container_isolated-3] [DEBUG] [1762964971.490365114] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.490416742] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.496824039] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.496885656] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.496973594] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.497021446] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000020 -0.000040 0.000222 [component_container_isolated-3] 0.000020 1.000000 -0.000033 -0.000129 [component_container_isolated-3] 0.000040 0.000033 1.000000 0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.497047075] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,0.001} {-0.056,-0.000,-0.034} [component_container_isolated-3] [DEBUG] [1762964971.497096218] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.497138169] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.497174408] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982766 -0.000141 0.184856 -0.007379 [component_container_isolated-3] 0.000053 1.000000 0.000479 0.059253 [component_container_isolated-3] -0.184856 -0.000461 0.982766 0.016246 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.497196069] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.001,-0.001,-0.001} {-0.027,10.653,0.003} [component_container_isolated-3] [DEBUG] [1762964971.497226357] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.035,10.653,0.037} [component_container_isolated-3] [DEBUG] [1762964971.497275080] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.501188133] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.501245763] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.501301490] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.501350533] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000088 -0.000208 0.000494 [component_container_isolated-3] -0.000088 1.000000 0.000132 0.000249 [component_container_isolated-3] 0.000208 -0.000132 1.000000 -0.000232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.501377284] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.005,-0.001} {0.028,-0.025,-0.013} [component_container_isolated-3] [DEBUG] [1762964971.501431688] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.501485882] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.501519095] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981583 0.000021 0.191038 -0.006762 [component_container_isolated-3] -0.001739 0.999960 0.008822 0.059982 [component_container_isolated-3] -0.191030 -0.008992 0.981543 0.017014 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.501537621] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.525,11.013,-0.101} [component_container_isolated-3] [DEBUG] [1762964971.501560634] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.000} {-0.550,11.038,-0.088} [component_container_isolated-3] [DEBUG] [1762964971.501600270] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.507836199] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.507897015] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.507978020] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.508035650] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000030 0.000071 -0.000204 [component_container_isolated-3] 0.000030 1.000000 -0.000046 -0.000105 [component_container_isolated-3] -0.000071 0.000046 1.000000 0.000219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.508067661] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.007,0.003} {-0.023,0.087,0.090} [component_container_isolated-3] [DEBUG] [1762964971.508163174] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.508238478] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.508289856] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 -0.000108 0.203457 -0.006777 [component_container_isolated-3] 0.002517 0.999930 -0.011584 0.059259 [component_container_isolated-3] -0.203441 0.011854 0.979015 0.018549 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.508320815] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.694,11.738,0.147} [component_container_isolated-3] [DEBUG] [1762964971.508360491] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.006,-0.003} {0.698,11.653,0.054} [component_container_isolated-3] [DEBUG] [1762964971.508429893] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.525112102] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.525177858] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.525219858] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.525264984] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000008 -0.000068 -0.000156 [component_container_isolated-3] 0.000008 1.000000 0.000039 0.000015 [component_container_isolated-3] 0.000068 -0.000039 1.000000 -0.000048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.525290683] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.049,0.028,0.003} [component_container_isolated-3] [DEBUG] [1762964971.525342141] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.525424940] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.525465647] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879419 0.000024 0.476049 -0.001085 [component_container_isolated-3] -0.004703 0.999952 0.008637 0.060250 [component_container_isolated-3] -0.476025 -0.009835 0.879377 0.018208 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.525488791] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.426,-0.306} [component_container_isolated-3] [DEBUG] [1762964971.525518779] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.525567482] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.531775287] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.531838688] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.531876520] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.531918200] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000005 0.000136 -0.000020 [component_container_isolated-3] 0.000005 1.000000 0.000020 0.000267 [component_container_isolated-3] -0.000136 -0.000020 1.000000 -0.000196 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.531972043] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.005,-0.001} {0.027,-0.017,-0.013} [component_container_isolated-3] [DEBUG] [1762964971.532021237] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.532067074] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.532107301] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981557 0.000012 0.191171 -0.006751 [component_container_isolated-3] -0.001735 0.999959 0.008843 0.060069 [component_container_isolated-3] -0.191164 -0.009011 0.981517 0.016955 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.532131788] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.526,11.021,-0.101} [component_container_isolated-3] [DEBUG] [1762964971.532164991] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.001} {-0.550,11.038,-0.088} [component_container_isolated-3] [DEBUG] [1762964971.532223884] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.539525929] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.539592316] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.539634556] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.539678791] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000015 0.000116 -0.000148 [component_container_isolated-3] -0.000015 1.000000 -0.000091 0.000143 [component_container_isolated-3] -0.000116 0.000091 1.000000 0.000041 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.539704169] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,0.001} {-0.050,0.006,-0.035} [component_container_isolated-3] [DEBUG] [1762964971.539752903] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.539824960] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.539867622] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982744 -0.000110 0.184969 -0.007411 [component_container_isolated-3] 0.000038 1.000000 0.000388 0.059253 [component_container_isolated-3] -0.184969 -0.000374 0.982744 0.016297 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.539892569] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.001,-0.001,-0.001} {-0.022,10.659,0.002} [component_container_isolated-3] [DEBUG] [1762964971.539957293] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.035,10.653,0.037} [component_container_isolated-3] [DEBUG] [1762964971.540011126] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.541557358] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.541601974] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.541639936] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.541690723] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000030 0.000071 -0.000204 [component_container_isolated-3] 0.000030 1.000000 -0.000046 -0.000105 [component_container_isolated-3] -0.000071 0.000046 1.000000 0.000219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.541718847] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.007,0.003} {-0.021,0.091,0.092} [component_container_isolated-3] [DEBUG] [1762964971.541767911] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.541810843] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.541845829] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 -0.000108 0.203457 -0.006777 [component_container_isolated-3] 0.002517 0.999930 -0.011584 0.059259 [component_container_isolated-3] -0.203441 0.011854 0.979015 0.018549 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.541868142] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.694,11.738,0.147} [component_container_isolated-3] [DEBUG] [1762964971.541898179] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.006,-0.003} {0.695,11.649,0.052} [component_container_isolated-3] [DEBUG] [1762964971.541980276] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.547574139] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.547632841] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.547674591] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.547719928] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000052 0.000042 0.000022 [component_container_isolated-3] -0.000052 1.000000 -0.000188 0.000047 [component_container_isolated-3] -0.000042 0.000188 1.000000 0.000036 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.547745917] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.038,0.030,-0.000} [component_container_isolated-3] [DEBUG] [1762964971.547795622] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.547839696] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.547875615] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879399 0.000159 0.476086 -0.001081 [component_container_isolated-3] -0.004755 0.999953 0.008450 0.060248 [component_container_isolated-3] -0.476062 -0.009694 0.879358 0.018223 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.547899691] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.632,28.429,-0.310} [component_container_isolated-3] [DEBUG] [1762964971.547969063] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.548032504] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.557997946] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.558053191] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.558091284] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.558133475] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000015 0.000116 -0.000148 [component_container_isolated-3] -0.000015 1.000000 -0.000091 0.000143 [component_container_isolated-3] -0.000116 0.000091 1.000000 0.000041 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.558158282] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,0.000,0.001} {-0.045,0.013,-0.035} [component_container_isolated-3] [DEBUG] [1762964971.558210442] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.558255167] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.558293831] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982744 -0.000110 0.184969 -0.007411 [component_container_isolated-3] 0.000038 1.000000 0.000388 0.059253 [component_container_isolated-3] -0.184969 -0.000374 0.982744 0.016297 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.558317857] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.001,-0.001,-0.001} {-0.022,10.659,0.002} [component_container_isolated-3] [DEBUG] [1762964971.558348926] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.030,10.647,0.038} [component_container_isolated-3] [DEBUG] [1762964971.558398331] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.567899576] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.567992002] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.568032550] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.568075392] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000099 -0.000097 -0.000027 [component_container_isolated-3] 0.000099 1.000000 -0.000179 -0.000663 [component_container_isolated-3] 0.000097 0.000179 1.000000 0.000022 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.568101662] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.001} {0.037,-0.022,-0.007} [component_container_isolated-3] [DEBUG] [1762964971.568154633] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.568201593] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.568241719] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981575 -0.000051 0.191077 -0.006749 [component_container_isolated-3] -0.001635 0.999961 0.008663 0.060011 [component_container_isolated-3] -0.191070 -0.008816 0.981537 0.016934 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.568266507] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.515,11.015,-0.095} [component_container_isolated-3] [DEBUG] [1762964971.568299059] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.000} {-0.550,11.038,-0.088} [component_container_isolated-3] [DEBUG] [1762964971.568348764] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.577473239] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.577540488] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.577582217] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.577626742] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000159 -0.000008 -0.000038 [component_container_isolated-3] -0.000159 1.000000 0.000477 0.000292 [component_container_isolated-3] 0.000008 -0.000477 1.000000 -0.000029 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.577652552] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.065,0.029,-0.009} [component_container_isolated-3] [DEBUG] [1762964971.577701465] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.577743986] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.577779935] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879403 0.000071 0.476079 -0.001095 [component_container_isolated-3] -0.004914 0.999948 0.008927 0.060305 [component_container_isolated-3] -0.476053 -0.010190 0.879357 0.018201 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.577803921] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.664,28.428,-0.320} [component_container_isolated-3] [DEBUG] [1762964971.577836613] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.577886368] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.586764092] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.586826452] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.586870175] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.586954566] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000073 -0.000060 0.000267 [component_container_isolated-3] -0.000073 1.000000 -0.000073 0.000420 [component_container_isolated-3] 0.000060 0.000073 1.000000 -0.000089 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.586992549] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.006,0.003} {-0.017,0.087,0.088} [component_container_isolated-3] [DEBUG] [1762964971.587058966] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.587110524] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.587154177] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979096 -0.000021 0.203398 -0.006745 [component_container_isolated-3] 0.002443 0.999929 -0.011657 0.059299 [component_container_isolated-3] -0.203383 0.011910 0.979027 0.018544 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.587184315] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.697,11.735,0.143} [component_container_isolated-3] [DEBUG] [1762964971.587220574] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.006,-0.003} {0.695,11.649,0.052} [component_container_isolated-3] [DEBUG] [1762964971.587285658] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.603962327] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.604024796] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.604065454] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.604109267] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000066 -0.000070 0.000182 [component_container_isolated-3] -0.000066 1.000000 0.000127 0.000213 [component_container_isolated-3] 0.000070 -0.000127 1.000000 -0.000497 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.604134766] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.001} {0.030,-0.026,-0.011} [component_container_isolated-3] [DEBUG] [1762964971.604184702] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.604228195] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.604264975] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981589 -0.000010 0.191008 -0.006735 [component_container_isolated-3] -0.001701 0.999960 0.008791 0.060017 [component_container_isolated-3] -0.191000 -0.008954 0.981549 0.016761 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.604289742] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.523,11.011,-0.099} [component_container_isolated-3] [DEBUG] [1762964971.604322124] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.001} {-0.550,11.038,-0.088} [component_container_isolated-3] [DEBUG] [1762964971.604372180] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.609441581] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.609503389] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.609545399] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.609590445] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000066 -0.000150 0.000098 [component_container_isolated-3] 0.000066 1.000000 0.000113 -0.000143 [component_container_isolated-3] 0.000150 -0.000113 1.000000 -0.000098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.609617166] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,0.001} {-0.052,0.004,-0.032} [component_container_isolated-3] [DEBUG] [1762964971.609665589] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.609708751] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.609745101] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982772 -0.000196 0.184822 -0.007436 [component_container_isolated-3] 0.000105 1.000000 0.000501 0.059237 [component_container_isolated-3] -0.184822 -0.000473 0.982772 0.016318 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.609768445] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.001,-0.001,-0.001} {-0.028,10.651,0.006} [component_container_isolated-3] [DEBUG] [1762964971.609799845] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.030,10.647,0.038} [component_container_isolated-3] [DEBUG] [1762964971.609849460] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.614241448] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.614305079] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.614345637] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.614390763] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000148 0.000028 0.000109 [component_container_isolated-3] 0.000149 1.000000 -0.000327 -0.000304 [component_container_isolated-3] -0.000028 0.000327 1.000000 0.000065 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.614416402] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.047,0.031,-0.001} [component_container_isolated-3] [DEBUG] [1762964971.614465465] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.614509219] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.614544717] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 0.000096 0.476103 -0.001087 [component_container_isolated-3] -0.004766 0.999952 0.008600 0.060289 [component_container_isolated-3] -0.476080 -0.009832 0.879347 0.018229 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.614566148] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.430,-0.310} [component_container_isolated-3] [DEBUG] [1762964971.614598079] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.614649717] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.625536849] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.625651578] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.625716472] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.625786816] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000013 -0.000129 0.000002 [component_container_isolated-3] -0.000013 1.000000 0.000086 -0.000059 [component_container_isolated-3] 0.000129 -0.000086 1.000000 -0.000512 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.625834247] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.006,0.002} {-0.022,0.080,0.087} [component_container_isolated-3] [DEBUG] [1762964971.625916444] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.626013690] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.626074035] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979122 -0.000026 0.203272 -0.006754 [component_container_isolated-3] 0.002429 0.999930 -0.011571 0.059312 [component_container_isolated-3] -0.203257 0.011824 0.979054 0.018425 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.626119422] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.727,0.142} [component_container_isolated-3] [DEBUG] [1762964971.626183654] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.006,-0.003} {0.695,11.649,0.052} [component_container_isolated-3] [DEBUG] [1762964971.626308924] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.632581753] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.632645775] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.632696703] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.632756076] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000024 0.000018 0.000257 [component_container_isolated-3] 0.000024 1.000000 -0.000095 -0.000316 [component_container_isolated-3] -0.000018 0.000095 1.000000 -0.000334 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.632792075] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.002} {0.035,-0.025,-0.010} [component_container_isolated-3] [DEBUG] [1762964971.632864233] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.632957120] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.633008147] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981585 -0.000015 0.191025 -0.006685 [component_container_isolated-3] -0.001677 0.999961 0.008696 0.059966 [component_container_isolated-3] -0.191018 -0.008856 0.981547 0.016574 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.633043064] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.001} {-0.517,11.012,-0.098} [component_container_isolated-3] [DEBUG] [1762964971.633086176] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.001} {-0.550,11.038,-0.088} [component_container_isolated-3] [DEBUG] [1762964971.633165167] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.647489293] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.647543025] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.647591889] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.647651022] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000018 0.000000 -0.000006 [component_container_isolated-3] -0.000018 1.000000 0.000025 0.000054 [component_container_isolated-3] -0.000000 -0.000025 1.000000 -0.000096 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.647687501] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.006,0.002} {-0.023,0.080,0.086} [component_container_isolated-3] [DEBUG] [1762964971.647753237] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.647811729] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.647865471] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979122 -0.000013 0.203272 -0.006754 [component_container_isolated-3] 0.002411 0.999931 -0.011546 0.059330 [component_container_isolated-3] -0.203257 0.011795 0.979054 0.018353 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.647898805] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.690,11.728,0.141} [component_container_isolated-3] [DEBUG] [1762964971.647974910] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.006,-0.003} {0.695,11.649,0.052} [component_container_isolated-3] [DEBUG] [1762964971.648055915] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.651700585] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.651760470] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.651799194] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.651844400] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000023 0.000116 0.000121 [component_container_isolated-3] 0.000023 1.000000 -0.000118 -0.000095 [component_container_isolated-3] -0.000116 0.000118 1.000000 0.000015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.651871171] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,0.001} {-0.045,0.011,-0.030} [component_container_isolated-3] [DEBUG] [1762964971.651955833] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.652006430] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.652047207] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982750 -0.000197 0.184936 -0.007436 [component_container_isolated-3] 0.000128 1.000000 0.000383 0.059210 [component_container_isolated-3] -0.184936 -0.000353 0.982750 0.016346 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.652072005] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.001,-0.001,-0.001} {-0.021,10.657,0.007} [component_container_isolated-3] [DEBUG] [1762964971.652106190] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.030,10.647,0.038} [component_container_isolated-3] [DEBUG] [1762964971.652165103] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.657031115] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.657096260] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.657136016] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.657179669] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000024 0.000018 0.000257 [component_container_isolated-3] 0.000024 1.000000 -0.000095 -0.000316 [component_container_isolated-3] -0.000018 0.000095 1.000000 -0.000334 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.657205288] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.004,-0.002} {0.040,-0.024,-0.008} [component_container_isolated-3] [DEBUG] [1762964971.657253781] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.657301081] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.657341789] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981585 -0.000015 0.191025 -0.006685 [component_container_isolated-3] -0.001677 0.999961 0.008696 0.059966 [component_container_isolated-3] -0.191018 -0.008856 0.981547 0.016574 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.657367498] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.001} {-0.517,11.012,-0.098} [component_container_isolated-3] [DEBUG] [1762964971.657400691] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.001} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964971.657463271] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.663466155] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.663520058] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.663556938] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.663599189] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000023 0.000116 0.000121 [component_container_isolated-3] 0.000023 1.000000 -0.000118 -0.000095 [component_container_isolated-3] -0.000116 0.000118 1.000000 0.000015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.663625369] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,0.001} {-0.038,0.018,-0.029} [component_container_isolated-3] [DEBUG] [1762964971.663675655] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.663720440] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.663759675] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982750 -0.000197 0.184936 -0.007436 [component_container_isolated-3] 0.000128 1.000000 0.000383 0.059210 [component_container_isolated-3] -0.184936 -0.000353 0.982750 0.016346 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.663783711] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.001,-0.001,-0.001} {-0.021,10.657,0.007} [component_container_isolated-3] [DEBUG] [1762964971.663816223] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.023,10.640,0.037} [component_container_isolated-3] [DEBUG] [1762964971.663865658] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.669554783] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.669613284] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.669655104] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.669699870] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000036 0.000028 -0.000207 [component_container_isolated-3] -0.000036 1.000000 0.000202 0.000070 [component_container_isolated-3] -0.000028 -0.000202 1.000000 0.000042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.669725158] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.058,0.033,-0.003} [component_container_isolated-3] [DEBUG] [1762964971.669773350] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.669814198] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.669850067] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879376 0.000031 0.476128 -0.001109 [component_container_isolated-3] -0.004802 0.999950 0.008803 0.060294 [component_container_isolated-3] -0.476104 -0.010027 0.879332 0.018242 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.669871848] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.653,28.431,-0.313} [component_container_isolated-3] [DEBUG] [1762964971.669902567] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.594,28.399,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.669977871] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.674349680] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.674409684] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.674446875] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.674487824] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000036 0.000028 -0.000207 [component_container_isolated-3] -0.000036 1.000000 0.000202 0.000070 [component_container_isolated-3] -0.000028 -0.000202 1.000000 0.000042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.674511559] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.070,0.034,-0.005} [component_container_isolated-3] [DEBUG] [1762964971.674557877] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.674601511] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.674641237] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879376 0.000031 0.476128 -0.001109 [component_container_isolated-3] -0.004802 0.999950 0.008803 0.060294 [component_container_isolated-3] -0.476104 -0.010027 0.879332 0.018242 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.674664852] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.653,28.431,-0.313} [component_container_isolated-3] [DEBUG] [1762964971.674697734] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964971.674747389] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.686361560] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.686449077] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.686495365] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.686545250] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000055 0.000112 -0.000143 [component_container_isolated-3] 0.000055 1.000000 -0.000039 -0.000191 [component_container_isolated-3] -0.000112 0.000039 1.000000 0.000769 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.686573675] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.007,0.003} {-0.021,0.086,0.089} [component_container_isolated-3] [DEBUG] [1762964971.686624151] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.686667945] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.686705086] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979100 -0.000060 0.203381 -0.006740 [component_container_isolated-3] 0.002467 0.999930 -0.011585 0.059320 [component_container_isolated-3] -0.203366 0.011845 0.979031 0.018439 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.686727919] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.734,0.144} [component_container_isolated-3] [DEBUG] [1762964971.686760582] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.006,-0.003} {0.695,11.649,0.052} [component_container_isolated-3] [DEBUG] [1762964971.686809014] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.697520230] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.697585244] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.697627084] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.697673743] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000144 0.000123 -0.000531 [component_container_isolated-3] -0.000144 1.000000 0.000205 0.000906 [component_container_isolated-3] -0.000123 -0.000205 1.000000 0.000528 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.697699542] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.005,-0.002} {0.029,-0.017,-0.017} [component_container_isolated-3] [DEBUG] [1762964971.697749007] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.697792831] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.697830202] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981562 0.000087 0.191146 -0.006707 [component_container_isolated-3] -0.001822 0.999959 0.008901 0.060155 [component_container_isolated-3] -0.191138 -0.009085 0.981521 0.016519 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.697853025] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.001} {-0.530,11.019,-0.106} [component_container_isolated-3] [DEBUG] [1762964971.697884816] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.001} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964971.697971331] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.707969265] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.708023859] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.708063014] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.708106166] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000214 0.000224 0.000595 [component_container_isolated-3] -0.000214 1.000000 0.000136 0.000950 [component_container_isolated-3] -0.000224 -0.000136 1.000000 0.001013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.708130563] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.001,0.002} {-0.046,0.030,-0.041} [component_container_isolated-3] [DEBUG] [1762964971.708177753] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.708218130] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.708253628] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 -0.000012 0.185156 -0.007232 [component_container_isolated-3] -0.000086 1.000000 0.000519 0.059434 [component_container_isolated-3] -0.185156 -0.000526 0.982709 0.016671 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.708275550] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.031,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964971.708305828] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.002} {0.023,10.640,0.037} [component_container_isolated-3] [DEBUG] [1762964971.708353439] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.719429371] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.719502240] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.719542557] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.719589898] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000055 0.000112 -0.000143 [component_container_isolated-3] 0.000055 1.000000 -0.000039 -0.000191 [component_container_isolated-3] -0.000112 0.000039 1.000000 0.000769 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.719616599] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.007,0.004} {-0.019,0.093,0.092} [component_container_isolated-3] [DEBUG] [1762964971.719666183] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.719710748] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.719749913] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979100 -0.000060 0.203381 -0.006740 [component_container_isolated-3] 0.002467 0.999930 -0.011585 0.059320 [component_container_isolated-3] -0.203366 0.011845 0.979031 0.018439 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.719774520] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.734,0.144} [component_container_isolated-3] [DEBUG] [1762964971.719804798] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.006,-0.004} {0.692,11.642,0.049} [component_container_isolated-3] [DEBUG] [1762964971.719853722] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.720881464] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.720976185] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.721019077] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.721063963] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000050 -0.000070 -0.000031 [component_container_isolated-3] -0.000050 1.000000 -0.000346 0.000110 [component_container_isolated-3] 0.000070 0.000346 1.000000 -0.000133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.721089772] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.050,0.030,-0.008} [component_container_isolated-3] [DEBUG] [1762964971.721142603] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.721186617] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.721223257] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 0.000240 0.476067 -0.001120 [component_container_isolated-3] -0.004851 0.999952 0.008457 0.060306 [component_container_isolated-3] -0.476042 -0.009747 0.879368 0.018264 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.721247263] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.635,28.427,-0.316} [component_container_isolated-3] [DEBUG] [1762964971.721277911] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964971.721327376] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.733260896] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.733318967] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.733362119] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.733408768] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000016 0.000012 0.000330 [component_container_isolated-3] -0.000016 1.000000 -0.000125 0.000270 [component_container_isolated-3] -0.000012 0.000125 1.000000 0.000336 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.733435900] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.005,-0.001} {0.036,-0.016,-0.018} [component_container_isolated-3] [DEBUG] [1762964971.733488601] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.733537614] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.733578713] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981559 0.000127 0.191158 -0.006660 [component_container_isolated-3] -0.001839 0.999960 0.008776 0.060294 [component_container_isolated-3] -0.191149 -0.008966 0.981520 0.016546 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.733603150] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.001} {-0.523,11.020,-0.107} [component_container_isolated-3] [DEBUG] [1762964971.733636072] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.000} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964971.733697199] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.738545488] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.738594702] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.738631833] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.738673893] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000055 0.000112 -0.000143 [component_container_isolated-3] 0.000055 1.000000 -0.000039 -0.000191 [component_container_isolated-3] -0.000112 0.000039 1.000000 0.000769 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.738698040] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.007,0.005} {-0.016,0.099,0.096} [component_container_isolated-3] [DEBUG] [1762964971.738744138] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.738785937] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.738825433] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979100 -0.000060 0.203381 -0.006740 [component_container_isolated-3] 0.002467 0.999930 -0.011585 0.059320 [component_container_isolated-3] -0.203366 0.011845 0.979031 0.018439 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.738847966] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.734,0.144} [component_container_isolated-3] [DEBUG] [1762964971.738879356] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.007,-0.005} {0.690,11.636,0.046} [component_container_isolated-3] [DEBUG] [1762964971.738979367] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.741961923] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.742015615] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.742055562] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.742100077] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000165 -0.000240 -0.000756 [component_container_isolated-3] 0.000165 1.000000 -0.000064 -0.000818 [component_container_isolated-3] 0.000240 0.000063 1.000000 -0.000935 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.742125876] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,0.001} {-0.042,0.017,-0.032} [component_container_isolated-3] [DEBUG] [1762964971.742178546] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.742225937] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.742264551] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982754 -0.000162 0.184920 -0.007327 [component_container_isolated-3] 0.000080 1.000000 0.000456 0.059364 [component_container_isolated-3] -0.184920 -0.000433 0.982754 0.016662 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.742287074] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.025,10.656,0.005} [component_container_isolated-3] [DEBUG] [1762964971.742317392] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.023,10.640,0.037} [component_container_isolated-3] [DEBUG] [1762964971.742367367] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.745893982] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.745971871] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.746012368] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.746056452] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000149 -0.000023 0.000292 [component_container_isolated-3] 0.000149 1.000000 0.000161 -0.000247 [component_container_isolated-3] 0.000023 -0.000161 1.000000 -0.000063 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.746080769] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.059,0.029,0.001} [component_container_isolated-3] [DEBUG] [1762964971.746130634] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.746173416] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.746209384] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 0.000032 0.476047 -0.001119 [component_container_isolated-3] -0.004701 0.999952 0.008619 0.060286 [component_container_isolated-3] -0.476023 -0.009817 0.879378 0.018240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.746232979] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.426,-0.306} [component_container_isolated-3] [DEBUG] [1762964971.746265842] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964971.746315647] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.764394664] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.764453546] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.764492320] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.764536886] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000110 0.000116 -0.000092 [component_container_isolated-3] 0.000110 1.000000 0.000102 -0.000876 [component_container_isolated-3] -0.000116 -0.000102 1.000000 0.000207 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.764561933] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.001} {0.030,-0.010,-0.011} [component_container_isolated-3] [DEBUG] [1762964971.764610486] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.764657596] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.764698735] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 -0.000001 0.191272 -0.006643 [component_container_isolated-3] -0.001730 0.999959 0.008878 0.060223 [component_container_isolated-3] -0.191264 -0.009045 0.981497 0.016593 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.764724123] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.528,11.027,-0.101} [component_container_isolated-3] [DEBUG] [1762964971.764759180] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.000} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964971.764811630] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.769160906] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.769227704] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.769268812] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.769313678] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000019 -0.000000 0.000058 [component_container_isolated-3] -0.000019 1.000000 0.000070 -0.000006 [component_container_isolated-3] 0.000000 -0.000070 1.000000 -0.000016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.769339187] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,0.001} {-0.046,0.017,-0.033} [component_container_isolated-3] [DEBUG] [1762964971.769392428] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.769440751] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.769481629] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982754 -0.000156 0.184919 -0.007348 [component_container_isolated-3] 0.000060 1.000000 0.000525 0.059339 [component_container_isolated-3] -0.184919 -0.000505 0.982754 0.016651 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.769506115] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.029,10.656,0.004} [component_container_isolated-3] [DEBUG] [1762964971.769538127] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.001,-0.002} {0.023,10.640,0.037} [component_container_isolated-3] [DEBUG] [1762964971.769588322] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.773197034] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.773252180] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.773291585] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.773334978] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000055 0.000112 -0.000143 [component_container_isolated-3] 0.000055 1.000000 -0.000039 -0.000191 [component_container_isolated-3] -0.000112 0.000039 1.000000 0.000769 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.773359194] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.007,0.005} {-0.014,0.106,0.099} [component_container_isolated-3] [DEBUG] [1762964971.773404921] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.773475256] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.773512357] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979100 -0.000060 0.203381 -0.006740 [component_container_isolated-3] 0.002467 0.999930 -0.011585 0.059320 [component_container_isolated-3] -0.203366 0.011845 0.979031 0.018439 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.773535170] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.734,0.144} [component_container_isolated-3] [DEBUG] [1762964971.773567542] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.007,-0.006} {0.687,11.630,0.042} [component_container_isolated-3] [DEBUG] [1762964971.773623609] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.780187905] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.780254052] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.780296032] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.780344474] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000030 0.000065 0.000053 [component_container_isolated-3] -0.000030 1.000000 0.000131 0.000065 [component_container_isolated-3] -0.000065 -0.000131 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.780372217] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.067,0.033,-0.001} [component_container_isolated-3] [DEBUG] [1762964971.780424727] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.780468401] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.780505402] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 -0.000004 0.476104 -0.001104 [component_container_isolated-3] -0.004732 0.999951 0.008749 0.060283 [component_container_isolated-3] -0.476081 -0.009947 0.879345 0.018223 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.780527223] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.648,28.430,-0.308} [component_container_isolated-3] [DEBUG] [1762964971.780557902] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964971.780607777] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.798464689] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.798523562] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.798563949] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.798609085] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000098 -0.000169 -0.000132 [component_container_isolated-3] 0.000098 1.000000 -0.000058 -0.000601 [component_container_isolated-3] 0.000169 0.000058 1.000000 -0.000477 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.798634714] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.003,-0.002} {0.033,-0.020,-0.006} [component_container_isolated-3] [DEBUG] [1762964971.798685872] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.798733873] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.798774992] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981569 -0.000086 0.191106 -0.006660 [component_container_isolated-3] -0.001630 0.999960 0.008821 0.060021 [component_container_isolated-3] -0.191099 -0.008969 0.981530 0.016560 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.798801132] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.001} {-0.524,11.017,-0.095} [component_container_isolated-3] [DEBUG] [1762964971.798832923] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.001} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964971.798883319] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.803235861] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.803303380] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.803342525] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.803387841] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000008 -0.000029 0.000236 [component_container_isolated-3] 0.000008 1.000000 -0.000002 -0.000303 [component_container_isolated-3] 0.000029 0.000002 1.000000 -0.000066 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.803414973] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.001,-0.000,0.001} {-0.046,0.015,-0.032} [component_container_isolated-3] [DEBUG] [1762964971.803466692] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.803513231] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.803552807] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982759 -0.000164 0.184891 -0.007342 [component_container_isolated-3] 0.000068 1.000000 0.000524 0.059254 [component_container_isolated-3] -0.184891 -0.000502 0.982759 0.016633 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.803576792] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.029,10.655,0.004} [component_container_isolated-3] [DEBUG] [1762964971.803610527] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.000,-0.002} {0.023,10.640,0.037} [component_container_isolated-3] [DEBUG] [1762964971.803665943] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.812571029] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.812638187] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.812679967] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.812722819] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000022 -0.000047 -0.000164 [component_container_isolated-3] -0.000022 1.000000 -0.000206 0.000114 [component_container_isolated-3] 0.000047 0.000206 1.000000 -0.000141 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.812747717] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.055,0.030,-0.002} [component_container_isolated-3] [DEBUG] [1762964971.812795167] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.812837518] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.812873647] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 0.000113 0.476063 -0.001112 [component_container_isolated-3] -0.004753 0.999952 0.008543 0.060289 [component_container_isolated-3] -0.476039 -0.009776 0.879370 0.018217 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.812896421] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.427,-0.310} [component_container_isolated-3] [DEBUG] [1762964971.812971243] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964971.813026789] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.823506884] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.823575906] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.823617165] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.823663182] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000304 0.000155 0.000192 [component_container_isolated-3] 0.000304 1.000000 -0.000112 -0.001404 [component_container_isolated-3] -0.000155 0.000112 1.000000 0.000101 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.823688571] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.009,0.005} {-0.008,0.114,0.116} [component_container_isolated-3] [DEBUG] [1762964971.823736763] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.823778733] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.823817688] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979068 -0.000334 0.203533 -0.006717 [component_container_isolated-3] 0.002773 0.999928 -0.011697 0.058792 [component_container_isolated-3] -0.203514 0.012016 0.978998 0.018486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.823841162] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.703,11.743,0.162} [component_container_isolated-3] [DEBUG] [1762964971.823872492] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.008,-0.006} {0.687,11.630,0.042} [component_container_isolated-3] [DEBUG] [1762964971.823953517] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.838027395] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.838085075] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.838124049] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.838168023] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000029 -0.000081 0.000656 [component_container_isolated-3] 0.000029 1.000000 -0.000018 -0.000223 [component_container_isolated-3] 0.000081 0.000018 1.000000 -0.000576 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.838192790] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.003,-0.002} {0.034,-0.024,-0.004} [component_container_isolated-3] [DEBUG] [1762964971.838242215] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.838286960] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.838328389] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981585 -0.000111 0.191027 -0.006545 [component_container_isolated-3] -0.001600 0.999960 0.008802 0.059878 [component_container_isolated-3] -0.191020 -0.008946 0.981545 0.016361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.838355872] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.001} {-0.522,11.012,-0.093} [component_container_isolated-3] [DEBUG] [1762964971.838389186] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.001} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964971.838443930] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.842915009] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.842993338] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.843031431] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.843074183] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000304 0.000155 0.000192 [component_container_isolated-3] 0.000304 1.000000 -0.000112 -0.001404 [component_container_isolated-3] -0.000155 0.000112 1.000000 0.000101 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.843100022] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.010,0.006} {-0.001,0.123,0.134} [component_container_isolated-3] [DEBUG] [1762964971.843151360] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.843195334] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.843234058] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979068 -0.000334 0.203533 -0.006717 [component_container_isolated-3] 0.002773 0.999928 -0.011697 0.058792 [component_container_isolated-3] -0.203514 0.012016 0.978998 0.018486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.843255659] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.703,11.743,0.162} [component_container_isolated-3] [DEBUG] [1762964971.843285256] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.009,-0.006} {0.677,11.621,0.024} [component_container_isolated-3] [DEBUG] [1762964971.843333298] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.843738091] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.843807663] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.843853631] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.843906763] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000067 0.000268 0.000718 [component_container_isolated-3] -0.000067 1.000000 0.000141 0.000866 [component_container_isolated-3] -0.000268 -0.000141 1.000000 0.000961 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.843947500] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.000,0.002} {-0.054,0.030,-0.036} [component_container_isolated-3] [DEBUG] [1762964971.844000802] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.844045127] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.844082318] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 -0.000124 0.185154 -0.007096 [component_container_isolated-3] 0.000001 1.000000 0.000665 0.059381 [component_container_isolated-3] -0.185154 -0.000653 0.982709 0.016831 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.844105803] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.038,10.670,0.000} [component_container_isolated-3] [DEBUG] [1762964971.844136682] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.001,-0.002} {0.023,10.640,0.037} [component_container_isolated-3] [DEBUG] [1762964971.844186297] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.848162590] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.848228055] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.848268733] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.848313268] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000023 -0.000024 0.000048 [component_container_isolated-3] 0.000023 1.000000 0.000176 -0.000047 [component_container_isolated-3] 0.000024 -0.000176 1.000000 -0.000014 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.848339438] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.065,0.029,-0.001} [component_container_isolated-3] [DEBUG] [1762964971.848388622] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.848433818] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.848475077] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879423 0.000010 0.476042 -0.001123 [component_container_isolated-3] -0.004731 0.999951 0.008719 0.060292 [component_container_isolated-3] -0.476018 -0.009920 0.879380 0.018195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.848499895] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.426,-0.308} [component_container_isolated-3] [DEBUG] [1762964971.848532487] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964971.848581300] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.864661439] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.864716264] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.864755048] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.864799052] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000067 0.000268 0.000718 [component_container_isolated-3] -0.000067 1.000000 0.000141 0.000866 [component_container_isolated-3] -0.000268 -0.000141 1.000000 0.000961 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.864826114] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,0.002} {-0.062,0.046,-0.040} [component_container_isolated-3] [DEBUG] [1762964971.864877282] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.864955711] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.864998032] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 -0.000124 0.185154 -0.007096 [component_container_isolated-3] 0.000001 1.000000 0.000665 0.059381 [component_container_isolated-3] -0.185154 -0.000653 0.982709 0.016831 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.865023491] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.038,10.670,0.000} [component_container_isolated-3] [DEBUG] [1762964971.865057295] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.002,-0.003} {0.032,10.625,0.041} [component_container_isolated-3] [DEBUG] [1762964971.865111629] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.872875165] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.872972702] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.873014301] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.873060449] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000209 0.000031 -0.000178 [component_container_isolated-3] -0.000209 1.000000 0.000098 0.001136 [component_container_isolated-3] -0.000031 -0.000098 1.000000 0.000050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.873086539] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.004,-0.002} {0.029,-0.022,-0.016} [component_container_isolated-3] [DEBUG] [1762964971.873139480] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.873186169] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.873226376] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981579 0.000075 0.191057 -0.006508 [component_container_isolated-3] -0.001809 0.999959 0.008900 0.060025 [component_container_isolated-3] -0.191049 -0.009082 0.981538 0.016294 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.873251384] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.001} {-0.530,11.014,-0.106} [component_container_isolated-3] [DEBUG] [1762964971.873282674] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.001} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964971.873333040] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.881827061] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.881894510] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.881978350] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.882024969] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000017 0.000044 -0.000011 [component_container_isolated-3] -0.000017 1.000000 -0.000062 -0.000022 [component_container_isolated-3] -0.000044 0.000062 1.000000 0.000135 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.882050709] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.061,0.031,-0.002} [component_container_isolated-3] [DEBUG] [1762964971.882100363] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.882146742] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.882185817] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000054 0.476080 -0.001118 [component_container_isolated-3] -0.004748 0.999951 0.008657 0.060291 [component_container_isolated-3] -0.476057 -0.009873 0.879359 0.018197 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.882208600] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.643,28.428,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.882239499] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964971.882295897] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.894112554] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.894183028] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.894224888] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.894271908] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000250 -0.000092 -0.000665 [component_container_isolated-3] -0.000250 1.000000 0.000097 0.001276 [component_container_isolated-3] 0.000092 -0.000097 1.000000 -0.000383 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.894298339] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.009,0.005} {-0.007,0.118,0.119} [component_container_isolated-3] [DEBUG] [1762964971.894347402] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.894389533] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.894428607] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 -0.000109 0.203442 -0.006829 [component_container_isolated-3] 0.002522 0.999930 -0.011600 0.058905 [component_container_isolated-3] -0.203427 0.011870 0.979018 0.018487 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.894452102] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.695,11.737,0.148} [component_container_isolated-3] [DEBUG] [1762964971.894485797] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.008,-0.006} {0.677,11.621,0.024} [component_container_isolated-3] [DEBUG] [1762964971.894541743] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.899916758] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.899988676] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.900030987] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.900075151] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000232 -0.000047 -0.000740 [component_container_isolated-3] 0.000232 1.000000 -0.000054 -0.000784 [component_container_isolated-3] 0.000047 0.000054 1.000000 0.000253 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.900100189] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.002} {0.032,-0.025,-0.003} [component_container_isolated-3] [DEBUG] [1762964971.900149733] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.900193437] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.900229415] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981588 -0.000143 0.191011 -0.006644 [component_container_isolated-3] -0.001576 0.999960 0.008846 0.059911 [component_container_isolated-3] -0.191005 -0.008984 0.981548 0.016292 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.900252009] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.001} {-0.524,11.011,-0.092} [component_container_isolated-3] [DEBUG] [1762964971.900282677] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.001} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964971.900335288] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.907045923] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.907104114] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.907145103] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.907189297] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000115 -0.000314 -0.000845 [component_container_isolated-3] 0.000115 1.000000 -0.000191 -0.000675 [component_container_isolated-3] 0.000314 0.000191 1.000000 -0.000921 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.907215878] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.001,0.002} {-0.051,0.028,-0.033} [component_container_isolated-3] [DEBUG] [1762964971.907265142] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.907307493] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.907345556] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982768 -0.000202 0.184845 -0.007189 [component_container_isolated-3] 0.000116 1.000000 0.000473 0.059302 [component_container_isolated-3] -0.184846 -0.000443 0.982767 0.016766 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.907369832] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.026,10.652,0.007} [component_container_isolated-3] [DEBUG] [1762964971.907402765] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.002} {0.032,10.625,0.041} [component_container_isolated-3] [DEBUG] [1762964971.907452520] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.913951902] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.914011085] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.914051092] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.914094334] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000006 -0.000020 0.000082 [component_container_isolated-3] 0.000006 1.000000 0.000114 -0.000055 [component_container_isolated-3] 0.000020 -0.000114 1.000000 -0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.914119853] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.068,0.030,-0.001} [component_container_isolated-3] [DEBUG] [1762964971.914168185] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.914210676] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.914250683] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 -0.000005 0.476063 -0.001113 [component_container_isolated-3] -0.004742 0.999950 0.008771 0.060285 [component_container_isolated-3] -0.476039 -0.009971 0.879367 0.018186 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.914273687] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.650,28.427,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.914306008] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964971.914459842] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.924678527] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.924743201] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.924784009] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.924830708] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000039 -0.000017 0.000344 [component_container_isolated-3] -0.000039 1.000000 0.000068 0.000343 [component_container_isolated-3] 0.000017 -0.000068 1.000000 0.000314 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.924856137] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.008,0.005} {-0.011,0.117,0.117} [component_container_isolated-3] [DEBUG] [1762964971.924905791] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.924989632] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.925029668] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979091 -0.000085 0.203425 -0.006827 [component_container_isolated-3] 0.002482 0.999931 -0.011532 0.059028 [component_container_isolated-3] -0.203410 0.011796 0.979023 0.018525 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.925053063] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.690,11.736,0.145} [component_container_isolated-3] [DEBUG] [1762964971.925087649] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.008,-0.006} {0.677,11.621,0.024} [component_container_isolated-3] [DEBUG] [1762964971.925147223] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.931487661] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.931553948] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.931595948] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.931640273] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000071 0.000142 -0.000269 [component_container_isolated-3] -0.000071 1.000000 -0.000089 0.000255 [component_container_isolated-3] -0.000142 0.000089 1.000000 0.000579 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.931664629] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.001} {0.037,-0.017,-0.007} [component_container_isolated-3] [DEBUG] [1762964971.931713172] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.931755352] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.931790620] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981561 -0.000056 0.191151 -0.006731 [component_container_isolated-3] -0.001649 0.999960 0.008757 0.059898 [component_container_isolated-3] -0.191144 -0.008910 0.981522 0.016411 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.931813063] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.001} {-0.520,11.020,-0.096} [component_container_isolated-3] [DEBUG] [1762964971.931845986] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.000} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964971.931897193] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.933702010] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.933761584] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.933801139] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.933844813] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000039 -0.000017 0.000344 [component_container_isolated-3] -0.000039 1.000000 0.000068 0.000343 [component_container_isolated-3] 0.000017 -0.000068 1.000000 0.000314 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.933868999] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.008,0.006} {-0.015,0.116,0.115} [component_container_isolated-3] [DEBUG] [1762964971.933917582] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.933991833] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.934028363] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979091 -0.000085 0.203425 -0.006827 [component_container_isolated-3] 0.002482 0.999931 -0.011532 0.059028 [component_container_isolated-3] -0.203410 0.011796 0.979023 0.018525 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.934050145] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.690,11.736,0.145} [component_container_isolated-3] [DEBUG] [1762964971.934082817] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.007,-0.006} {0.681,11.622,0.027} [component_container_isolated-3] [DEBUG] [1762964971.934133845] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.943016058] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.943069149] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.943107973] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.943151276] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000035 0.000068 -0.000147 [component_container_isolated-3] -0.000035 1.000000 0.000129 0.000140 [component_container_isolated-3] -0.000068 -0.000129 1.000000 0.000038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.943177376] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.001,0.002} {-0.059,0.031,-0.035} [component_container_isolated-3] [DEBUG] [1762964971.943225017] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.943269993] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.943310039] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982755 -0.000191 0.184912 -0.007245 [component_container_isolated-3] 0.000081 1.000000 0.000602 0.059290 [component_container_isolated-3] -0.184912 -0.000577 0.982755 0.016747 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.943333664] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.034,10.656,0.005} [component_container_isolated-3] [DEBUG] [1762964971.943366928] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.002} {0.032,10.625,0.041} [component_container_isolated-3] [DEBUG] [1762964971.943418366] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.957487965] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.957546487] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.957593096] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.957640557] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000079 0.000092 0.000098 [component_container_isolated-3] -0.000079 1.000000 0.000017 0.000106 [component_container_isolated-3] -0.000092 -0.000017 1.000000 0.000088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.957667398] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.069,0.035,-0.006} [component_container_isolated-3] [DEBUG] [1762964971.957718085] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.957762911] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.957799520] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879368 0.000056 0.476143 -0.001085 [component_container_isolated-3] -0.004822 0.999950 0.008787 0.060292 [component_container_isolated-3] -0.476119 -0.010023 0.879324 0.018181 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.957824919] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.653,28.432,-0.314} [component_container_isolated-3] [DEBUG] [1762964971.957859786] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964971.957913338] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.968701380] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.968767497] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.968809046] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.968853641] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000085 0.000023 0.000482 [component_container_isolated-3] 0.000085 1.000000 0.000073 -0.000753 [component_container_isolated-3] -0.000023 -0.000073 1.000000 -0.000158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.968879611] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.003,-0.001} {0.033,-0.016,-0.002} [component_container_isolated-3] [DEBUG] [1762964971.968955225] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.969002285] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.969040167] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981556 -0.000153 0.191174 -0.006736 [component_container_isolated-3] -0.001564 0.999960 0.008830 0.059684 [component_container_isolated-3] -0.191168 -0.008966 0.981517 0.016427 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.969065826] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.001} {-0.523,11.021,-0.091} [component_container_isolated-3] [DEBUG] [1762964971.969099681] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.000} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964971.969163773] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.974497189] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.974553136] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.974595036] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.974639721] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000023 -0.000053 0.000036 [component_container_isolated-3] -0.000023 1.000000 -0.000098 -0.000054 [component_container_isolated-3] 0.000053 0.000098 1.000000 0.000024 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.974665029] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.001,0.002} {-0.053,0.028,-0.037} [component_container_isolated-3] [DEBUG] [1762964971.974713482] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.974756544] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.974792232] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982765 -0.000150 0.184860 -0.007270 [component_container_isolated-3] 0.000058 1.000000 0.000504 0.059271 [component_container_isolated-3] -0.184860 -0.000485 0.982765 0.016741 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.974815888] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.028,10.653,0.003} [component_container_isolated-3] [DEBUG] [1762964971.974849812] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.002} {0.032,10.625,0.041} [component_container_isolated-3] [DEBUG] [1762964971.974902864] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.982163269] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.982238242] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.982280974] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.982326331] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000012 0.000109 -0.000087 [component_container_isolated-3] 0.000012 1.000000 0.000057 -0.000160 [component_container_isolated-3] -0.000109 -0.000057 1.000000 0.000301 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.982351499] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.008,0.006} {-0.018,0.122,0.115} [component_container_isolated-3] [DEBUG] [1762964971.982399541] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.982441060] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.982475796] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979068 -0.000108 0.203532 -0.006822 [component_container_isolated-3] 0.002496 0.999931 -0.011475 0.059063 [component_container_isolated-3] -0.203516 0.011743 0.979001 0.018614 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.982498670] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.687,11.743,0.146} [component_container_isolated-3] [DEBUG] [1762964971.982531152] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.008,-0.006} {0.681,11.622,0.027} [component_container_isolated-3] [DEBUG] [1762964971.982580336] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964971.985339535] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964971.985414128] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964971.985458613] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964971.985504711] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000077 -0.000049 0.000010 [component_container_isolated-3] 0.000077 1.000000 -0.000087 -0.000120 [component_container_isolated-3] 0.000049 0.000087 1.000000 -0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964971.985530831] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.064,0.032,-0.002} [component_container_isolated-3] [DEBUG] [1762964971.985581467] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964971.985624349] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964971.985662903] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879391 0.000030 0.476101 -0.001070 [component_container_isolated-3] -0.004745 0.999951 0.008700 0.060280 [component_container_isolated-3] -0.476077 -0.009910 0.879348 0.018184 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964971.985685185] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.429,-0.309} [component_container_isolated-3] [DEBUG] [1762964971.985715794] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964971.985765789] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.000801294] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.000892969] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.000976057] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.001033407] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000059 -0.000004 -0.000673 [component_container_isolated-3] 0.000059 1.000000 0.000061 -0.000407 [component_container_isolated-3] 0.000004 -0.000061 1.000000 0.000383 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.001066029] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.003,-0.001} {0.029,-0.016,0.002} [component_container_isolated-3] [DEBUG] [1762964972.001123088] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.001173074] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.001212399] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981557 -0.000223 0.191170 -0.006877 [component_container_isolated-3] -0.001505 0.999959 0.008891 0.059467 [component_container_isolated-3] -0.191164 -0.009015 0.981517 0.016552 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.001236695] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,-0.001} {-0.526,11.021,-0.088} [component_container_isolated-3] [DEBUG] [1762964972.001268686] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.003,0.000} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964972.001325004] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.007423791] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.007490268] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.007534983] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.007581562] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000126 0.000121 0.000355 [component_container_isolated-3] -0.000126 1.000000 0.000061 0.000867 [component_container_isolated-3] -0.000121 -0.000061 1.000000 0.000337 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.007607712] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.002,0.002} {-0.057,0.035,-0.044} [component_container_isolated-3] [DEBUG] [1762964972.007658780] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.007704377] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.007740896] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982742 -0.000037 0.184980 -0.007235 [component_container_isolated-3] -0.000068 1.000000 0.000565 0.059473 [component_container_isolated-3] -0.184980 -0.000568 0.982742 0.016767 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.007764882] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.033,10.660,-0.004} [component_container_isolated-3] [DEBUG] [1762964972.007801572] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.002,-0.003} {0.032,10.625,0.041} [component_container_isolated-3] [DEBUG] [1762964972.007853712] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.015398010] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.015469476] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.015511617] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.015557805] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000022 -0.000099 -0.000285 [component_container_isolated-3] -0.000022 1.000000 -0.000179 -0.000057 [component_container_isolated-3] 0.000099 0.000179 1.000000 -0.000022 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.015583835] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.054,0.027,-0.003} [component_container_isolated-3] [DEBUG] [1762964972.015633159] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.015677123] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.015716778] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879438 0.000135 0.476014 -0.001084 [component_container_isolated-3] -0.004766 0.999952 0.008522 0.060264 [component_container_isolated-3] -0.475990 -0.009763 0.879396 0.018204 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.015741305] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.636,28.424,-0.311} [component_container_isolated-3] [DEBUG] [1762964972.015771954] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964972.015822671] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.024278038] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.024356488] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.024399130] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.024445037] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000020 -0.000041 0.000353 [component_container_isolated-3] 0.000020 1.000000 0.000045 0.000008 [component_container_isolated-3] 0.000041 -0.000045 1.000000 -0.000347 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.024471097] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.008,0.006} {-0.020,0.120,0.117} [component_container_isolated-3] [DEBUG] [1762964972.024520992] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.024563884] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.024599412] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 -0.000137 0.203492 -0.006780 [component_container_isolated-3] 0.002516 0.999931 -0.011431 0.059090 [component_container_isolated-3] -0.203476 0.011703 0.979010 0.018615 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.024621735] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.685,11.740,0.147} [component_container_isolated-3] [DEBUG] [1762964972.024654698] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.008,-0.006} {0.681,11.622,0.027} [component_container_isolated-3] [DEBUG] [1762964972.024704002] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.035146785] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.035218622] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.035260763] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.035307392] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000062 -0.000048 0.000561 [component_container_isolated-3] -0.000062 1.000000 -0.000178 0.000440 [component_container_isolated-3] 0.000048 0.000178 1.000000 -0.000517 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.035333081] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.003,-0.002} {0.039,-0.019,-0.002} [component_container_isolated-3] [DEBUG] [1762964972.035382054] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.035427561] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.035464442] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981566 -0.000128 0.191123 -0.006869 [component_container_isolated-3] -0.001566 0.999961 0.008714 0.059396 [component_container_isolated-3] -0.191117 -0.008852 0.981528 0.016540 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.035489900] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,-0.001} {-0.517,11.018,-0.091} [component_container_isolated-3] [DEBUG] [1762964972.035523865] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.001} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964972.035575604] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.045428380] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.045488605] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.045528452] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.045573948] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000008 0.000136 0.000224 [component_container_isolated-3] -0.000008 1.000000 -0.000153 -0.000254 [component_container_isolated-3] -0.000136 0.000153 1.000000 0.000453 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.045600960] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.001,0.002} {-0.048,0.043,-0.044} [component_container_isolated-3] [DEBUG] [1762964972.045655123] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.045702855] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.045742210] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 -0.000001 0.185113 -0.007158 [component_container_isolated-3] -0.000076 1.000000 0.000412 0.059505 [component_container_isolated-3] -0.185113 -0.000419 0.982717 0.016892 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.045764512] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.024,10.668,-0.004} [component_container_isolated-3] [DEBUG] [1762964972.045796133] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.002,-0.003} {0.032,10.625,0.041} [component_container_isolated-3] [DEBUG] [1762964972.045846218] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.052143314] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.052201235] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.052240740] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.052284013] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000085 -0.000010 0.000006 [component_container_isolated-3] -0.000085 1.000000 -0.000116 0.000102 [component_container_isolated-3] 0.000010 0.000116 1.000000 0.000301 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.052308550] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.008,0.006} {-0.014,0.119,0.112} [component_container_isolated-3] [DEBUG] [1762964972.052356461] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.052397269] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.052432767] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 -0.000030 0.203482 -0.006741 [component_container_isolated-3] 0.002430 0.999930 -0.011547 0.059130 [component_container_isolated-3] -0.203467 0.011800 0.979011 0.018672 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.052455010] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.691,11.740,0.142} [component_container_isolated-3] [DEBUG] [1762964972.052488393] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.007,-0.006} {0.681,11.622,0.027} [component_container_isolated-3] [DEBUG] [1762964972.052539501] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.054901772] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.054984731] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.055026831] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.055070484] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000030 0.000031 0.000011 [component_container_isolated-3] -0.000030 1.000000 0.000252 0.000106 [component_container_isolated-3] -0.000031 -0.000252 1.000000 -0.000099 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.055095342] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.068,0.029,-0.005} [component_container_isolated-3] [DEBUG] [1762964972.055144356] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.055185314] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.055220070] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879423 0.000041 0.476042 -0.001103 [component_container_isolated-3] -0.004796 0.999950 0.008773 0.060268 [component_container_isolated-3] -0.476017 -0.009999 0.879379 0.018188 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.055242092] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.651,28.426,-0.312} [component_container_isolated-3] [DEBUG] [1762964972.055271589] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964972.055322506] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.061788805] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.061866573] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.061913914] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.062001872] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000008 0.000136 0.000224 [component_container_isolated-3] -0.000008 1.000000 -0.000153 -0.000254 [component_container_isolated-3] -0.000136 0.000153 1.000000 0.000453 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.062032721] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,0.003} {-0.039,0.051,-0.045} [component_container_isolated-3] [DEBUG] [1762964972.062089579] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.062138903] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.062177647] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 -0.000001 0.185113 -0.007158 [component_container_isolated-3] -0.000076 1.000000 0.000412 0.059505 [component_container_isolated-3] -0.185113 -0.000419 0.982717 0.016892 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.062201663] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.024,10.668,-0.004} [component_container_isolated-3] [DEBUG] [1762964972.062232783] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.002,-0.003} {0.023,10.617,0.041} [component_container_isolated-3] [DEBUG] [1762964972.062282387] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.065963257] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.066033030] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.066075632] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.066122621] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000085 0.000092 0.000063 [component_container_isolated-3] -0.000085 1.000000 0.000034 0.000572 [component_container_isolated-3] -0.000092 -0.000034 1.000000 -0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.066150274] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.002} {0.037,-0.013,-0.007} [component_container_isolated-3] [DEBUG] [1762964972.066201843] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.066250716] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.066290953] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981549 -0.000051 0.191213 -0.006854 [component_container_isolated-3] -0.001652 0.999960 0.008747 0.059460 [component_container_isolated-3] -0.191206 -0.008902 0.981510 0.016526 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.066315891] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,-0.001} {-0.520,11.023,-0.096} [component_container_isolated-3] [DEBUG] [1762964972.066349184] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.001} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964972.066399821] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.067456268] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.067508939] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.067548064] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.067590645] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000085 -0.000010 0.000006 [component_container_isolated-3] -0.000085 1.000000 -0.000116 0.000102 [component_container_isolated-3] 0.000010 0.000116 1.000000 0.000301 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.067616054] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.008,0.006} {-0.007,0.119,0.107} [component_container_isolated-3] [DEBUG] [1762964972.067663244] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.067705725] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.067744028] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 -0.000030 0.203482 -0.006741 [component_container_isolated-3] 0.002430 0.999930 -0.011547 0.059130 [component_container_isolated-3] -0.203467 0.011800 0.979011 0.018672 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.067768094] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.691,11.740,0.142} [component_container_isolated-3] [DEBUG] [1762964972.067800756] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.007,-0.006} {0.675,11.622,0.032} [component_container_isolated-3] [DEBUG] [1762964972.067851273] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.084629044] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.084695681] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.084738263] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.084783429] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000002 -0.000017 0.000102 [component_container_isolated-3] -0.000002 1.000000 -0.000051 -0.000041 [component_container_isolated-3] 0.000017 0.000051 1.000000 0.000106 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.084809759] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.065,0.028,-0.005} [component_container_isolated-3] [DEBUG] [1762964972.084858593] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.084899701] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.084953454] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 0.000067 0.476027 -0.001098 [component_container_isolated-3] -0.004798 0.999950 0.008723 0.060262 [component_container_isolated-3] -0.476002 -0.009955 0.879388 0.018194 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.084978151] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.649,28.425,-0.313} [component_container_isolated-3] [DEBUG] [1762964972.085009050] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964972.085061009] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.091987317] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.092050728] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.092090133] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.092138475] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000008 0.000136 0.000224 [component_container_isolated-3] -0.000008 1.000000 -0.000153 -0.000254 [component_container_isolated-3] -0.000136 0.000153 1.000000 0.000453 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.092166479] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,0.003} {-0.030,0.059,-0.045} [component_container_isolated-3] [DEBUG] [1762964972.092216835] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.092267953] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.092309813] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 -0.000001 0.185113 -0.007158 [component_container_isolated-3] -0.000076 1.000000 0.000412 0.059505 [component_container_isolated-3] -0.185113 -0.000419 0.982717 0.016892 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.092334991] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.024,10.668,-0.004} [component_container_isolated-3] [DEBUG] [1762964972.092367813] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.001,-0.004} {0.014,10.609,0.042} [component_container_isolated-3] [DEBUG] [1762964972.092418851] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.098044444] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.098116051] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.098155887] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.098201645] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000022 0.000009 -0.000203 [component_container_isolated-3] 0.000022 1.000000 0.000036 -0.000144 [component_container_isolated-3] -0.000009 -0.000036 1.000000 0.000352 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.098226933] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.001} {0.035,-0.013,-0.006} [component_container_isolated-3] [DEBUG] [1762964972.098274854] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.098317185] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.098356971] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 -0.000080 0.191222 -0.006864 [component_container_isolated-3] -0.001630 0.999960 0.008783 0.059468 [component_container_isolated-3] -0.191215 -0.008933 0.981508 0.016578 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.098382260] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,-0.001} {-0.521,11.024,-0.095} [component_container_isolated-3] [DEBUG] [1762964972.098414842] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.000} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964972.098465829] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.102384342] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.102441943] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.102478973] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.102522927] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000085 -0.000010 0.000006 [component_container_isolated-3] -0.000085 1.000000 -0.000116 0.000102 [component_container_isolated-3] 0.000010 0.000116 1.000000 0.000301 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.102547895] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.008,0.007} {-0.000,0.118,0.102} [component_container_isolated-3] [DEBUG] [1762964972.102597069] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.102642275] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.102681480] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 -0.000030 0.203482 -0.006741 [component_container_isolated-3] 0.002430 0.999930 -0.011547 0.059130 [component_container_isolated-3] -0.203467 0.011800 0.979011 0.018672 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.102704424] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.691,11.740,0.142} [component_container_isolated-3] [DEBUG] [1762964972.102736215] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.007,-0.007} {0.670,11.623,0.037} [component_container_isolated-3] [DEBUG] [1762964972.102790889] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.122289917] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.122340464] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.122379108] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.122422801] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000029 0.000040 -0.000218 [component_container_isolated-3] -0.000029 1.000000 -0.000131 0.000005 [component_container_isolated-3] -0.000040 0.000131 1.000000 0.000058 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.122447789] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.058,0.030,-0.006} [component_container_isolated-3] [DEBUG] [1762964972.122497253] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.122540476] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.122578769] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879412 0.000155 0.476062 -0.001115 [component_container_isolated-3] -0.004827 0.999951 0.008592 0.060257 [component_container_isolated-3] -0.476037 -0.009854 0.879370 0.018223 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.122601623] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.427,-0.315} [component_container_isolated-3] [DEBUG] [1762964972.122631530] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964972.122679431] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.126086438] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.126150240] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.126189034] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.126231084] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000008 0.000136 0.000224 [component_container_isolated-3] -0.000008 1.000000 -0.000153 -0.000254 [component_container_isolated-3] -0.000136 0.000153 1.000000 0.000453 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.126255741] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,0.004} {-0.021,0.067,-0.046} [component_container_isolated-3] [DEBUG] [1762964972.126303623] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.126345863] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.126382072] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 -0.000001 0.185113 -0.007158 [component_container_isolated-3] -0.000076 1.000000 0.000412 0.059505 [component_container_isolated-3] -0.185113 -0.000419 0.982717 0.016892 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.126406198] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.024,10.668,-0.004} [component_container_isolated-3] [DEBUG] [1762964972.126440925] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.001,-0.004} {0.006,10.601,0.042} [component_container_isolated-3] [DEBUG] [1762964972.126506891] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.133034367] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.133100313] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.133139477] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.133183411] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000144 0.000048 0.000046 [component_container_isolated-3] -0.000144 1.000000 -0.000001 0.000900 [component_container_isolated-3] -0.000048 0.000001 1.000000 0.000034 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.133208239] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.001} {0.035,-0.010,-0.014} [component_container_isolated-3] [DEBUG] [1762964972.133256090] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.133301857] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.133341674] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 0.000062 0.191269 -0.006856 [component_container_isolated-3] -0.001774 0.999960 0.008782 0.059739 [component_container_isolated-3] -0.191261 -0.008959 0.981498 0.016606 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.133366321] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.523,11.026,-0.104} [component_container_isolated-3] [DEBUG] [1762964972.133400356] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.000} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964972.133451042] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.148551601] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.148614771] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.148652984] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.148695656] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000094 0.000016 -0.000021 [component_container_isolated-3] 0.000094 1.000000 0.000071 -0.000118 [component_container_isolated-3] -0.000016 -0.000071 1.000000 -0.000124 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.148720343] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.008,0.007} {-0.004,0.119,0.107} [component_container_isolated-3] [DEBUG] [1762964972.148768385] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.148810946] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.148849600] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979075 -0.000136 0.203498 -0.006727 [component_container_isolated-3] 0.002524 0.999931 -0.011476 0.059153 [component_container_isolated-3] -0.203482 0.011749 0.979008 0.018686 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.148874387] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.688,11.741,0.148} [component_container_isolated-3] [DEBUG] [1762964972.148906138] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.007,-0.006} {0.670,11.623,0.037} [component_container_isolated-3] [DEBUG] [1762964972.148997833] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.150364373] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.150415360] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.150453753] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.150496756] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000055 -0.000036 0.000194 [component_container_isolated-3] 0.000055 1.000000 0.000153 -0.000001 [component_container_isolated-3] 0.000036 -0.000153 1.000000 -0.000097 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.150522365] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.066,0.028,-0.003} [component_container_isolated-3] [DEBUG] [1762964972.150570286] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.150615362] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.150656090] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 0.000034 0.476030 -0.001122 [component_container_isolated-3] -0.004772 0.999950 0.008746 0.060256 [component_container_isolated-3] -0.476006 -0.009963 0.879386 0.018214 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.150680336] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.649,28.425,-0.311} [component_container_isolated-3] [DEBUG] [1762964972.150711856] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964972.150761020] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.166572106] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.166627351] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.166664923] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.166706562] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000126 -0.000099 0.000140 [component_container_isolated-3] 0.000125 1.000000 -0.000183 -0.000600 [component_container_isolated-3] 0.000099 0.000183 1.000000 0.000034 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.166731791] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.001} {0.046,-0.016,-0.007} [component_container_isolated-3] [DEBUG] [1762964972.166780143] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.166825109] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.166865215] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981557 -0.000026 0.191172 -0.006847 [component_container_isolated-3] -0.001648 0.999962 0.008599 0.059753 [component_container_isolated-3] -0.191165 -0.008755 0.981519 0.016641 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.166889372] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.511,11.021,-0.096} [component_container_isolated-3] [DEBUG] [1762964972.166963313] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.000} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964972.167019530] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.172073402] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.172138887] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.172177100] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.172221214] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000004 -0.000060 -0.000032 [component_container_isolated-3] -0.000004 1.000000 0.000061 -0.000127 [component_container_isolated-3] 0.000060 -0.000061 1.000000 -0.000424 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.172246873] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.000,0.003} {-0.025,0.063,-0.046} [component_container_isolated-3] [DEBUG] [1762964972.172294364] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.172339209] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.172379376] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982728 -0.000009 0.185054 -0.007135 [component_container_isolated-3] -0.000080 1.000000 0.000473 0.059520 [component_container_isolated-3] -0.185054 -0.000480 0.982728 0.016894 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.172402781] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.028,10.664,-0.005} [component_container_isolated-3] [DEBUG] [1762964972.172434712] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.001,-0.004} {0.006,10.601,0.042} [component_container_isolated-3] [DEBUG] [1762964972.172485158] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.185087856] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.185159102] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.185199980] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.185246750] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000009 -0.000012 -0.000080 [component_container_isolated-3] -0.000009 1.000000 0.000072 -0.000056 [component_container_isolated-3] 0.000012 -0.000072 1.000000 0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.185272870] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.008,0.007} {-0.009,0.118,0.107} [component_container_isolated-3] [DEBUG] [1762964972.185322144] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.185364525] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.185404591] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 -0.000142 0.203486 -0.006717 [component_container_isolated-3] 0.002515 0.999932 -0.011403 0.059167 [component_container_isolated-3] -0.203471 0.011677 0.979011 0.018699 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.185428667] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.683,11.740,0.147} [component_container_isolated-3] [DEBUG] [1762964972.185460408] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.007,-0.007} {0.670,11.623,0.037} [component_container_isolated-3] [DEBUG] [1762964972.185509952] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.187996621] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.188064541] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.188106241] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.188150365] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000040 -0.000035 0.000137 [component_container_isolated-3] 0.000040 1.000000 -0.000069 -0.000058 [component_container_isolated-3] 0.000035 0.000069 1.000000 -0.000079 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.188175733] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.062,0.026,-0.001} [component_container_isolated-3] [DEBUG] [1762964972.188224376] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.188266958] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.188305581] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 0.000031 0.475999 -0.001110 [component_container_isolated-3] -0.004732 0.999951 0.008677 0.060245 [component_container_isolated-3] -0.475976 -0.009883 0.879403 0.018199 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.188329026] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.423,-0.308} [component_container_isolated-3] [DEBUG] [1762964972.188360556] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964972.188410522] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.200772450] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.200836162] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.200873373] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.200915503] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000055 0.000023 0.000009 [component_container_isolated-3] -0.000055 1.000000 0.000086 0.000227 [component_container_isolated-3] -0.000023 -0.000086 1.000000 -0.000077 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.200984164] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.004,-0.001} {0.041,-0.014,-0.010} [component_container_isolated-3] [DEBUG] [1762964972.201034170] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.201081089] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.201121086] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981552 0.000011 0.191194 -0.006833 [component_container_isolated-3] -0.001703 0.999961 0.008685 0.059795 [component_container_isolated-3] -0.191187 -0.008850 0.981514 0.016652 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.201145212] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.517,11.022,-0.099} [component_container_isolated-3] [DEBUG] [1762964972.201177253] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.000} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964972.201225926] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.209787276] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.209847040] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.209887528] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.209962541] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000009 -0.000012 -0.000080 [component_container_isolated-3] -0.000009 1.000000 0.000072 -0.000056 [component_container_isolated-3] 0.000012 -0.000072 1.000000 0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.209989853] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.008,0.007} {-0.013,0.118,0.106} [component_container_isolated-3] [DEBUG] [1762964972.210039518] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.210081528] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.210116836] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 -0.000142 0.203486 -0.006717 [component_container_isolated-3] 0.002515 0.999932 -0.011403 0.059167 [component_container_isolated-3] -0.203471 0.011677 0.979011 0.018699 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.210138817] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.683,11.740,0.147} [component_container_isolated-3] [DEBUG] [1762964972.210170328] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.008,-0.007} {0.674,11.624,0.037} [component_container_isolated-3] [DEBUG] [1762964972.210222638] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.214421446] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.214489767] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.214531146] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.214576302] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000076 0.000023 0.000121 [component_container_isolated-3] 0.000076 1.000000 0.000043 -0.000065 [component_container_isolated-3] -0.000023 -0.000043 1.000000 0.000208 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.214601690] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.000,0.004} {-0.027,0.064,-0.042} [component_container_isolated-3] [DEBUG] [1762964972.214651375] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.214695319] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.214734284] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982724 -0.000092 0.185076 -0.007092 [component_container_isolated-3] -0.000004 1.000000 0.000516 0.059523 [component_container_isolated-3] -0.185076 -0.000508 0.982724 0.016919 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.214759321] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.030,10.666,-0.000} [component_container_isolated-3] [DEBUG] [1762964972.214793306] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.001,-0.004} {0.006,10.601,0.042} [component_container_isolated-3] [DEBUG] [1762964972.214852279] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.220011983] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.220075775] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.220119679] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.220169193] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000028 0.000065 -0.000025 [component_container_isolated-3] -0.000028 1.000000 0.000027 0.000041 [component_container_isolated-3] -0.000065 -0.000027 1.000000 0.000061 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.220197006] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.064,0.030,-0.002} [component_container_isolated-3] [DEBUG] [1762964972.220250018] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.220294943] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.220331503] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879415 0.000043 0.476056 -0.001100 [component_container_isolated-3] -0.004760 0.999951 0.008704 0.060242 [component_container_isolated-3] -0.476032 -0.009920 0.879372 0.018190 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.220355399] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.427,-0.310} [component_container_isolated-3] [DEBUG] [1762964972.220388282] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964972.220440942] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.233230467] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.233295732] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.233333363] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.233376696] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000009 -0.000012 -0.000080 [component_container_isolated-3] -0.000009 1.000000 0.000072 -0.000056 [component_container_isolated-3] 0.000012 -0.000072 1.000000 0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.233400642] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.008,0.007} {-0.017,0.117,0.106} [component_container_isolated-3] [DEBUG] [1762964972.233448233] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.233488119] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.233522785] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 -0.000142 0.203486 -0.006717 [component_container_isolated-3] 0.002515 0.999932 -0.011403 0.059167 [component_container_isolated-3] -0.203471 0.011677 0.979011 0.018699 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.233545278] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.683,11.740,0.147} [component_container_isolated-3] [DEBUG] [1762964972.233574684] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.008,-0.007} {0.678,11.624,0.038} [component_container_isolated-3] [DEBUG] [1762964972.233585665] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.233679394] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.233724490] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.233626313] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.233775267] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000190 -0.000028 -0.000271 [component_container_isolated-3] 0.000190 1.000000 -0.000024 -0.000930 [component_container_isolated-3] 0.000028 0.000024 1.000000 0.000007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.233850722] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.003,-0.001} {0.042,-0.016,0.001} [component_container_isolated-3] [DEBUG] [1762964972.233903693] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.233981602] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.234022079] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981558 -0.000171 0.191167 -0.006871 [component_container_isolated-3] -0.001513 0.999961 0.008661 0.059601 [component_container_isolated-3] -0.191161 -0.008791 0.981520 0.016676 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.234045073] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,-0.000} {-0.513,11.021,-0.088} [component_container_isolated-3] [DEBUG] [1762964972.234075821] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.004,0.000} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964972.234125276] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.242622473] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.242693108] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.242735660] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.242780495] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000105 0.000059 -0.000028 [component_container_isolated-3] -0.000105 1.000000 0.000074 0.000413 [component_container_isolated-3] -0.000059 -0.000074 1.000000 0.000313 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.242806555] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,0.004} {-0.032,0.068,-0.048} [component_container_isolated-3] [DEBUG] [1762964972.242856611] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.242899673] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.242970268] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 -0.000002 0.185134 -0.007043 [component_container_isolated-3] -0.000109 1.000000 0.000590 0.059608 [component_container_isolated-3] -0.185134 -0.000600 0.982713 0.017003 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.242995636] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.035,10.669,-0.006} [component_container_isolated-3] [DEBUG] [1762964972.243030182] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.001,-0.004} {0.006,10.601,0.042} [component_container_isolated-3] [DEBUG] [1762964972.243082773] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.252234139] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.252295326] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.252335683] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.252379657] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000054 -0.000006 -0.000088 [component_container_isolated-3] -0.000054 1.000000 0.000131 0.000276 [component_container_isolated-3] 0.000006 -0.000131 1.000000 -0.000047 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.252405306] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.072,0.029,-0.006} [component_container_isolated-3] [DEBUG] [1762964972.252453418] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.252497292] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.252535204] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879418 0.000028 0.476051 -0.001104 [component_container_isolated-3] -0.004814 0.999950 0.008835 0.060283 [component_container_isolated-3] -0.476026 -0.010062 0.879374 0.018175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.252557206] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.656,28.426,-0.314} [component_container_isolated-3] [DEBUG] [1762964972.252586472] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964972.252640796] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.267157139] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.267225890] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.267266538] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.267310712] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000231 0.000127 0.000845 [component_container_isolated-3] -0.000231 1.000000 0.000179 0.001269 [component_container_isolated-3] -0.000127 -0.000179 1.000000 -0.000032 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.267335409] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.004,-0.001} {0.032,-0.009,-0.012} [component_container_isolated-3] [DEBUG] [1762964972.267383822] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.267426724] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.267462542] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981533 0.000022 0.191291 -0.006680 [component_container_isolated-3] -0.001745 0.999959 0.008840 0.059858 [component_container_isolated-3] -0.191283 -0.009010 0.981494 0.016639 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.267486478] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.526,11.028,-0.102} [component_container_isolated-3] [DEBUG] [1762964972.267519721] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,0.001} {-0.556,11.037,-0.090} [component_container_isolated-3] [DEBUG] [1762964972.267572582] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.275998774] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.276063518] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.276103895] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.276148811] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000156 -0.000184 -0.000706 [component_container_isolated-3] 0.000156 1.000000 0.000037 -0.000832 [component_container_isolated-3] 0.000184 -0.000037 1.000000 -0.000994 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.276174870] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,-0.000,0.003} {-0.034,0.057,-0.039} [component_container_isolated-3] [DEBUG] [1762964972.276223924] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.276268179] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.276308856] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982747 -0.000162 0.184953 -0.007198 [component_container_isolated-3] 0.000047 1.000000 0.000627 0.059481 [component_container_isolated-3] -0.184953 -0.000607 0.982747 0.016866 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.276333133] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.035,10.658,0.003} [component_container_isolated-3] [DEBUG] [1762964972.276366787] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.003} {0.006,10.601,0.042} [component_container_isolated-3] [DEBUG] [1762964972.276419488] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.279445967] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.279522353] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.279565446] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.279614389] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000023 -0.000005 0.000017 [component_container_isolated-3] -0.000023 1.000000 -0.000023 -0.000034 [component_container_isolated-3] 0.000005 0.000023 1.000000 -0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.279642593] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.070,0.029,-0.007} [component_container_isolated-3] [DEBUG] [1762964972.279691917] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.279738947] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.279779294] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 0.000059 0.476046 -0.001104 [component_container_isolated-3] -0.004838 0.999950 0.008812 0.060299 [component_container_isolated-3] -0.476021 -0.010052 0.879376 0.018167 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.279803691] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.655,28.426,-0.315} [component_container_isolated-3] [DEBUG] [1762964972.279834700] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964972.279886469] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.289796745] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.289859094] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.289897507] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.289969224] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000058 0.000224 0.000075 [component_container_isolated-3] -0.000058 1.000000 -0.000126 0.000478 [component_container_isolated-3] -0.000224 0.000126 1.000000 0.000527 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.289996336] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.008,0.007} {-0.010,0.130,0.102} [component_container_isolated-3] [DEBUG] [1762964972.290047905] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.290093331] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.290132696] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979032 -0.000059 0.203706 -0.006664 [component_container_isolated-3] 0.002459 0.999931 -0.011529 0.059281 [component_container_isolated-3] -0.203691 0.011788 0.978964 0.018851 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.290156001] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.690,11.753,0.144} [component_container_isolated-3] [DEBUG] [1762964972.290185708] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.007,-0.007} {0.678,11.624,0.038} [component_container_isolated-3] [DEBUG] [1762964972.290234060] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.296128517] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.296187099] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.296225132] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.296269667] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000231 0.000127 0.000845 [component_container_isolated-3] -0.000231 1.000000 0.000179 0.001269 [component_container_isolated-3] -0.000127 -0.000179 1.000000 -0.000032 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.296294324] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.006,-0.001} {0.022,-0.001,-0.025} [component_container_isolated-3] [DEBUG] [1762964972.296341754] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.296388604] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.296428510] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981533 0.000022 0.191291 -0.006680 [component_container_isolated-3] -0.001745 0.999959 0.008840 0.059858 [component_container_isolated-3] -0.191283 -0.009010 0.981494 0.016639 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.296452877] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.526,11.028,-0.102} [component_container_isolated-3] [DEBUG] [1762964972.296486481] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.006,0.001} {-0.543,11.029,-0.076} [component_container_isolated-3] [DEBUG] [1762964972.296536606] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.305457653] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.305508130] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.305549489] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.305599625] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000093 0.000022 0.000338 [component_container_isolated-3] 0.000093 1.000000 -0.000325 -0.000256 [component_container_isolated-3] -0.000022 0.000325 1.000000 -0.000043 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.305626336] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,-0.000,0.003} {-0.015,0.058,-0.033} [component_container_isolated-3] [DEBUG] [1762964972.305675700] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.305718612] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.305753218] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982743 -0.000194 0.184974 -0.007212 [component_container_isolated-3] 0.000140 1.000000 0.000302 0.059365 [component_container_isolated-3] -0.184974 -0.000271 0.982743 0.016823 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.305775480] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.016,10.660,0.008} [component_container_isolated-3] [DEBUG] [1762964972.305805638] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.000,-0.003} {0.006,10.601,0.042} [component_container_isolated-3] [DEBUG] [1762964972.305855563] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.314861893] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.314959139] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.314998765] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.315041446] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000231 0.000127 0.000845 [component_container_isolated-3] -0.000231 1.000000 0.000179 0.001269 [component_container_isolated-3] -0.000127 -0.000179 1.000000 -0.000032 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.315065733] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.007,-0.001} {0.012,0.006,-0.039} [component_container_isolated-3] [DEBUG] [1762964972.315113774] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.315160564] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.315199067] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981533 0.000022 0.191291 -0.006680 [component_container_isolated-3] -0.001745 0.999959 0.008840 0.059858 [component_container_isolated-3] -0.191283 -0.009010 0.981494 0.016639 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.315223804] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.526,11.028,-0.102} [component_container_isolated-3] [DEBUG] [1762964972.315257188] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.007,0.001} {-0.530,11.022,-0.062} [component_container_isolated-3] [DEBUG] [1762964972.315307043] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.318258881] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.318323434] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.318363521] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.318408166] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000046 -0.000052 0.000010 [component_container_isolated-3] 0.000046 1.000000 0.000044 -0.000270 [component_container_isolated-3] 0.000052 -0.000044 1.000000 -0.000088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.318433905] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.008,0.007} {-0.012,0.127,0.105} [component_container_isolated-3] [DEBUG] [1762964972.318482047] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.318524909] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.318558974] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979043 -0.000114 0.203655 -0.006647 [component_container_isolated-3] 0.002505 0.999931 -0.011485 0.059308 [component_container_isolated-3] -0.203639 0.011754 0.978975 0.018890 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.318580976] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.750,0.147} [component_container_isolated-3] [DEBUG] [1762964972.318610302] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.008,-0.007} {0.678,11.624,0.038} [component_container_isolated-3] [DEBUG] [1762964972.318659195] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.323417943] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.323476435] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.323518766] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.323564563] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000115 0.000073 -0.000028 [component_container_isolated-3] 0.000115 1.000000 -0.000120 -0.000241 [component_container_isolated-3] -0.000073 0.000120 1.000000 0.000203 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.323591936] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.063,0.033,-0.000} [component_container_isolated-3] [DEBUG] [1762964972.323641059] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.323683360] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.323720060] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879385 0.000016 0.476110 -0.001098 [component_container_isolated-3] -0.004724 0.999951 0.008692 0.060283 [component_container_isolated-3] -0.476087 -0.009892 0.879342 0.018193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.323745319] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.645,28.430,-0.308} [component_container_isolated-3] [DEBUG] [1762964972.323779875] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964972.323832425] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.341508261] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.341577654] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.341625876] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.341678787] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000063 -0.000093 -0.000403 [component_container_isolated-3] -0.000063 1.000000 0.000152 0.000406 [component_container_isolated-3] 0.000093 -0.000152 1.000000 0.000098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.341707732] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.000,0.003} {-0.024,0.053,-0.037} [component_container_isolated-3] [DEBUG] [1762964972.341760513] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.341808044] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.341845215] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982761 -0.000160 0.184883 -0.007292 [component_container_isolated-3] 0.000078 1.000000 0.000454 0.059352 [component_container_isolated-3] -0.184883 -0.000432 0.982761 0.016795 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.341873278] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.025,10.654,0.005} [component_container_isolated-3] [DEBUG] [1762964972.341907925] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.001,-0.004} {0.006,10.601,0.042} [component_container_isolated-3] [DEBUG] [1762964972.341966476] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.346674628] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.346733711] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.346775200] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.346820527] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000013 0.000022 -0.000005 [component_container_isolated-3] 0.000013 1.000000 0.000123 0.000028 [component_container_isolated-3] -0.000022 -0.000123 1.000000 -0.000047 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.346846196] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.070,0.034,0.000} [component_container_isolated-3] [DEBUG] [1762964972.346894638] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.346970944] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.347010319] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879375 -0.000054 0.476130 -0.001099 [component_container_isolated-3] -0.004711 0.999950 0.008814 0.060280 [component_container_isolated-3] -0.476106 -0.009994 0.879331 0.018193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.347034866] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.651,28.431,-0.307} [component_container_isolated-3] [DEBUG] [1762964972.347068991] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.581,28.397,-0.307} [component_container_isolated-3] [DEBUG] [1762964972.347120920] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.356281585] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.356352070] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.356391565] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.356435900] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000063 -0.000093 -0.000403 [component_container_isolated-3] -0.000063 1.000000 0.000152 0.000406 [component_container_isolated-3] 0.000093 -0.000152 1.000000 0.000098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.356460416] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.001,0.003} {-0.033,0.048,-0.041} [component_container_isolated-3] [DEBUG] [1762964972.356508578] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.356550388] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.356585095] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982761 -0.000160 0.184883 -0.007292 [component_container_isolated-3] 0.000078 1.000000 0.000454 0.059352 [component_container_isolated-3] -0.184883 -0.000432 0.982761 0.016795 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.356607327] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.025,10.654,0.005} [component_container_isolated-3] [DEBUG] [1762964972.356640160] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.001,-0.004} {0.015,10.607,0.046} [component_container_isolated-3] [DEBUG] [1762964972.356698501] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.358180662] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.358230747] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.358270082] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.358312864] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000228 -0.000203 -0.000153 [component_container_isolated-3] 0.000228 1.000000 -0.000116 -0.001275 [component_container_isolated-3] 0.000203 0.000116 1.000000 -0.000781 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.358336499] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.009,0.006} {-0.006,0.115,0.118} [component_container_isolated-3] [DEBUG] [1762964972.358383759] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.358425199] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.358460296] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 -0.000313 0.203456 -0.006685 [component_container_isolated-3] 0.002731 0.999929 -0.011601 0.058921 [component_container_isolated-3] -0.203438 0.011914 0.979015 0.018797 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.358482228] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.697,11.738,0.160} [component_container_isolated-3] [DEBUG] [1762964972.358511744] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.008,-0.006} {0.678,11.624,0.038} [component_container_isolated-3] [DEBUG] [1762964972.358564364] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.363684382] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.363751270] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.363792719] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.363838747] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000141 -0.000002 -0.000542 [component_container_isolated-3] 0.000141 1.000000 -0.000060 -0.000589 [component_container_isolated-3] 0.000002 0.000060 1.000000 0.000355 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.363866781] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.006,-0.001} {0.015,0.006,-0.031} [component_container_isolated-3] [DEBUG] [1762964972.363957865] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.364009984] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.364054770] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 -0.000105 0.191289 -0.006681 [component_container_isolated-3] -0.001604 0.999960 0.008780 0.059846 [component_container_isolated-3] -0.191282 -0.008925 0.981494 0.016725 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.364078044] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.521,11.028,-0.094} [component_container_isolated-3] [DEBUG] [1762964972.364109104] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.007,0.001} {-0.530,11.022,-0.062} [component_container_isolated-3] [DEBUG] [1762964972.364159740] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.372300727] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.372352286] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.372391471] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.372434222] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000013 0.000022 -0.000005 [component_container_isolated-3] 0.000013 1.000000 0.000123 0.000028 [component_container_isolated-3] -0.000022 -0.000123 1.000000 -0.000047 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.372459611] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.077,0.036,0.001} [component_container_isolated-3] [DEBUG] [1762964972.372506130] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.372545996] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.372580953] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879375 -0.000054 0.476130 -0.001099 [component_container_isolated-3] -0.004711 0.999950 0.008814 0.060280 [component_container_isolated-3] -0.476106 -0.009994 0.879331 0.018193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.372602744] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.651,28.431,-0.307} [component_container_isolated-3] [DEBUG] [1762964972.372634635] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.574,28.396,-0.308} [component_container_isolated-3] [DEBUG] [1762964972.372692736] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.381646526] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.381708194] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.381746156] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.381790080] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000331 0.000119 -0.000276 [component_container_isolated-3] -0.000331 1.000000 0.000067 0.001581 [component_container_isolated-3] -0.000119 -0.000067 1.000000 0.000843 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.381814326] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.008,0.007} {-0.009,0.122,0.099} [component_container_isolated-3] [DEBUG] [1762964972.381861176] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.381906823] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.381970344] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979060 -0.000003 0.203572 -0.006689 [component_container_isolated-3] 0.002401 0.999931 -0.011534 0.059228 [component_container_isolated-3] -0.203558 0.011781 0.978992 0.018948 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.381994801] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.001} {0.689,11.745,0.141} [component_container_isolated-3] [DEBUG] [1762964972.382027694] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.007,-0.007} {0.678,11.624,0.038} [component_container_isolated-3] [DEBUG] [1762964972.382082629] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.391126390] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.391182367] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.391221482] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.391266177] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000063 -0.000093 -0.000403 [component_container_isolated-3] -0.000063 1.000000 0.000152 0.000406 [component_container_isolated-3] 0.000093 -0.000152 1.000000 0.000098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.391292467] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.001,0.003} {-0.041,0.042,-0.044} [component_container_isolated-3] [DEBUG] [1762964972.391340289] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.391386998] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.391427265] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982761 -0.000160 0.184883 -0.007292 [component_container_isolated-3] 0.000078 1.000000 0.000454 0.059352 [component_container_isolated-3] -0.184883 -0.000432 0.982761 0.016795 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.391451681] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.025,10.654,0.005} [component_container_isolated-3] [DEBUG] [1762964972.391484784] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.002,-0.004} {0.024,10.612,0.049} [component_container_isolated-3] [DEBUG] [1762964972.391535722] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.398335317] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.398399570] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.398440939] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.398485695] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000141 -0.000002 -0.000542 [component_container_isolated-3] 0.000141 1.000000 -0.000060 -0.000589 [component_container_isolated-3] 0.000002 0.000060 1.000000 0.000355 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.398511985] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.006,-0.001} {0.019,0.006,-0.022} [component_container_isolated-3] [DEBUG] [1762964972.398561810] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.398606385] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.398646482] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 -0.000105 0.191289 -0.006681 [component_container_isolated-3] -0.001604 0.999960 0.008780 0.059846 [component_container_isolated-3] -0.191282 -0.008925 0.981494 0.016725 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.398671519] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.521,11.028,-0.094} [component_container_isolated-3] [DEBUG] [1762964972.398705514] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.006,0.000} {-0.535,11.022,-0.071} [component_container_isolated-3] [DEBUG] [1762964972.398755941] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.418082690] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.418146251] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.418185196] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.418228488] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000141 -0.000002 -0.000542 [component_container_isolated-3] 0.000141 1.000000 -0.000060 -0.000589 [component_container_isolated-3] 0.000002 0.000060 1.000000 0.000355 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.418253246] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.005,-0.000} {0.022,0.005,-0.014} [component_container_isolated-3] [DEBUG] [1762964972.418300155] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.418342286] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.418381631] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 -0.000105 0.191289 -0.006681 [component_container_isolated-3] -0.001604 0.999960 0.008780 0.059846 [component_container_isolated-3] -0.191282 -0.008925 0.981494 0.016725 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.418406007] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.521,11.028,-0.094} [component_container_isolated-3] [DEBUG] [1762964972.418439211] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.006,-0.000} {-0.540,11.022,-0.079} [component_container_isolated-3] [DEBUG] [1762964972.418490238] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.423643219] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.423707232] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.423747839] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.423791513] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000110 0.000038 0.000636 [component_container_isolated-3] 0.000110 1.000000 -0.000046 -0.000395 [component_container_isolated-3] -0.000038 0.000046 1.000000 -0.000235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.423816520] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.008,0.007} {-0.007,0.124,0.105} [component_container_isolated-3] [DEBUG] [1762964972.423866275] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.423909408] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.423978129] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979052 -0.000101 0.203609 -0.006604 [component_container_isolated-3] 0.002511 0.999930 -0.011580 0.059248 [component_container_isolated-3] -0.203594 0.011848 0.978984 0.018958 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.424004048] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.001} {0.693,11.747,0.147} [component_container_isolated-3] [DEBUG] [1762964972.424036711] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.008,-0.007} {0.678,11.624,0.038} [component_container_isolated-3] [DEBUG] [1762964972.424091315] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.424650433] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.424700208] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.424743400] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.424787865] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000070 -0.000094 0.000061 [component_container_isolated-3] -0.000070 1.000000 -0.000117 0.000090 [component_container_isolated-3] 0.000094 0.000117 1.000000 -0.000056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.424814115] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.071,0.030,-0.003} [component_container_isolated-3] [DEBUG] [1762964972.424863660] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.424906121] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.424979441] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 0.000063 0.476047 -0.001089 [component_container_isolated-3] -0.004779 0.999951 0.008697 0.060285 [component_container_isolated-3] -0.476023 -0.009924 0.879377 0.018194 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.425005170] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.426,-0.311} [component_container_isolated-3] [DEBUG] [1762964972.425039105] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,0.000} {-0.574,28.396,-0.308} [component_container_isolated-3] [DEBUG] [1762964972.425092988] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.440463472] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.440525991] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.440566599] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.440613078] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000178 0.000313 0.000694 [component_container_isolated-3] -0.000178 1.000000 0.000033 0.000734 [component_container_isolated-3] -0.000313 -0.000034 1.000000 0.000957 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.440639308] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.002,0.004} {-0.043,0.060,-0.054} [component_container_isolated-3] [DEBUG] [1762964972.440687981] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.440737876] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.440776039] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000009 0.185191 -0.007158 [component_container_isolated-3] -0.000101 1.000000 0.000488 0.059528 [component_container_isolated-3] -0.185191 -0.000498 0.982702 0.016984 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.440798582] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.029,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964972.440829641] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.002,-0.005} {0.024,10.612,0.049} [component_container_isolated-3] [DEBUG] [1762964972.440879546] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.443828528] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.443886940] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.443960200] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.444010726] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000062 -0.000001 -0.000233 [component_container_isolated-3] -0.000062 1.000000 -0.000041 -0.000003 [component_container_isolated-3] 0.000001 0.000041 1.000000 0.000004 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.444039882] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.068,0.030,-0.006} [component_container_isolated-3] [DEBUG] [1762964972.444094416] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.444140915] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.444182064] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879421 0.000137 0.476046 -0.001110 [component_container_isolated-3] -0.004841 0.999951 0.008657 0.060289 [component_container_isolated-3] -0.476021 -0.009918 0.879378 0.018208 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.444206470] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.426,-0.315} [component_container_isolated-3] [DEBUG] [1762964972.444237099] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.574,28.396,-0.308} [component_container_isolated-3] [DEBUG] [1762964972.444286303] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.457823085] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.457887658] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.457954676] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.458001746] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000096 -0.000212 0.000180 [component_container_isolated-3] -0.000096 1.000000 -0.000043 0.000427 [component_container_isolated-3] 0.000212 0.000043 1.000000 -0.000351 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.458026453] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.008,0.007} {-0.004,0.112,0.100} [component_container_isolated-3] [DEBUG] [1762964972.458081909] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.458129881] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.458170698] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979096 0.000001 0.203401 -0.006536 [component_container_isolated-3] 0.002413 0.999930 -0.011623 0.059355 [component_container_isolated-3] -0.203387 0.011871 0.979027 0.018910 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.458195356] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,-0.000,0.000} {0.695,11.735,0.141} [component_container_isolated-3] [DEBUG] [1762964972.458227978] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.007,-0.006} {0.678,11.624,0.038} [component_container_isolated-3] [DEBUG] [1762964972.458277593] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.464384205] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.464440643] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.464481100] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.464524192] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000178 0.000313 0.000694 [component_container_isolated-3] -0.000178 1.000000 0.000033 0.000734 [component_container_isolated-3] -0.000313 -0.000034 1.000000 0.000957 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.464549701] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,0.005} {-0.045,0.078,-0.065} [component_container_isolated-3] [DEBUG] [1762964972.464600498] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.464647227] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.464687634] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000009 0.185191 -0.007158 [component_container_isolated-3] -0.000101 1.000000 0.000488 0.059528 [component_container_isolated-3] -0.185191 -0.000498 0.982702 0.016984 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.464711079] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.029,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964972.464741317] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.003,-0.005} {0.028,10.594,0.060} [component_container_isolated-3] [DEBUG] [1762964972.464791442] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.467771293] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.467828432] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.467868128] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.467911331] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000010 -0.000074 -0.000678 [component_container_isolated-3] 0.000010 1.000000 -0.000190 -0.000331 [component_container_isolated-3] 0.000074 0.000190 1.000000 -0.000049 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.467979541] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.005,-0.000} {0.033,0.001,-0.014} [component_container_isolated-3] [DEBUG] [1762964972.468030178] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.468075174] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.468112365] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981548 -0.000079 0.191216 -0.006853 [component_container_isolated-3] -0.001593 0.999962 0.008590 0.059773 [component_container_isolated-3] -0.191210 -0.008736 0.981510 0.016801 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.468136901] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.510,11.023,-0.093} [component_container_isolated-3] [DEBUG] [1762964972.468169434] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.005,-0.000} {-0.540,11.022,-0.079} [component_container_isolated-3] [DEBUG] [1762964972.468220010] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.476342743] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.476407396] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.476446521] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.476490515] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000062 -0.000001 -0.000233 [component_container_isolated-3] -0.000062 1.000000 -0.000041 -0.000003 [component_container_isolated-3] 0.000001 0.000041 1.000000 0.000004 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.476516625] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.066,0.030,-0.010} [component_container_isolated-3] [DEBUG] [1762964972.476565017] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.476606196] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.476642445] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879421 0.000137 0.476046 -0.001110 [component_container_isolated-3] -0.004841 0.999951 0.008657 0.060289 [component_container_isolated-3] -0.476021 -0.009918 0.879378 0.018208 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.476665188] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.426,-0.315} [component_container_isolated-3] [DEBUG] [1762964972.476696889] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.575,28.396,-0.304} [component_container_isolated-3] [DEBUG] [1762964972.476758887] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.482161245] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.482227251] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.482267878] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.482310991] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000181 0.000017 -0.000410 [component_container_isolated-3] 0.000181 1.000000 0.000086 -0.000864 [component_container_isolated-3] -0.000017 -0.000086 1.000000 -0.000205 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.482335878] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.008,0.006} {-0.009,0.113,0.110} [component_container_isolated-3] [DEBUG] [1762964972.482384271] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.482426311] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.482463311] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 -0.000194 0.203418 -0.006559 [component_container_isolated-3] 0.002595 0.999930 -0.011537 0.059244 [component_container_isolated-3] -0.203402 0.011824 0.979024 0.018852 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.482486736] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.692,11.736,0.152} [component_container_isolated-3] [DEBUG] [1762964972.482517084] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.008,-0.006} {0.678,11.624,0.038} [component_container_isolated-3] [DEBUG] [1762964972.482567741] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.507871024] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.507967598] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.508010891] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.508057189] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000128 -0.000047 -0.000104 [component_container_isolated-3] -0.000128 1.000000 0.000144 0.000563 [component_container_isolated-3] 0.000047 -0.000144 1.000000 0.000240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.508082999] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.003,0.005} {-0.053,0.076,-0.072} [component_container_isolated-3] [DEBUG] [1762964972.508134547] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.508181978] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.508220942] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 0.000108 0.185144 -0.007111 [component_container_isolated-3] -0.000229 1.000000 0.000632 0.059785 [component_container_isolated-3] -0.185144 -0.000663 0.982711 0.017108 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.508243606] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.670,-0.013} [component_container_isolated-3] [DEBUG] [1762964972.508274434] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.003,-0.005} {0.028,10.594,0.060} [component_container_isolated-3] [DEBUG] [1762964972.508330632] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.509536294] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.509588554] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.509627859] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.509670781] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000043 -0.000019 0.000177 [component_container_isolated-3] 0.000043 1.000000 -0.000135 -0.000043 [component_container_isolated-3] 0.000019 0.000135 1.000000 -0.000018 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.509696079] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.000} {-0.058,0.029,-0.007} [component_container_isolated-3] [DEBUG] [1762964972.509743270] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.509789237] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.509829614] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879430 0.000163 0.476029 -0.001108 [component_container_isolated-3] -0.004798 0.999952 0.008522 0.060286 [component_container_isolated-3] -0.476005 -0.009778 0.879388 0.018212 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.509853911] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.425,-0.313} [component_container_isolated-3] [DEBUG] [1762964972.509887475] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.575,28.396,-0.304} [component_container_isolated-3] [DEBUG] [1762964972.509964943] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.519120388] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.519187045] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.519228704] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.519271777] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000204 -0.000171 0.000603 [component_container_isolated-3] -0.000204 1.000000 0.000186 0.001351 [component_container_isolated-3] 0.000171 -0.000186 1.000000 -0.000304 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.519297125] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.006,-0.001} {0.022,-0.009,-0.026} [component_container_isolated-3] [DEBUG] [1762964972.519351018] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.519402827] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.519448144] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981581 0.000086 0.191049 -0.006833 [component_container_isolated-3] -0.001796 0.999960 0.008776 0.060138 [component_container_isolated-3] -0.191040 -0.008958 0.981541 0.016779 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.519476708] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.523,11.014,-0.105} [component_container_isolated-3] [DEBUG] [1762964972.519515282] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.006,0.000} {-0.540,11.022,-0.079} [component_container_isolated-3] [DEBUG] [1762964972.519574475] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.522953778] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.523006629] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.523046846] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.523100048] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000128 -0.000047 -0.000104 [component_container_isolated-3] -0.000128 1.000000 0.000144 0.000563 [component_container_isolated-3] 0.000047 -0.000144 1.000000 0.000240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.523165102] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.004,0.006} {-0.062,0.073,-0.079} [component_container_isolated-3] [DEBUG] [1762964972.523216731] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.523261206] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.523298246] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 0.000108 0.185144 -0.007111 [component_container_isolated-3] -0.000229 1.000000 0.000632 0.059785 [component_container_isolated-3] -0.185144 -0.000663 0.982711 0.017108 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.523321511] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.670,-0.013} [component_container_isolated-3] [DEBUG] [1762964972.523351438] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.004,-0.006} {0.038,10.597,0.067} [component_container_isolated-3] [DEBUG] [1762964972.523402766] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.523452401] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.523501184] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.523539267] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.523583291] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000032 0.000327 -0.000313 [component_container_isolated-3] -0.000032 1.000000 0.000081 0.000113 [component_container_isolated-3] -0.000327 -0.000081 1.000000 0.001035 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.523607397] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.008,0.007} {-0.014,0.132,0.108} [component_container_isolated-3] [DEBUG] [1762964972.523653585] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.524005998] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.524045353] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979025 -0.000179 0.203738 -0.006565 [component_container_isolated-3] 0.002567 0.999931 -0.011455 0.059225 [component_container_isolated-3] -0.203722 0.011738 0.978958 0.019078 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.524062466] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.001} {0.687,11.755,0.150} [component_container_isolated-3] [DEBUG] [1762964972.524083346] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.008,-0.007} {0.678,11.624,0.038} [component_container_isolated-3] [DEBUG] [1762964972.524122110] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.525370484] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.525417774] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.525455206] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.525496805] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000204 -0.000171 0.000603 [component_container_isolated-3] -0.000204 1.000000 0.000186 0.001351 [component_container_isolated-3] 0.000171 -0.000186 1.000000 -0.000304 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.525521713] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.008,-0.001} {0.012,-0.018,-0.037} [component_container_isolated-3] [DEBUG] [1762964972.525568372] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.525610342] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.525646070] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981581 0.000086 0.191049 -0.006833 [component_container_isolated-3] -0.001796 0.999960 0.008776 0.060138 [component_container_isolated-3] -0.191040 -0.008958 0.981541 0.016779 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.525670306] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.523,11.014,-0.105} [component_container_isolated-3] [DEBUG] [1762964972.525703590] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.008,0.000} {-0.527,11.032,-0.067} [component_container_isolated-3] [DEBUG] [1762964972.525756080] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.547555331] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.547613943] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.547659530] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.547706019] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000066 0.000130 0.000048 [component_container_isolated-3] 0.000066 1.000000 0.000289 -0.000059 [component_container_isolated-3] -0.000131 -0.000289 1.000000 0.000158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.547732690] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.075,0.036,-0.004} [component_container_isolated-3] [DEBUG] [1762964972.547782826] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.547826519] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.547862318] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879367 -0.000033 0.476144 -0.001101 [component_container_isolated-3] -0.004733 0.999950 0.008810 0.060282 [component_container_isolated-3] -0.476120 -0.010001 0.879323 0.018214 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.547886815] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.652,28.432,-0.308} [component_container_isolated-3] [DEBUG] [1762964972.547947871] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.575,28.396,-0.304} [component_container_isolated-3] [DEBUG] [1762964972.548005722] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.556453074] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.556530482] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.556568635] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.556611467] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000128 -0.000047 -0.000104 [component_container_isolated-3] -0.000128 1.000000 0.000144 0.000563 [component_container_isolated-3] 0.000047 -0.000144 1.000000 0.000240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.556635482] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.004,0.006} {-0.070,0.070,-0.087} [component_container_isolated-3] [DEBUG] [1762964972.556683995] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.556730644] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.556770079] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 0.000108 0.185144 -0.007111 [component_container_isolated-3] -0.000229 1.000000 0.000632 0.059785 [component_container_isolated-3] -0.185144 -0.000663 0.982711 0.017108 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.556794536] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.670,-0.013} [component_container_isolated-3] [DEBUG] [1762964972.556827249] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.004,-0.006} {0.047,10.599,0.075} [component_container_isolated-3] [DEBUG] [1762964972.556876743] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.558772183] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.558823200] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.558867786] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.558914655] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000060 -0.000334 0.000575 [component_container_isolated-3] 0.000060 1.000000 -0.000069 -0.000151 [component_container_isolated-3] 0.000334 0.000069 1.000000 -0.001436 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.558975441] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.008,0.006} {-0.010,0.113,0.112} [component_container_isolated-3] [DEBUG] [1762964972.559025817] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.559068138] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.559104327] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979093 -0.000224 0.203411 -0.006571 [component_container_isolated-3] 0.002623 0.999930 -0.011525 0.059184 [component_container_isolated-3] -0.203394 0.011817 0.979026 0.018755 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.559127151] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.692,11.736,0.154} [component_container_isolated-3] [DEBUG] [1762964972.559160144] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.008,-0.006} {0.678,11.624,0.038} [component_container_isolated-3] [DEBUG] [1762964972.559211923] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.564504280] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.564563483] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.564600143] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.564642975] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000060 -0.000334 0.000575 [component_container_isolated-3] 0.000060 1.000000 -0.000069 -0.000151 [component_container_isolated-3] 0.000334 0.000069 1.000000 -0.001436 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.564666700] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.009,0.004} {-0.006,0.093,0.115} [component_container_isolated-3] [DEBUG] [1762964972.564715002] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.564758335] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.564796949] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979093 -0.000224 0.203411 -0.006571 [component_container_isolated-3] 0.002623 0.999930 -0.011525 0.059184 [component_container_isolated-3] -0.203394 0.011817 0.979026 0.018755 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.564820333] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.692,11.736,0.154} [component_container_isolated-3] [DEBUG] [1762964972.564852695] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.008,-0.004} {0.674,11.643,0.035} [component_container_isolated-3] [DEBUG] [1762964972.564905266] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.567536611] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.567599000] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.567636512] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.567677841] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000136 0.000076 0.000939 [component_container_isolated-3] 0.000136 1.000000 0.000083 -0.000896 [component_container_isolated-3] -0.000076 -0.000083 1.000000 -0.000658 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.567702277] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.007,-0.002} {0.007,-0.014,-0.029} [component_container_isolated-3] [DEBUG] [1762964972.567750880] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.567793502] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.567833298] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981566 -0.000064 0.191124 -0.006575 [component_container_isolated-3] -0.001660 0.999959 0.008859 0.060082 [component_container_isolated-3] -0.191117 -0.009013 0.981526 0.016558 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.567857374] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.001} {-0.526,11.018,-0.097} [component_container_isolated-3] [DEBUG] [1762964972.567890637] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.007,0.001} {-0.527,11.032,-0.067} [component_container_isolated-3] [DEBUG] [1762964972.567985518] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.583585220] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.583642910] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.583684008] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.583728323] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000046 -0.000028 -0.000028 [component_container_isolated-3] 0.000046 1.000000 -0.000328 -0.000036 [component_container_isolated-3] 0.000028 0.000328 1.000000 -0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.583753231] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.056,0.035,-0.001} [component_container_isolated-3] [DEBUG] [1762964972.583800992] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.583843413] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.583879772] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879380 0.000083 0.476120 -0.001088 [component_container_isolated-3] -0.004687 0.999953 0.008483 0.060267 [component_container_isolated-3] -0.476097 -0.009691 0.879340 0.018239 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.583905061] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.631,28.431,-0.305} [component_container_isolated-3] [DEBUG] [1762964972.583967360] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.575,28.396,-0.304} [component_container_isolated-3] [DEBUG] [1762964972.584021152] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.589813605] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.589871645] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.589910039] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.589991354] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000128 -0.000047 -0.000104 [component_container_isolated-3] -0.000128 1.000000 0.000144 0.000563 [component_container_isolated-3] 0.000047 -0.000144 1.000000 0.000240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.590017253] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.005,0.006} {-0.078,0.067,-0.094} [component_container_isolated-3] [DEBUG] [1762964972.590065025] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.590112125] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.590152061] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 0.000108 0.185144 -0.007111 [component_container_isolated-3] -0.000229 1.000000 0.000632 0.059785 [component_container_isolated-3] -0.185144 -0.000663 0.982711 0.017108 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.590175746] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.670,-0.013} [component_container_isolated-3] [DEBUG] [1762964972.590209180] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.006} {0.057,10.602,0.082} [component_container_isolated-3] [DEBUG] [1762964972.590259516] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.598667624] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.598721587] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.598761323] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.598806449] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000015 0.000182 -0.001500 [component_container_isolated-3] 0.000015 1.000000 -0.000191 -0.000402 [component_container_isolated-3] -0.000182 0.000191 1.000000 0.001591 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.598831827] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.006,0.000} {0.018,-0.004,-0.029} [component_container_isolated-3] [DEBUG] [1762964972.598880009] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.598951887] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.598993245] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981531 -0.000042 0.191302 -0.006775 [component_container_isolated-3] -0.001646 0.999961 0.008668 0.059966 [component_container_isolated-3] -0.191295 -0.008823 0.981493 0.017018 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.599018734] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.515,11.028,-0.096} [component_container_isolated-3] [DEBUG] [1762964972.599049573] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.006,-0.000} {-0.527,11.032,-0.067} [component_container_isolated-3] [DEBUG] [1762964972.599101753] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.613266614] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.613340225] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.613387335] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.613441719] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000261 0.000121 -0.000104 [component_container_isolated-3] -0.000261 1.000000 0.000124 0.000715 [component_container_isolated-3] -0.000121 -0.000124 1.000000 0.000654 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.613471375] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.008,0.005} {-0.013,0.100,0.100} [component_container_isolated-3] [DEBUG] [1762964972.613530889] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.613583980] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.613626501] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979069 0.000006 0.203529 -0.006539 [component_container_isolated-3] 0.002363 0.999932 -0.011400 0.059296 [component_container_isolated-3] -0.203516 0.011643 0.979002 0.018755 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.613654695] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.681,11.743,0.138} [component_container_isolated-3] [DEBUG] [1762964972.613691315] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.007,-0.005} {0.674,11.643,0.035} [component_container_isolated-3] [DEBUG] [1762964972.613750338] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.616964606] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.617022447] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.617068715] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.617128690] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000002 0.000023 -0.000166 [component_container_isolated-3] 0.000002 1.000000 0.000151 0.000028 [component_container_isolated-3] -0.000023 -0.000151 1.000000 -0.000089 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.617155832] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.001,0.000,0.001} {-0.065,0.036,-0.001} [component_container_isolated-3] [DEBUG] [1762964972.617207651] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.617251424] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.617292202] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879369 0.000009 0.476140 -0.001108 [component_container_isolated-3] -0.004685 0.999952 0.008634 0.060264 [component_container_isolated-3] -0.476117 -0.009823 0.879327 0.018240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.617316869] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.432,-0.305} [component_container_isolated-3] [DEBUG] [1762964972.617350784] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.575,28.396,-0.304} [component_container_isolated-3] [DEBUG] [1762964972.617401401] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.630298010] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.630363695] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.630403261] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.630446714] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000126 -0.000072 0.000443 [component_container_isolated-3] 0.000126 1.000000 -0.000119 -0.000648 [component_container_isolated-3] 0.000072 0.000119 1.000000 -0.000576 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.630472944] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.006,-0.001} {0.025,-0.008,-0.021} [component_container_isolated-3] [DEBUG] [1762964972.630525154] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.630572334] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.630613062] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981545 -0.000143 0.191232 -0.006789 [component_container_isolated-3] -0.001520 0.999962 0.008550 0.059690 [component_container_isolated-3] -0.191226 -0.008682 0.981508 0.017049 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.630635464] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.507,11.024,-0.089} [component_container_isolated-3] [DEBUG] [1762964972.630665332] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.006,0.000} {-0.527,11.032,-0.067} [component_container_isolated-3] [DEBUG] [1762964972.630714696] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.633751515] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.633803815] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.633842689] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.633885241] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000002 0.000023 -0.000166 [component_container_isolated-3] 0.000002 1.000000 0.000151 0.000028 [component_container_isolated-3] -0.000023 -0.000151 1.000000 -0.000089 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.633909928] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.000} {-0.073,0.038,-0.001} [component_container_isolated-3] [DEBUG] [1762964972.634001743] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.634049424] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.634090593] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879369 0.000009 0.476140 -0.001108 [component_container_isolated-3] -0.004685 0.999952 0.008634 0.060264 [component_container_isolated-3] -0.476117 -0.009823 0.879327 0.018240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.634115480] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.432,-0.305} [component_container_isolated-3] [DEBUG] [1762964972.634147211] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.000,-0.000} {-0.566,28.395,-0.304} [component_container_isolated-3] [DEBUG] [1762964972.634200944] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.638595687] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.638663015] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.638815516] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.638865672] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000198 -0.000106 -0.000458 [component_container_isolated-3] 0.000198 1.000000 -0.000070 -0.000778 [component_container_isolated-3] 0.000106 0.000070 1.000000 -0.000075 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.638892684] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.004,0.006} {-0.074,0.061,-0.083} [component_container_isolated-3] [DEBUG] [1762964972.638989378] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.639040436] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.639081043] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982731 -0.000073 0.185040 -0.007175 [component_container_isolated-3] -0.000031 1.000000 0.000561 0.059786 [component_container_isolated-3] -0.185040 -0.000558 0.982731 0.017178 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.639105149] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.663,-0.002} [component_container_isolated-3] [DEBUG] [1762964972.639136389] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.004,-0.006} {0.057,10.602,0.082} [component_container_isolated-3] [DEBUG] [1762964972.639186264] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.641142621] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.641200181] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.641240367] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.641283700] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000261 0.000121 -0.000104 [component_container_isolated-3] -0.000261 1.000000 0.000124 0.000715 [component_container_isolated-3] -0.000121 -0.000124 1.000000 0.000654 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.641309329] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.007,0.006} {-0.020,0.107,0.085} [component_container_isolated-3] [DEBUG] [1762964972.641357812] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.641400473] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.641437764] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979069 0.000006 0.203529 -0.006539 [component_container_isolated-3] 0.002363 0.999932 -0.011400 0.059296 [component_container_isolated-3] -0.203516 0.011643 0.979002 0.018755 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.641460418] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.681,11.743,0.138} [component_container_isolated-3] [DEBUG] [1762964972.641491717] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.007,-0.006} {0.684,11.636,0.050} [component_container_isolated-3] [DEBUG] [1762964972.641541883] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.657519727] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.657571165] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.657610911] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.657657871] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000198 -0.000106 -0.000458 [component_container_isolated-3] 0.000198 1.000000 -0.000070 -0.000778 [component_container_isolated-3] 0.000106 0.000070 1.000000 -0.000075 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.657683029] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.003,0.006} {-0.070,0.055,-0.071} [component_container_isolated-3] [DEBUG] [1762964972.657731912] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.657774764] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.657811314] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982731 -0.000073 0.185040 -0.007175 [component_container_isolated-3] -0.000031 1.000000 0.000561 0.059786 [component_container_isolated-3] -0.185040 -0.000558 0.982731 0.017178 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.657833156] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.663,-0.002} [component_container_isolated-3] [DEBUG] [1762964972.657863353] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.006} {0.051,10.608,0.071} [component_container_isolated-3] [DEBUG] [1762964972.657916465] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.666370289] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.666456975] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.666508944] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.666561735] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000036 0.000357 -0.000401 [component_container_isolated-3] -0.000036 1.000000 0.000261 0.000766 [component_container_isolated-3] -0.000357 -0.000262 1.000000 0.001117 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.666592133] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.006,0.001} {0.010,0.013,-0.023} [component_container_isolated-3] [DEBUG] [1762964972.666644473] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.666694879] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.666733793] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981477 -0.000157 0.191582 -0.006796 [component_container_isolated-3] -0.001559 0.999960 0.008810 0.059686 [component_container_isolated-3] -0.191576 -0.008946 0.981437 0.017423 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.666758661] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.522,11.045,-0.091} [component_container_isolated-3] [DEBUG] [1762964972.666790011] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.007,-0.000} {-0.527,11.032,-0.067} [component_container_isolated-3] [DEBUG] [1762964972.666839495] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.673047151] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.673103198] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.673142402] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.673187028] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000002 0.000023 -0.000166 [component_container_isolated-3] 0.000002 1.000000 0.000151 0.000028 [component_container_isolated-3] -0.000023 -0.000151 1.000000 -0.000089 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.673211985] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.000} {-0.082,0.039,-0.001} [component_container_isolated-3] [DEBUG] [1762964972.673259536] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.673334209] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.673377622] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879369 0.000009 0.476140 -0.001108 [component_container_isolated-3] -0.004685 0.999952 0.008634 0.060264 [component_container_isolated-3] -0.476117 -0.009823 0.879327 0.018240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.673403922] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.432,-0.305} [component_container_isolated-3] [DEBUG] [1762964972.673435242] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.000} {-0.557,28.393,-0.304} [component_container_isolated-3] [DEBUG] [1762964972.673490016] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.683980250] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.684042459] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.684081243] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.684124085] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000126 0.000032 -0.000504 [component_container_isolated-3] 0.000126 1.000000 -0.000024 -0.000381 [component_container_isolated-3] -0.000032 0.000024 1.000000 0.000217 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.684150666] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.008,0.006} {-0.019,0.109,0.093} [component_container_isolated-3] [DEBUG] [1762964972.684202104] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.684248272] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.684286986] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979062 -0.000112 0.203561 -0.006616 [component_container_isolated-3] 0.002490 0.999932 -0.011424 0.059284 [component_container_isolated-3] -0.203545 0.011692 0.978996 0.018817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.684311092] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.684,11.744,0.146} [component_container_isolated-3] [DEBUG] [1762964972.684341179] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.007,-0.006} {0.684,11.636,0.050} [component_container_isolated-3] [DEBUG] [1762964972.684390454] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.686034133] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.686097423] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.686138833] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.686184870] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000036 0.000357 -0.000401 [component_container_isolated-3] -0.000036 1.000000 0.000261 0.000766 [component_container_isolated-3] -0.000357 -0.000262 1.000000 0.001117 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.686210820] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.007,0.002} {-0.005,0.033,-0.025} [component_container_isolated-3] [DEBUG] [1762964972.686260004] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.686304469] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.686339917] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981477 -0.000157 0.191582 -0.006796 [component_container_isolated-3] -0.001559 0.999960 0.008810 0.059686 [component_container_isolated-3] -0.191576 -0.008946 0.981437 0.017423 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.686364754] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.522,11.045,-0.091} [component_container_isolated-3] [DEBUG] [1762964972.686397917] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.008,-0.002} {-0.512,11.012,-0.065} [component_container_isolated-3] [DEBUG] [1762964972.686447592] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.705222147] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.705286139] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.705327117] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.705370330] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000126 0.000032 -0.000504 [component_container_isolated-3] 0.000126 1.000000 -0.000024 -0.000381 [component_container_isolated-3] -0.000032 0.000024 1.000000 0.000217 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.705394656] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.008,0.006} {-0.017,0.111,0.100} [component_container_isolated-3] [DEBUG] [1762964972.705443931] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.705491592] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.705526749] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979062 -0.000112 0.203561 -0.006616 [component_container_isolated-3] 0.002490 0.999932 -0.011424 0.059284 [component_container_isolated-3] -0.203545 0.011692 0.978996 0.018817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.705549442] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.684,11.744,0.146} [component_container_isolated-3] [DEBUG] [1762964972.705579129] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.008,-0.006} {0.681,11.635,0.042} [component_container_isolated-3] [DEBUG] [1762964972.705629785] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.718535983] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.718592050] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.718633640] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.718679818] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000002 0.000023 -0.000166 [component_container_isolated-3] 0.000002 1.000000 0.000151 0.000028 [component_container_isolated-3] -0.000023 -0.000151 1.000000 -0.000089 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.718705066] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,0.000} {-0.091,0.040,-0.001} [component_container_isolated-3] [DEBUG] [1762964972.718753378] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.718797162] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.718832620] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879369 0.000009 0.476140 -0.001108 [component_container_isolated-3] -0.004685 0.999952 0.008634 0.060264 [component_container_isolated-3] -0.476117 -0.009823 0.879327 0.018240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.718854582] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.432,-0.305} [component_container_isolated-3] [DEBUG] [1762964972.718883777] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.000,-0.000} {-0.549,28.392,-0.304} [component_container_isolated-3] [DEBUG] [1762964972.718966786] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.726733368] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.726801669] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.726842477] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.726887953] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000029 0.000088 0.000231 [component_container_isolated-3] 0.000029 1.000000 -0.000032 0.000026 [component_container_isolated-3] -0.000088 0.000032 1.000000 -0.000038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.726913071] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.003,0.006} {-0.068,0.060,-0.070} [component_container_isolated-3] [DEBUG] [1762964972.726992263] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.727039944] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.727077886] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982715 -0.000096 0.185126 -0.007168 [component_container_isolated-3] -0.000002 1.000000 0.000530 0.059789 [component_container_isolated-3] -0.185126 -0.000521 0.982714 0.017227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.727099978] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.669,-0.000} [component_container_isolated-3] [DEBUG] [1762964972.727130577] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.006} {0.051,10.608,0.071} [component_container_isolated-3] [DEBUG] [1762964972.727179781] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.741570784] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.741631590] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.741670194] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.741713507] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000162 -0.000327 0.000048 [component_container_isolated-3] -0.000162 1.000000 -0.000086 0.000388 [component_container_isolated-3] 0.000327 0.000086 1.000000 -0.000894 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.741738144] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.008,0.001} {-0.001,0.015,-0.035} [component_container_isolated-3] [DEBUG] [1762964972.741785494] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.741828096] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.741868102] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981539 0.000018 0.191262 -0.006827 [component_container_isolated-3] -0.001718 0.999960 0.008725 0.059758 [component_container_isolated-3] -0.191254 -0.008892 0.981500 0.017413 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.741892408] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.026,-0.100} [component_container_isolated-3] [DEBUG] [1762964972.741948245] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.008,-0.001} {-0.512,11.012,-0.065} [component_container_isolated-3] [DEBUG] [1762964972.742011836] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.754736327] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.754793166] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.754834314] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.754880072] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000029 0.000088 0.000231 [component_container_isolated-3] 0.000029 1.000000 -0.000032 0.000026 [component_container_isolated-3] -0.000088 0.000032 1.000000 -0.000038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.754905621] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.003,0.006} {-0.066,0.065,-0.068} [component_container_isolated-3] [DEBUG] [1762964972.754995001] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.755044706] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.755091816] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982715 -0.000096 0.185126 -0.007168 [component_container_isolated-3] -0.000002 1.000000 0.000530 0.059789 [component_container_isolated-3] -0.185126 -0.000521 0.982714 0.017227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.755114309] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.669,-0.000} [component_container_isolated-3] [DEBUG] [1762964972.755144507] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.006} {0.049,10.603,0.069} [component_container_isolated-3] [DEBUG] [1762964972.755194432] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.760633199] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.760695648] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.760733620] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.760777043] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000002 0.000023 -0.000166 [component_container_isolated-3] 0.000002 1.000000 0.000151 0.000028 [component_container_isolated-3] -0.000023 -0.000151 1.000000 -0.000089 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.760801330] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.000} {-0.099,0.042,-0.000} [component_container_isolated-3] [DEBUG] [1762964972.760849792] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.760897173] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.760953581] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879369 0.000009 0.476140 -0.001108 [component_container_isolated-3] -0.004685 0.999952 0.008634 0.060264 [component_container_isolated-3] -0.476117 -0.009823 0.879327 0.018240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.760979520] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.432,-0.305} [component_container_isolated-3] [DEBUG] [1762964972.761013425] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.540,28.391,-0.304} [component_container_isolated-3] [DEBUG] [1762964972.761067638] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.761412778] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.761459617] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.761497129] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.761539329] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000126 0.000032 -0.000504 [component_container_isolated-3] 0.000126 1.000000 -0.000024 -0.000381 [component_container_isolated-3] -0.000032 0.000024 1.000000 0.000217 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.761563405] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.008,0.006} {-0.016,0.113,0.107} [component_container_isolated-3] [DEBUG] [1762964972.761611257] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.761655882] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.761694085] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979062 -0.000112 0.203561 -0.006616 [component_container_isolated-3] 0.002490 0.999932 -0.011424 0.059284 [component_container_isolated-3] -0.203545 0.011692 0.978996 0.018817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.761717840] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.684,11.744,0.146} [component_container_isolated-3] [DEBUG] [1762964972.761752807] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.008,-0.006} {0.678,11.633,0.035} [component_container_isolated-3] [DEBUG] [1762964972.761802041] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.778095708] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.778151264] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.778195919] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.778240625] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000126 0.000032 -0.000504 [component_container_isolated-3] 0.000126 1.000000 -0.000024 -0.000381 [component_container_isolated-3] -0.000032 0.000024 1.000000 0.000217 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.778265352] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.009,0.007} {-0.015,0.115,0.114} [component_container_isolated-3] [DEBUG] [1762964972.778314305] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.778355755] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.778390120] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979062 -0.000112 0.203561 -0.006616 [component_container_isolated-3] 0.002490 0.999932 -0.011424 0.059284 [component_container_isolated-3] -0.203545 0.011692 0.978996 0.018817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.778411852] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.684,11.744,0.146} [component_container_isolated-3] [DEBUG] [1762964972.778441428] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.008,-0.007} {0.675,11.631,0.027} [component_container_isolated-3] [DEBUG] [1762964972.778497355] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.783172543] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.783235975] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.783276101] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.783320857] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000002 0.000023 -0.000166 [component_container_isolated-3] 0.000002 1.000000 0.000151 0.000028 [component_container_isolated-3] -0.000023 -0.000151 1.000000 -0.000089 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.783347047] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.000} {-0.108,0.043,-0.000} [component_container_isolated-3] [DEBUG] [1762964972.783395770] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.783442870] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.783482876] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879369 0.000009 0.476140 -0.001108 [component_container_isolated-3] -0.004685 0.999952 0.008634 0.060264 [component_container_isolated-3] -0.476117 -0.009823 0.879327 0.018240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.783507223] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.432,-0.305} [component_container_isolated-3] [DEBUG] [1762964972.783541288] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.531,28.389,-0.304} [component_container_isolated-3] [DEBUG] [1762964972.783590973] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.787553680] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.787620758] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.787661847] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.787705731] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000127 -0.000223 -0.000092 [component_container_isolated-3] 0.000127 1.000000 -0.000153 -0.000854 [component_container_isolated-3] 0.000223 0.000153 1.000000 -0.001080 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.787730177] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.002,0.005} {-0.058,0.053,-0.061} [component_container_isolated-3] [DEBUG] [1762964972.787778369] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.787821211] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.787858713] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982756 -0.000193 0.184908 -0.007228 [component_container_isolated-3] 0.000125 1.000000 0.000377 0.059559 [component_container_isolated-3] -0.184908 -0.000347 0.982756 0.017023 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.787882168] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.020,10.656,0.007} [component_container_isolated-3] [DEBUG] [1762964972.787912956] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.005} {0.049,10.603,0.069} [component_container_isolated-3] [DEBUG] [1762964972.788016985] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.788871246] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.788957461] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.789000804] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.789044768] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000066 -0.000044 0.000212 [component_container_isolated-3] -0.000066 1.000000 0.000048 0.000538 [component_container_isolated-3] 0.000044 -0.000048 1.000000 -0.000307 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.789069876] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.008,0.001} {-0.003,0.012,-0.039} [component_container_isolated-3] [DEBUG] [1762964972.789119340] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.789162483] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.789198031] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981548 0.000073 0.191218 -0.006851 [component_container_isolated-3] -0.001784 0.999960 0.008773 0.059947 [component_container_isolated-3] -0.191210 -0.008952 0.981508 0.017344 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.789222517] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.523,11.023,-0.104} [component_container_isolated-3] [DEBUG] [1762964972.789256532] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.008,-0.000} {-0.512,11.012,-0.065} [component_container_isolated-3] [DEBUG] [1762964972.789309003] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.798832861] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.798895611] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.798962138] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.799007104] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000066 -0.000044 0.000212 [component_container_isolated-3] -0.000066 1.000000 0.000048 0.000538 [component_container_isolated-3] 0.000044 -0.000048 1.000000 -0.000307 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.799031811] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.009,0.000} {-0.006,0.010,-0.042} [component_container_isolated-3] [DEBUG] [1762964972.799080103] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.799125690] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.799165927] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981548 0.000073 0.191218 -0.006851 [component_container_isolated-3] -0.001784 0.999960 0.008773 0.059947 [component_container_isolated-3] -0.191210 -0.008952 0.981508 0.017344 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.799190614] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.523,11.023,-0.104} [component_container_isolated-3] [DEBUG] [1762964972.799223687] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.009,-0.000} {-0.508,11.014,-0.061} [component_container_isolated-3] [DEBUG] [1762964972.799275356] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.800089962] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.800141931] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.800182027] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.800226062] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000126 0.000032 -0.000504 [component_container_isolated-3] 0.000126 1.000000 -0.000024 -0.000381 [component_container_isolated-3] -0.000032 0.000024 1.000000 0.000217 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.800251270] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.009,0.007} {-0.013,0.116,0.122} [component_container_isolated-3] [DEBUG] [1762964972.800343235] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.800431905] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.800470929] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979062 -0.000112 0.203561 -0.006616 [component_container_isolated-3] 0.002490 0.999932 -0.011424 0.059284 [component_container_isolated-3] -0.203545 0.011692 0.978996 0.018817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.800494454] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.684,11.744,0.146} [component_container_isolated-3] [DEBUG] [1762964972.800517548] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.009,-0.007} {0.672,11.629,0.020} [component_container_isolated-3] [DEBUG] [1762964972.800556262] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.809165333] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.809228835] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.809269763] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.809314418] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000039 0.000083 -0.000027 [component_container_isolated-3] -0.000039 1.000000 -0.000022 0.000083 [component_container_isolated-3] -0.000083 0.000022 1.000000 -0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.809339877] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.002,0.005} {-0.056,0.057,-0.063} [component_container_isolated-3] [DEBUG] [1762964972.809388329] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.809434347] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.809475395] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982740 -0.000150 0.184990 -0.007249 [component_container_isolated-3] 0.000086 1.000000 0.000354 0.059506 [component_container_isolated-3] -0.184990 -0.000332 0.982740 0.016958 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.809501064] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.019,10.661,0.005} [component_container_isolated-3] [DEBUG] [1762964972.809533536] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.005} {0.049,10.603,0.069} [component_container_isolated-3] [DEBUG] [1762964972.809583883] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.816251496] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.816315128] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.816355916] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.816398166] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000002 -0.000026 0.000139 [component_container_isolated-3] -0.000002 1.000000 -0.000028 -0.000023 [component_container_isolated-3] 0.000026 0.000028 1.000000 -0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.816422783] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.000} {-0.107,0.041,-0.000} [component_container_isolated-3] [DEBUG] [1762964972.816470545] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.816511803] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.816547191] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879382 0.000024 0.476117 -0.001106 [component_container_isolated-3] -0.004687 0.999952 0.008607 0.060257 [component_container_isolated-3] -0.476094 -0.009800 0.879340 0.018238 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.816569243] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.431,-0.305} [component_container_isolated-3] [DEBUG] [1762964972.816602637] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.531,28.389,-0.304} [component_container_isolated-3] [DEBUG] [1762964972.816708499] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.820558602] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.820624888] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.820664304] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.820722765] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000039 0.000083 -0.000027 [component_container_isolated-3] -0.000039 1.000000 -0.000022 0.000083 [component_container_isolated-3] -0.000083 0.000022 1.000000 -0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.820747623] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.002,0.005} {-0.055,0.062,-0.065} [component_container_isolated-3] [DEBUG] [1762964972.820795915] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.820837815] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.820874615] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982740 -0.000150 0.184990 -0.007249 [component_container_isolated-3] 0.000086 1.000000 0.000354 0.059506 [component_container_isolated-3] -0.184990 -0.000332 0.982740 0.016958 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.820898391] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.019,10.661,0.005} [component_container_isolated-3] [DEBUG] [1762964972.820966831] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.005} {0.048,10.598,0.071} [component_container_isolated-3] [DEBUG] [1762964972.821022568] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.829528452] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.829599217] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.829640807] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.829686574] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000149 -0.000021 0.000043 [component_container_isolated-3] 0.000149 1.000000 -0.000039 -0.000595 [component_container_isolated-3] 0.000021 0.000039 1.000000 -0.000277 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.829712143] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.008,-0.000} {-0.004,0.008,-0.034} [component_container_isolated-3] [DEBUG] [1762964972.829765244] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.829810200] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.829849906] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981552 -0.000065 0.191197 -0.006882 [component_container_isolated-3] -0.001635 0.999960 0.008733 0.059951 [component_container_isolated-3] -0.191190 -0.008885 0.981513 0.017252 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.829874292] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.022,-0.095} [component_container_isolated-3] [DEBUG] [1762964972.829907796] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.008,0.000} {-0.508,11.014,-0.061} [component_container_isolated-3] [DEBUG] [1762964972.829978862] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.844734903] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.844804496] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.844847378] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.844897694] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000057 -0.000013 0.000058 [component_container_isolated-3] 0.000057 1.000000 0.000034 -0.000137 [component_container_isolated-3] 0.000013 -0.000034 1.000000 -0.000026 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.844963860] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.000} {-0.109,0.041,0.003} [component_container_isolated-3] [DEBUG] [1762964972.845021320] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.845067929] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.845110460] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879388 -0.000042 0.476106 -0.001104 [component_container_isolated-3] -0.004630 0.999952 0.008640 0.060230 [component_container_isolated-3] -0.476083 -0.009802 0.879346 0.018230 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.845135277] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.430,-0.302} [component_container_isolated-3] [DEBUG] [1762964972.845170364] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.531,28.389,-0.304} [component_container_isolated-3] [DEBUG] [1762964972.845225139] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.857847214] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.857941314] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.857984937] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.858032718] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000036 -0.000063 0.000372 [component_container_isolated-3] -0.000036 1.000000 -0.000092 0.000525 [component_container_isolated-3] 0.000063 0.000092 1.000000 -0.000223 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.858060231] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.009,0.007} {-0.008,0.113,0.120} [component_container_isolated-3] [DEBUG] [1762964972.858114023] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.858159621] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.858198876] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979075 -0.000058 0.203499 -0.006603 [component_container_isolated-3] 0.002453 0.999931 -0.011516 0.059383 [component_container_isolated-3] -0.203484 0.011775 0.979007 0.018819 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.858221058] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.741,0.144} [component_container_isolated-3] [DEBUG] [1762964972.858250925] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.008,-0.007} {0.672,11.629,0.020} [component_container_isolated-3] [DEBUG] [1762964972.858311380] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.866009432] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.866075809] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.866116396] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.866160691] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000029 0.000137 0.000517 [component_container_isolated-3] -0.000029 1.000000 0.000002 -0.000099 [component_container_isolated-3] -0.000137 -0.000002 1.000000 0.000219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.866185438] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.008,0.000} {-0.004,0.016,-0.035} [component_container_isolated-3] [DEBUG] [1762964972.866233740] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.866278035] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.866313573] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 -0.000037 0.191332 -0.006781 [component_container_isolated-3] -0.001665 0.999960 0.008735 0.059941 [component_container_isolated-3] -0.191324 -0.008892 0.981487 0.017199 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.866336607] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.030,-0.097} [component_container_isolated-3] [DEBUG] [1762964972.866369039] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.008,-0.000} {-0.508,11.014,-0.061} [component_container_isolated-3] [DEBUG] [1762964972.866421208] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.871624766] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.871688467] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.871731219] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.871777037] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000011 -0.000061 -0.000023 [component_container_isolated-3] -0.000011 1.000000 0.000024 0.000051 [component_container_isolated-3] 0.000061 -0.000024 1.000000 -0.000023 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.871803417] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.002,0.005} {-0.057,0.059,-0.066} [component_container_isolated-3] [DEBUG] [1762964972.872443209] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.872545845] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.872587184] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982752 -0.000144 0.184929 -0.007271 [component_container_isolated-3] 0.000075 1.000000 0.000379 0.059464 [component_container_isolated-3] -0.184930 -0.000358 0.982752 0.016910 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.872608665] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.021,10.657,0.004} [component_container_isolated-3] [DEBUG] [1762964972.872633622] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.005} {0.048,10.598,0.071} [component_container_isolated-3] [DEBUG] [1762964972.872674931] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.878327657] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.878393943] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.878438418] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.878485769] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000066 -0.000045 -0.000163 [component_container_isolated-3] -0.000066 1.000000 0.000049 0.000096 [component_container_isolated-3] 0.000045 -0.000049 1.000000 -0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.878513041] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.000} {-0.111,0.038,-0.001} [component_container_isolated-3] [DEBUG] [1762964972.878561944] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.878606489] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.878648439] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 -0.000008 0.476066 -0.001116 [component_container_isolated-3] -0.004695 0.999951 0.008690 0.060223 [component_container_isolated-3] -0.476043 -0.009877 0.879366 0.018229 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.878672615] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.427,-0.306} [component_container_isolated-3] [DEBUG] [1762964972.878703665] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.531,28.389,-0.304} [component_container_isolated-3] [DEBUG] [1762964972.878752488] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.880835646] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.880891964] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.880957679] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.881002034] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000029 0.000137 0.000517 [component_container_isolated-3] -0.000029 1.000000 0.000002 -0.000099 [component_container_isolated-3] -0.000137 -0.000002 1.000000 0.000219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.881027352] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.008,0.000} {-0.004,0.024,-0.037} [component_container_isolated-3] [DEBUG] [1762964972.881074893] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.881123356] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.881162270] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 -0.000037 0.191332 -0.006781 [component_container_isolated-3] -0.001665 0.999960 0.008735 0.059941 [component_container_isolated-3] -0.191324 -0.008892 0.981487 0.017199 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.881187037] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.030,-0.097} [component_container_isolated-3] [DEBUG] [1762964972.881220111] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.008,-0.000} {-0.508,11.006,-0.059} [component_container_isolated-3] [DEBUG] [1762964972.881271659] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.890501155] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.890562412] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.890603230] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.890647354] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000182 -0.000017 -0.000031 [component_container_isolated-3] 0.000182 1.000000 -0.000096 -0.001005 [component_container_isolated-3] 0.000017 0.000096 1.000000 -0.000579 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.890672022] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.010,0.006} {-0.003,0.112,0.130} [component_container_isolated-3] [DEBUG] [1762964972.890719302] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.890761242] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.890796629] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 -0.000217 0.203483 -0.006637 [component_container_isolated-3] 0.002635 0.999929 -0.011613 0.059201 [component_container_isolated-3] -0.203466 0.011906 0.979010 0.018688 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.890819533] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.697,11.740,0.154} [component_container_isolated-3] [DEBUG] [1762964972.890852576] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.009,-0.006} {0.672,11.629,0.020} [component_container_isolated-3] [DEBUG] [1762964972.890903233] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.902370693] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.902425117] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.902475052] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.902536319] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000182 -0.000017 -0.000031 [component_container_isolated-3] 0.000182 1.000000 -0.000096 -0.001005 [component_container_isolated-3] 0.000017 0.000096 1.000000 -0.000579 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.902572989] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.011,0.005} {0.003,0.111,0.140} [component_container_isolated-3] [DEBUG] [1762964972.902639456] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.902699491] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.902751991] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 -0.000217 0.203483 -0.006637 [component_container_isolated-3] 0.002635 0.999929 -0.011613 0.059201 [component_container_isolated-3] -0.203466 0.011906 0.979010 0.018688 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.902784994] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.697,11.740,0.154} [component_container_isolated-3] [DEBUG] [1762964972.902827385] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.010,-0.006} {0.665,11.630,0.009} [component_container_isolated-3] [DEBUG] [1762964972.902993833] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.904888872] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.904979385] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.905021285] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.905068846] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000031 -0.000022 -0.000103 [component_container_isolated-3] -0.000031 1.000000 -0.000034 0.000058 [component_container_isolated-3] 0.000022 0.000034 1.000000 0.000011 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.905096529] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.003,0.005} {-0.055,0.057,-0.068} [component_container_isolated-3] [DEBUG] [1762964972.905151484] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.905198874] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.905236506] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982756 -0.000108 0.184908 -0.007302 [component_container_isolated-3] 0.000045 1.000000 0.000344 0.059430 [component_container_isolated-3] -0.184908 -0.000330 0.982756 0.016880 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.905259901] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.019,10.656,0.003} [component_container_isolated-3] [DEBUG] [1762964972.905290409] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.005} {0.048,10.598,0.071} [component_container_isolated-3] [DEBUG] [1762964972.905339994] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.916124389] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.916189704] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.916229931] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.916273354] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000029 0.000137 0.000517 [component_container_isolated-3] -0.000029 1.000000 0.000002 -0.000099 [component_container_isolated-3] -0.000137 -0.000002 1.000000 0.000219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.916298191] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.008,0.001} {-0.004,0.032,-0.039} [component_container_isolated-3] [DEBUG] [1762964972.916345071] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.916388343] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.916422629] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 -0.000037 0.191332 -0.006781 [component_container_isolated-3] -0.001665 0.999960 0.008735 0.059941 [component_container_isolated-3] -0.191324 -0.008892 0.981487 0.017199 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.916444962] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.030,-0.097} [component_container_isolated-3] [DEBUG] [1762964972.916478175] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.008,-0.000} {-0.507,10.999,-0.057} [component_container_isolated-3] [DEBUG] [1762964972.916530134] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.921353275] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.921408000] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.921448968] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.921497521] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000017 -0.000079 0.000295 [component_container_isolated-3] 0.000017 1.000000 -0.000015 -0.000018 [component_container_isolated-3] 0.000079 0.000015 1.000000 -0.000173 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.921525865] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.000,-0.000} {-0.110,0.034,0.000} [component_container_isolated-3] [DEBUG] [1762964972.921576431] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.921617891] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.921655312] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879447 -0.000015 0.475997 -0.001101 [component_container_isolated-3] -0.004678 0.999951 0.008675 0.060213 [component_container_isolated-3] -0.475974 -0.009856 0.879404 0.018188 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.921678206] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.423,-0.305} [component_container_isolated-3] [DEBUG] [1762964972.921718262] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,0.000} {-0.531,28.389,-0.304} [component_container_isolated-3] [DEBUG] [1762964972.921762968] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.941627554] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.941686417] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.941733937] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.941781979] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000159 0.000188 0.000399 [component_container_isolated-3] -0.000159 1.000000 0.000404 0.001051 [component_container_isolated-3] -0.000188 -0.000404 1.000000 0.000968 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.941808710] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.004,0.006} {-0.078,0.068,-0.077} [component_container_isolated-3] [DEBUG] [1762964972.941859437] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.941903752] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.941968746] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982721 -0.000026 0.185093 -0.007224 [component_container_isolated-3] -0.000114 1.000000 0.000749 0.059677 [component_container_isolated-3] -0.185093 -0.000757 0.982721 0.017034 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.941994886] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.044,10.667,-0.007} [component_container_isolated-3] [DEBUG] [1762964972.942026566] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.004,-0.006} {0.048,10.598,0.071} [component_container_isolated-3] [DEBUG] [1762964972.942084086] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.950061792] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.950127928] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.950168796] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.950214213] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000102 0.000230 -0.000372 [component_container_isolated-3] -0.000102 1.000000 -0.000039 0.000032 [component_container_isolated-3] -0.000230 0.000039 1.000000 0.001163 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.950239721] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.011,0.007} {0.005,0.124,0.135} [component_container_isolated-3] [DEBUG] [1762964972.950287713] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.950328361] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.950363778] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979032 -0.000109 0.203708 -0.006645 [component_container_isolated-3] 0.002536 0.999929 -0.011651 0.059149 [component_container_isolated-3] -0.203692 0.011923 0.978962 0.018918 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.950385700] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.001} {0.698,11.753,0.148} [component_container_isolated-3] [DEBUG] [1762964972.950416569] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.010,-0.007} {0.665,11.630,0.009} [component_container_isolated-3] [DEBUG] [1762964972.950464771] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.957319722] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.957376551] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.957417269] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.957461533] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000029 0.000137 0.000517 [component_container_isolated-3] -0.000029 1.000000 0.000002 -0.000099 [component_container_isolated-3] -0.000137 -0.000002 1.000000 0.000219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.957486731] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.008,0.001} {-0.004,0.040,-0.040} [component_container_isolated-3] [DEBUG] [1762964972.957535475] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.957579839] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.957616149] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 -0.000037 0.191332 -0.006781 [component_container_isolated-3] -0.001665 0.999960 0.008735 0.059941 [component_container_isolated-3] -0.191324 -0.008892 0.981487 0.017199 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.957638942] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.030,-0.097} [component_container_isolated-3] [DEBUG] [1762964972.957669360] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.008,-0.000} {-0.507,10.991,-0.056} [component_container_isolated-3] [DEBUG] [1762964972.957724766] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.962268043] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.962332686] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.962373394] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.962418089] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000080 0.000106 -0.000318 [component_container_isolated-3] -0.000080 1.000000 -0.000083 0.000106 [component_container_isolated-3] -0.000106 0.000082 1.000000 0.000246 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.962443969] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,0.000} {-0.106,0.040,-0.005} [component_container_isolated-3] [DEBUG] [1762964972.962496158] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.962539331] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.962575910] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879397 0.000094 0.476090 -0.001109 [component_container_isolated-3] -0.004758 0.999952 0.008592 0.060216 [component_container_isolated-3] -0.476066 -0.009821 0.879355 0.018209 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.962598794] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.429,-0.310} [component_container_isolated-3] [DEBUG] [1762964972.962633971] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.531,28.389,-0.304} [component_container_isolated-3] [DEBUG] [1762964972.962689487] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964972.979915896] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964972.980004735] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964972.980043940] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964972.980087684] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000098 -0.000004 0.000201 [component_container_isolated-3] -0.000098 1.000000 -0.000228 -0.000013 [component_container_isolated-3] 0.000004 0.000228 1.000000 0.000071 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964972.980112782] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.004,0.006} {-0.065,0.068,-0.082} [component_container_isolated-3] [DEBUG] [1762964972.980162667] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964972.980209687] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964972.980250605] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982722 0.000113 0.185089 -0.007148 [component_container_isolated-3] -0.000213 1.000000 0.000521 0.059742 [component_container_isolated-3] -0.185089 -0.000551 0.982722 0.017107 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964972.980275052] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.666,-0.012} [component_container_isolated-3] [DEBUG] [1762964972.980308045] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.004,-0.006} {0.048,10.598,0.071} [component_container_isolated-3] [DEBUG] [1762964972.980360355] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.001412719] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.001477253] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.001515125] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.001557426] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000046 0.000134 -0.000171 [component_container_isolated-3] 0.000046 1.000000 0.000182 0.000047 [component_container_isolated-3] -0.000134 -0.000182 1.000000 0.000402 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.001582093] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.011,0.007} {-0.005,0.132,0.137} [component_container_isolated-3] [DEBUG] [1762964973.001629363] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.001670502] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.001709256] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979004 -0.000191 0.203839 -0.006674 [component_container_isolated-3] 0.002583 0.999931 -0.011469 0.059117 [component_container_isolated-3] -0.203823 0.011755 0.978937 0.019118 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.001732771] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.001} {0.688,11.761,0.151} [component_container_isolated-3] [DEBUG] [1762964973.001765062] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.010,-0.007} {0.665,11.630,0.009} [component_container_isolated-3] [DEBUG] [1762964973.001818324] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.014243243] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.014306814] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.014346229] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.014390303] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000031 -0.000198 -0.000849 [component_container_isolated-3] -0.000031 1.000000 0.000047 0.000511 [component_container_isolated-3] 0.000198 -0.000047 1.000000 0.000098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.014416624] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.008,0.001} {-0.007,0.028,-0.042} [component_container_isolated-3] [DEBUG] [1762964973.014466669] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.014512527] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.014553154] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981563 -0.000015 0.191138 -0.006906 [component_container_isolated-3] -0.001695 0.999960 0.008783 0.060035 [component_container_isolated-3] -0.191130 -0.008945 0.981524 0.017203 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.014577471] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.522,11.019,-0.099} [component_container_isolated-3] [DEBUG] [1762964973.014612317] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.008,-0.001} {-0.507,10.991,-0.056} [component_container_isolated-3] [DEBUG] [1762964973.014664958] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.015840353] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.015887573] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.015963989] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.016010347] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000080 -0.000081 0.000080 [component_container_isolated-3] -0.000080 1.000000 0.000039 0.000164 [component_container_isolated-3] 0.000081 -0.000039 1.000000 -0.000163 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.016036317] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,-0.000} {-0.108,0.035,-0.009} [component_container_isolated-3] [DEBUG] [1762964973.016086042] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.016130948] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.016167928] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879435 0.000146 0.476019 -0.001118 [component_container_isolated-3] -0.004838 0.999951 0.008631 0.060243 [component_container_isolated-3] -0.475994 -0.009893 0.879393 0.018194 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.016191323] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.645,28.424,-0.315} [component_container_isolated-3] [DEBUG] [1762964973.016222693] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.000} {-0.531,28.389,-0.304} [component_container_isolated-3] [DEBUG] [1762964973.016271246] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.026626682] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.026689171] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.026738145] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.026794813] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000376 -0.000327 0.000050 [component_container_isolated-3] 0.000376 1.000000 -0.000204 -0.002501 [component_container_isolated-3] 0.000327 0.000204 1.000000 -0.002122 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.026828267] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.001,0.004} {-0.053,0.049,-0.061} [component_container_isolated-3] [DEBUG] [1762964973.026895115] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.026990938] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.027044861] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982782 -0.000219 0.184768 -0.007266 [component_container_isolated-3] 0.000164 1.000000 0.000316 0.058764 [component_container_isolated-3] -0.184768 -0.000281 0.982782 0.016375 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.027074347] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.016,10.648,0.010} [component_container_isolated-3] [DEBUG] [1762964973.027113963] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.002,-0.005} {0.048,10.598,0.071} [component_container_isolated-3] [DEBUG] [1762964973.027184618] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.032236225] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.032308493] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.032348409] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.032392353] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000031 -0.000198 -0.000849 [component_container_isolated-3] -0.000031 1.000000 0.000047 0.000511 [component_container_isolated-3] 0.000198 -0.000047 1.000000 0.000098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.032417431] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.009,0.001} {-0.010,0.017,-0.044} [component_container_isolated-3] [DEBUG] [1762964973.032471644] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.032515578] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.032552399] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981563 -0.000015 0.191138 -0.006906 [component_container_isolated-3] -0.001695 0.999960 0.008783 0.060035 [component_container_isolated-3] -0.191130 -0.008945 0.981524 0.017203 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.032577416] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.522,11.019,-0.099} [component_container_isolated-3] [DEBUG] [1762964973.032610750] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.009,-0.001} {-0.504,11.002,-0.054} [component_container_isolated-3] [DEBUG] [1762964973.032661727] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.033241054] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.033291370] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.033331627] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.033374489] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000118 -0.000192 0.000598 [component_container_isolated-3] -0.000118 1.000000 -0.000090 0.000572 [component_container_isolated-3] 0.000192 0.000090 1.000000 -0.000529 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.033399406] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.010,0.007} {-0.000,0.121,0.130} [component_container_isolated-3] [DEBUG] [1762964973.033447939] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.033489458] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.033525036] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979044 -0.000058 0.203651 -0.006617 [component_container_isolated-3] 0.002463 0.999930 -0.011559 0.059182 [component_container_isolated-3] -0.203636 0.011818 0.978975 0.019144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.033547439] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.001} {0.692,11.750,0.144} [component_container_isolated-3] [DEBUG] [1762964973.033580602] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.009,-0.006} {0.665,11.630,0.009} [component_container_isolated-3] [DEBUG] [1762964973.033633854] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.037218189] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.037283835] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.037325374] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.037369809] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000015 0.000064 -0.000022 [component_container_isolated-3] 0.000015 1.000000 0.000063 -0.000054 [component_container_isolated-3] -0.000064 -0.000063 1.000000 0.000106 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.037396189] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.000} {-0.112,0.039,-0.008} [component_container_isolated-3] [DEBUG] [1762964973.037444241] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.037486281] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.037522240] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879404 0.000103 0.476075 -0.001124 [component_container_isolated-3] -0.004823 0.999951 0.008694 0.060255 [component_container_isolated-3] -0.476051 -0.009941 0.879362 0.018196 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.037546306] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.648,28.428,-0.314} [component_container_isolated-3] [DEBUG] [1762964973.037580621] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.531,28.389,-0.304} [component_container_isolated-3] [DEBUG] [1762964973.037632090] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.049459237] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.049524000] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.049563326] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.049606819] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000169 0.000177 -0.000114 [component_container_isolated-3] -0.000169 1.000000 0.000320 0.001965 [component_container_isolated-3] -0.000177 -0.000320 1.000000 0.001202 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.049632317] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.003,0.005} {-0.071,0.059,-0.070} [component_container_isolated-3] [DEBUG] [1762964973.049685880] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.049732288] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.049771713] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982749 -0.000112 0.184942 -0.007218 [component_container_isolated-3] -0.000006 1.000000 0.000636 0.059116 [component_container_isolated-3] -0.184942 -0.000626 0.982749 0.016427 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.049794677] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.037,10.658,-0.000} [component_container_isolated-3] [DEBUG] [1762964973.049825376] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.004,-0.006} {0.048,10.598,0.071} [component_container_isolated-3] [DEBUG] [1762964973.049874770] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.055343825] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.055408118] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.055447683] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.055491096] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000035 -0.000240 -0.000537 [component_container_isolated-3] 0.000035 1.000000 -0.000038 -0.000466 [component_container_isolated-3] 0.000240 0.000038 1.000000 -0.000683 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.055514691] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.010,0.006} {0.002,0.107,0.132} [component_container_isolated-3] [DEBUG] [1762964973.055562893] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.055603811] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.055638568] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 -0.000084 0.203416 -0.006725 [component_container_isolated-3] 0.002495 0.999930 -0.011597 0.059137 [component_container_isolated-3] -0.203401 0.011862 0.979024 0.019020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.055660610] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.001} {0.694,11.736,0.146} [component_container_isolated-3] [DEBUG] [1762964973.055691609] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.010,-0.006} {0.665,11.630,0.009} [component_container_isolated-3] [DEBUG] [1762964973.055743799] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.077065538] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.077131955] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.077172342] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.077217288] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000001 -0.000034 -0.000006 [component_container_isolated-3] -0.000001 1.000000 0.000065 0.000009 [component_container_isolated-3] 0.000034 -0.000065 1.000000 0.000015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.077243999] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.000} {-0.115,0.037,-0.008} [component_container_isolated-3] [DEBUG] [1762964973.077292602] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.077334973] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.077372655] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 0.000072 0.476046 -0.001130 [component_container_isolated-3] -0.004824 0.999950 0.008759 0.060265 [component_container_isolated-3] -0.476021 -0.009999 0.879377 0.018198 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.077397432] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.651,28.426,-0.314} [component_container_isolated-3] [DEBUG] [1762964973.077433671] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.531,28.389,-0.304} [component_container_isolated-3] [DEBUG] [1762964973.077491572] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.087187238] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.087245439] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.087285345] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.087331524] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000017 0.000123 -0.000258 [component_container_isolated-3] -0.000017 1.000000 -0.000083 0.000010 [component_container_isolated-3] -0.000123 0.000083 1.000000 0.000857 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.087358365] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.003,0.006} {-0.067,0.066,-0.071} [component_container_isolated-3] [DEBUG] [1762964973.087410204] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.087459368] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.087499925] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982727 -0.000079 0.185063 -0.007170 [component_container_isolated-3] -0.000023 1.000000 0.000553 0.059200 [component_container_isolated-3] -0.185063 -0.000548 0.982726 0.016740 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.087524382] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.032,10.665,-0.001} [component_container_isolated-3] [DEBUG] [1762964973.087557736] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.004,-0.006} {0.048,10.598,0.071} [component_container_isolated-3] [DEBUG] [1762964973.087608833] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.093147000] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.093214268] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.093256308] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.093300914] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000062 -0.000033 0.000511 [component_container_isolated-3] 0.000062 1.000000 -0.000062 -0.000371 [component_container_isolated-3] 0.000033 0.000062 1.000000 -0.000250 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.093327274] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.008,0.001} {-0.006,0.015,-0.040} [component_container_isolated-3] [DEBUG] [1762964973.093376478] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.093419851] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.093456110] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981570 -0.000064 0.191105 -0.006888 [component_container_isolated-3] -0.001632 0.999961 0.008720 0.060030 [component_container_isolated-3] -0.191098 -0.008872 0.981531 0.017149 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.093481188] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.518,11.017,-0.095} [component_container_isolated-3] [DEBUG] [1762964973.093514572] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.008,-0.001} {-0.504,11.002,-0.054} [component_container_isolated-3] [DEBUG] [1762964973.093564347] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.107114444] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.107167816] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.107205368] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.107246817] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000090 0.000076 0.000180 [component_container_isolated-3] -0.000090 1.000000 -0.000103 0.000569 [component_container_isolated-3] -0.000076 0.000103 1.000000 0.000616 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.107270963] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.010,0.006} {0.008,0.111,0.127} [component_container_isolated-3] [DEBUG] [1762964973.107317913] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.107360975] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.107400150] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 0.000025 0.203490 -0.006723 [component_container_isolated-3] 0.002406 0.999929 -0.011700 0.059215 [component_container_isolated-3] -0.203476 0.011945 0.979007 0.019071 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.107423935] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.001} {0.699,11.740,0.141} [component_container_isolated-3] [DEBUG] [1762964973.107456347] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.009,-0.006} {0.665,11.630,0.009} [component_container_isolated-3] [DEBUG] [1762964973.107508126] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.110812617] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.110868644] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.110907648] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.110980517] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000033 0.000040 -0.000081 [component_container_isolated-3] 0.000033 1.000000 -0.000042 0.000037 [component_container_isolated-3] -0.000040 0.000042 1.000000 0.000055 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.111007559] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.000} {-0.113,0.039,-0.006} [component_container_isolated-3] [DEBUG] [1762964973.111060260] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.111106408] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.111146595] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000063 0.476081 -0.001139 [component_container_isolated-3] -0.004791 0.999951 0.008717 0.060278 [component_container_isolated-3] -0.476057 -0.009947 0.879358 0.018216 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.111170420] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.648,28.428,-0.312} [component_container_isolated-3] [DEBUG] [1762964973.111204104] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.531,28.389,-0.304} [component_container_isolated-3] [DEBUG] [1762964973.111253228] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.121799219] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.121865736] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.121905291] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.121974293] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000043 0.000165 -0.000615 [component_container_isolated-3] -0.000043 1.000000 -0.000032 0.000306 [component_container_isolated-3] -0.000165 0.000032 1.000000 0.000342 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.122001164] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.009,0.001} {-0.004,0.025,-0.043} [component_container_isolated-3] [DEBUG] [1762964973.122051771] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.122097458] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.122136453] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 -0.000016 0.191267 -0.006986 [component_container_isolated-3] -0.001676 0.999961 0.008688 0.060078 [component_container_isolated-3] -0.191259 -0.008848 0.981500 0.017178 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.122161280] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.517,11.026,-0.098} [component_container_isolated-3] [DEBUG] [1762964973.122195115] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.009,-0.001} {-0.504,11.002,-0.054} [component_container_isolated-3] [DEBUG] [1762964973.122246833] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.127156089] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.127214901] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.127257763] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.127302849] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000032 -0.000095 0.000033 [component_container_isolated-3] 0.000032 1.000000 0.000095 0.000080 [component_container_isolated-3] 0.000095 -0.000095 1.000000 -0.000428 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.127328959] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.003,0.005} {-0.072,0.061,-0.070} [component_container_isolated-3] [DEBUG] [1762964973.127378734] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.127423259] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.127459368] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982744 -0.000128 0.184970 -0.007168 [component_container_isolated-3] 0.000008 1.000000 0.000648 0.059269 [component_container_isolated-3] -0.184970 -0.000635 0.982744 0.016785 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.127482973] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.037,10.659,0.000} [component_container_isolated-3] [DEBUG] [1762964973.127514954] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.004,-0.006} {0.048,10.598,0.071} [component_container_isolated-3] [DEBUG] [1762964973.127565170] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.129399413] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.129448146] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.129486590] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.129529411] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000043 0.000165 -0.000615 [component_container_isolated-3] -0.000043 1.000000 -0.000032 0.000306 [component_container_isolated-3] -0.000165 0.000032 1.000000 0.000342 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.129553778] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.009,0.001} {-0.002,0.034,-0.045} [component_container_isolated-3] [DEBUG] [1762964973.129601439] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.129645082] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.129681191] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 -0.000016 0.191267 -0.006986 [component_container_isolated-3] -0.001676 0.999961 0.008688 0.060078 [component_container_isolated-3] -0.191259 -0.008848 0.981500 0.017178 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.129705047] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.517,11.026,-0.098} [component_container_isolated-3] [DEBUG] [1762964973.129738781] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.009,-0.002} {-0.505,10.993,-0.051} [component_container_isolated-3] [DEBUG] [1762964973.129792634] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.135155175] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.135231371] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.135270956] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.135313337] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000033 0.000040 -0.000081 [component_container_isolated-3] 0.000033 1.000000 -0.000042 0.000037 [component_container_isolated-3] -0.000040 0.000042 1.000000 0.000055 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.135337594] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.000} {-0.111,0.041,-0.005} [component_container_isolated-3] [DEBUG] [1762964973.135385725] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.135427064] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.135462402] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000063 0.476081 -0.001139 [component_container_isolated-3] -0.004791 0.999951 0.008717 0.060278 [component_container_isolated-3] -0.476057 -0.009947 0.879358 0.018216 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.135488892] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.648,28.428,-0.312} [component_container_isolated-3] [DEBUG] [1762964973.135527937] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.000} {-0.535,28.387,-0.307} [component_container_isolated-3] [DEBUG] [1762964973.135183539] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.135638669] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.135681611] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.135727498] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000009 0.000234 0.000103 [component_container_isolated-3] -0.000009 1.000000 0.000161 -0.000229 [component_container_isolated-3] -0.000234 -0.000161 1.000000 0.000029 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.135752756] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.010,0.006} {-0.001,0.125,0.127} [component_container_isolated-3] [DEBUG] [1762964973.135803253] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.135844782] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.135884298] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979029 0.000001 0.203719 -0.006716 [component_container_isolated-3] 0.002400 0.999931 -0.011538 0.059226 [component_container_isolated-3] -0.203705 0.011785 0.978961 0.019087 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.135913544] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.001} {0.690,11.754,0.140} [component_container_isolated-3] [DEBUG] [1762964973.135967847] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.010,-0.006} {0.665,11.630,0.009} [component_container_isolated-3] [DEBUG] [1762964973.135586769] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.136024876] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.155751379] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.155845308] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.155886798] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.155960739] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000071 0.000113 -0.000032 [component_container_isolated-3] -0.000071 1.000000 -0.000006 0.000273 [component_container_isolated-3] -0.000113 0.000006 1.000000 0.000499 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.155988191] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.003,0.006} {-0.072,0.068,-0.074} [component_container_isolated-3] [DEBUG] [1762964973.156041523] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.156090316] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.156132096] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982723 -0.000057 0.185081 -0.007141 [component_container_isolated-3] -0.000063 1.000000 0.000642 0.059395 [component_container_isolated-3] -0.185081 -0.000643 0.982723 0.016937 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.156157956] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.037,10.666,-0.004} [component_container_isolated-3] [DEBUG] [1762964973.156188774] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.004,-0.006} {0.048,10.598,0.071} [component_container_isolated-3] [DEBUG] [1762964973.156256874] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.162655264] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.162724586] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.162765003] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.162812103] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000033 0.000040 -0.000081 [component_container_isolated-3] 0.000033 1.000000 -0.000042 0.000037 [component_container_isolated-3] -0.000040 0.000042 1.000000 0.000055 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.162839045] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.000} {-0.108,0.044,-0.003} [component_container_isolated-3] [DEBUG] [1762964973.162906093] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.162994953] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.163039237] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000063 0.476081 -0.001139 [component_container_isolated-3] -0.004791 0.999951 0.008717 0.060278 [component_container_isolated-3] -0.476057 -0.009947 0.879358 0.018216 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.163065207] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.648,28.428,-0.312} [component_container_isolated-3] [DEBUG] [1762964973.163100424] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.000} {-0.538,28.385,-0.309} [component_container_isolated-3] [DEBUG] [1762964973.163153085] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.163797285] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.163832081] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.163865936] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.163909108] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000094 -0.000182 -0.000211 [component_container_isolated-3] 0.000094 1.000000 0.000029 -0.000200 [component_container_isolated-3] 0.000182 -0.000029 1.000000 -0.000516 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.163962510] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.010,0.006} {-0.003,0.114,0.132} [component_container_isolated-3] [DEBUG] [1762964973.164015171] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.164110132] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.164157392] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979066 -0.000097 0.203541 -0.006769 [component_container_isolated-3] 0.002491 0.999931 -0.011510 0.059204 [component_container_isolated-3] -0.203526 0.011776 0.978999 0.019020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.164184795] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.001} {0.689,11.743,0.146} [component_container_isolated-3] [DEBUG] [1762964973.164218309] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.010,-0.006} {0.665,11.630,0.009} [component_container_isolated-3] [DEBUG] [1762964973.164277041] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.168248796] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.168312898] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.168352294] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.168395887] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000043 0.000165 -0.000615 [component_container_isolated-3] -0.000043 1.000000 -0.000032 0.000306 [component_container_isolated-3] -0.000165 0.000032 1.000000 0.000342 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.168421446] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.009,0.002} {-0.001,0.043,-0.048} [component_container_isolated-3] [DEBUG] [1762964973.168473816] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.168521727] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.168561694] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 -0.000016 0.191267 -0.006986 [component_container_isolated-3] -0.001676 0.999961 0.008688 0.060078 [component_container_isolated-3] -0.191259 -0.008848 0.981500 0.017178 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.168586802] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.517,11.026,-0.098} [component_container_isolated-3] [DEBUG] [1762964973.168620466] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.009,-0.002} {-0.507,10.983,-0.049} [component_container_isolated-3] [DEBUG] [1762964973.168670441] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.206766085] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.206831570] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.206873310] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.206960516] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000115 -0.000221 -0.000326 [component_container_isolated-3] 0.000115 1.000000 -0.000140 -0.000870 [component_container_isolated-3] 0.000221 0.000140 1.000000 -0.001053 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.206987999] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.003,0.005} {-0.064,0.055,-0.067} [component_container_isolated-3] [DEBUG] [1762964973.207039387] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.207083681] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.207120902] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982764 -0.000144 0.184864 -0.007239 [component_container_isolated-3] 0.000052 1.000000 0.000502 0.059327 [component_container_isolated-3] -0.184864 -0.000484 0.982764 0.016822 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.207145459] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.028,10.653,0.003} [component_container_isolated-3] [DEBUG] [1762964973.207178753] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.005} {0.048,10.598,0.071} [component_container_isolated-3] [DEBUG] [1762964973.207272812] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.218857486] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.218966715] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.219008645] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.219055495] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000130 -0.000045 0.000179 [component_container_isolated-3] 0.000130 1.000000 0.000190 -0.000552 [component_container_isolated-3] 0.000045 -0.000190 1.000000 -0.000050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.219081715] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.011,0.006} {-0.014,0.112,0.140} [component_container_isolated-3] [DEBUG] [1762964973.219131179] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.219178780] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.219218305] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979076 -0.000263 0.203497 -0.006787 [component_container_isolated-3] 0.002621 0.999933 -0.011320 0.059053 [component_container_isolated-3] -0.203480 0.011616 0.979010 0.018971 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.219242652] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.001} {0.680,11.741,0.153} [component_container_isolated-3] [DEBUG] [1762964973.219274763] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.010,-0.006} {0.665,11.630,0.009} [component_container_isolated-3] [DEBUG] [1762964973.219325420] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.223446580] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.223522515] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.223579414] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.223644498] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000026 -0.000010 0.000053 [component_container_isolated-3] 0.000026 1.000000 -0.000060 -0.000037 [component_container_isolated-3] 0.000010 0.000060 1.000000 -0.000088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.223685797] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.000} {-0.105,0.043,-0.001} [component_container_isolated-3] [DEBUG] [1762964973.223758516] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.223831856] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.223909104] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879406 0.000068 0.476072 -0.001146 [component_container_isolated-3] -0.004765 0.999951 0.008657 0.060285 [component_container_isolated-3] -0.476048 -0.009882 0.879364 0.018222 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.223969369] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.428,-0.310} [component_container_isolated-3] [DEBUG] [1762964973.224013834] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.000} {-0.538,28.385,-0.309} [component_container_isolated-3] [DEBUG] [1762964973.224142499] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.228665678] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.228709752] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.228749818] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.228795866] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000026 -0.000010 0.000053 [component_container_isolated-3] 0.000026 1.000000 -0.000060 -0.000037 [component_container_isolated-3] 0.000010 0.000060 1.000000 -0.000088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.228820924] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.000} {-0.101,0.042,0.000} [component_container_isolated-3] [DEBUG] [1762964973.228869036] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.228910575] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.228982883] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879406 0.000068 0.476072 -0.001146 [component_container_isolated-3] -0.004765 0.999951 0.008657 0.060285 [component_container_isolated-3] -0.476048 -0.009882 0.879364 0.018222 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.229007220] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.428,-0.310} [component_container_isolated-3] [DEBUG] [1762964973.229037788] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.543,28.385,-0.310} [component_container_isolated-3] [DEBUG] [1762964973.229092102] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.233581255] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.233644025] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.233683691] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.233727715] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000122 -0.000124 0.000523 [component_container_isolated-3] -0.000122 1.000000 -0.000035 -0.000223 [component_container_isolated-3] 0.000124 0.000035 1.000000 -0.000618 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.233753073] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.009,0.001} {0.001,0.036,-0.055} [component_container_isolated-3] [DEBUG] [1762964973.233806826] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.233860879] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.233901817] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981562 0.000110 0.191145 -0.006978 [component_container_isolated-3] -0.001798 0.999961 0.008653 0.060080 [component_container_isolated-3] -0.191136 -0.008838 0.981524 0.017043 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.233974486] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.516,11.019,-0.105} [component_container_isolated-3] [DEBUG] [1762964973.234009663] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.009,-0.001} {-0.507,10.983,-0.049} [component_container_isolated-3] [DEBUG] [1762964973.234063246] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.238845719] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.238910503] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.238982771] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.239031324] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000044 0.000003 -0.000036 [component_container_isolated-3] -0.000044 1.000000 -0.000028 0.000087 [component_container_isolated-3] -0.000003 0.000028 1.000000 0.000052 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.239059828] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.003,0.005} {-0.062,0.055,-0.070} [component_container_isolated-3] [DEBUG] [1762964973.239109793] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.239153056] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.239191489] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982764 -0.000096 0.184866 -0.007282 [component_container_isolated-3] 0.000008 1.000000 0.000474 0.059319 [component_container_isolated-3] -0.184866 -0.000465 0.982764 0.016800 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.239214984] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.027,10.653,0.000} [component_container_isolated-3] [DEBUG] [1762964973.239247787] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.005} {0.048,10.598,0.071} [component_container_isolated-3] [DEBUG] [1762964973.239308413] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.241663080] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.241724858] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.241763351] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.241808928] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000130 -0.000045 0.000179 [component_container_isolated-3] 0.000130 1.000000 0.000190 -0.000552 [component_container_isolated-3] 0.000045 -0.000190 1.000000 -0.000050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.241833746] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.011,0.006} {-0.025,0.109,0.147} [component_container_isolated-3] [DEBUG] [1762964973.241881867] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.241958374] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.242000965] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979076 -0.000263 0.203497 -0.006787 [component_container_isolated-3] 0.002621 0.999933 -0.011320 0.059053 [component_container_isolated-3] -0.203480 0.011616 0.979010 0.018971 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.242024991] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.001} {0.680,11.741,0.153} [component_container_isolated-3] [DEBUG] [1762964973.242055549] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.011,-0.006} {0.674,11.633,0.002} [component_container_isolated-3] [DEBUG] [1762964973.242106617] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.245841650] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.245911573] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.245969955] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.246015281] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000044 0.000003 -0.000036 [component_container_isolated-3] -0.000044 1.000000 -0.000028 0.000087 [component_container_isolated-3] -0.000003 0.000028 1.000000 0.000052 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.246040690] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.003,0.005} {-0.060,0.055,-0.072} [component_container_isolated-3] [DEBUG] [1762964973.246090285] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.246133848] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.246172381] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982764 -0.000096 0.184866 -0.007282 [component_container_isolated-3] 0.000008 1.000000 0.000474 0.059319 [component_container_isolated-3] -0.184866 -0.000465 0.982764 0.016800 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.246197970] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.027,10.653,0.000} [component_container_isolated-3] [DEBUG] [1762964973.246229971] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.005} {0.047,10.598,0.074} [component_container_isolated-3] [DEBUG] [1762964973.246282351] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.250988579] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.251048614] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.251085795] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.251127494] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000130 -0.000045 0.000179 [component_container_isolated-3] 0.000130 1.000000 0.000190 -0.000552 [component_container_isolated-3] 0.000045 -0.000190 1.000000 -0.000050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.251151921] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.012,0.006} {-0.035,0.107,0.155} [component_container_isolated-3] [DEBUG] [1762964973.251199151] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.251244267] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.251283122] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979076 -0.000263 0.203497 -0.006787 [component_container_isolated-3] 0.002621 0.999933 -0.011320 0.059053 [component_container_isolated-3] -0.203480 0.011616 0.979010 0.018971 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.251306045] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.001} {0.680,11.741,0.153} [component_container_isolated-3] [DEBUG] [1762964973.251338147] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.011,-0.006} {0.683,11.636,-0.006} [component_container_isolated-3] [DEBUG] [1762964973.251386539] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.255950555] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.256012864] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.256057309] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.256102626] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000150 0.000132 0.000040 [component_container_isolated-3] 0.000150 1.000000 0.000004 -0.000312 [component_container_isolated-3] -0.000132 -0.000004 1.000000 0.000498 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.256128575] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.009,0.002} {0.001,0.044,-0.046} [component_container_isolated-3] [DEBUG] [1762964973.256180214] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.256226743] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.256262892] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 -0.000038 0.191275 -0.006963 [component_container_isolated-3] -0.001649 0.999961 0.008658 0.060028 [component_container_isolated-3] -0.191268 -0.008813 0.981498 0.017051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.256286948] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.514,11.027,-0.096} [component_container_isolated-3] [DEBUG] [1762964973.256320341] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.009,-0.002} {-0.507,10.983,-0.049} [component_container_isolated-3] [DEBUG] [1762964973.256380196] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.272430558] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.272499720] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.272539326] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.272584001] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000046 -0.000076 0.000049 [component_container_isolated-3] -0.000046 1.000000 0.000296 0.000056 [component_container_isolated-3] 0.000076 -0.000296 1.000000 -0.000153 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.272608658] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,-0.000} {-0.118,0.038,-0.002} [component_container_isolated-3] [DEBUG] [1762964973.272657221] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.272699321] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.272739668] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879443 -0.000032 0.476005 -0.001164 [component_container_isolated-3] -0.004810 0.999948 0.008954 0.060303 [component_container_isolated-3] -0.475981 -0.010164 0.879397 0.018187 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.272764556] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.662,28.423,-0.313} [component_container_isolated-3] [DEBUG] [1762964973.272798420] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.000} {-0.543,28.385,-0.310} [component_container_isolated-3] [DEBUG] [1762964973.273205698] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.282598787] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.282652469] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.282690582] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.282734857] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000053 0.000022 0.000283 [component_container_isolated-3] -0.000053 1.000000 -0.000002 0.000127 [component_container_isolated-3] -0.000022 0.000002 1.000000 -0.000035 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.282761698] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.009,0.002} {0.001,0.045,-0.049} [component_container_isolated-3] [DEBUG] [1762964973.282814098] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.282861689] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.282900714] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000015 0.191296 -0.006891 [component_container_isolated-3] -0.001702 0.999961 0.008655 0.060015 [component_container_isolated-3] -0.191289 -0.008821 0.981494 0.017038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.282957171] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.515,11.028,-0.099} [component_container_isolated-3] [DEBUG] [1762964973.282990946] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.009,-0.002} {-0.507,10.983,-0.049} [component_container_isolated-3] [DEBUG] [1762964973.283044618] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.283894582] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.283972360] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.284012797] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.284057052] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000130 -0.000045 0.000179 [component_container_isolated-3] 0.000130 1.000000 0.000190 -0.000552 [component_container_isolated-3] 0.000045 -0.000190 1.000000 -0.000050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.284082080] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.012,0.006} {-0.046,0.104,0.162} [component_container_isolated-3] [DEBUG] [1762964973.284129741] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.284171450] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.284205966] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979076 -0.000263 0.203497 -0.006787 [component_container_isolated-3] 0.002621 0.999933 -0.011320 0.059053 [component_container_isolated-3] -0.203480 0.011616 0.979010 0.018971 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.284227497] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.001} {0.680,11.741,0.153} [component_container_isolated-3] [DEBUG] [1762964973.284259699] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.012,-0.006} {0.693,11.639,-0.013} [component_container_isolated-3] [DEBUG] [1762964973.284312690] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.297268272] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.297332875] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.297378653] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.297435071] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000021 0.000024 0.000313 [component_container_isolated-3] 0.000021 1.000000 -0.000102 -0.000295 [component_container_isolated-3] -0.000024 0.000102 1.000000 -0.000054 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.297468695] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.002,0.005} {-0.055,0.057,-0.071} [component_container_isolated-3] [DEBUG] [1762964973.297532717] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.297595988] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.297647767] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982759 -0.000097 0.184890 -0.007287 [component_container_isolated-3] 0.000029 1.000000 0.000372 0.059255 [component_container_isolated-3] -0.184890 -0.000360 0.982759 0.016773 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.297676161] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.021,10.655,0.002} [component_container_isolated-3] [DEBUG] [1762964973.297714865] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.005} {0.047,10.598,0.074} [component_container_isolated-3] [DEBUG] [1762964973.297786933] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.303240598] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.303303368] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.303341951] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.303384793] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000021 0.000024 0.000313 [component_container_isolated-3] 0.000021 1.000000 -0.000102 -0.000295 [component_container_isolated-3] -0.000024 0.000102 1.000000 -0.000054 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.303409510] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.002,0.005} {-0.049,0.058,-0.070} [component_container_isolated-3] [DEBUG] [1762964973.303456660] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.303502949] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.303542494] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982759 -0.000097 0.184890 -0.007287 [component_container_isolated-3] 0.000029 1.000000 0.000372 0.059255 [component_container_isolated-3] -0.184890 -0.000360 0.982759 0.016773 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.303566991] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.021,10.655,0.002} [component_container_isolated-3] [DEBUG] [1762964973.303601287] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.005} {0.041,10.597,0.073} [component_container_isolated-3] [DEBUG] [1762964973.303652544] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.310145324] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.310206551] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.310246317] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.310291293] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000087 -0.000088 0.000034 [component_container_isolated-3] -0.000087 1.000000 -0.000187 0.000005 [component_container_isolated-3] 0.000088 0.000187 1.000000 -0.000049 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.310317393] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,-0.000} {-0.108,0.033,-0.007} [component_container_isolated-3] [DEBUG] [1762964973.310366186] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.310409298] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.310445658] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879485 0.000133 0.475927 -0.001165 [component_container_isolated-3] -0.004896 0.999950 0.008768 0.060313 [component_container_isolated-3] -0.475902 -0.010041 0.879441 0.018174 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.310470355] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.654,28.418,-0.319} [component_container_isolated-3] [DEBUG] [1762964973.310503508] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.543,28.385,-0.310} [component_container_isolated-3] [DEBUG] [1762964973.310555628] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.315874155] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.315976450] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.316018851] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.316062374] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000053 -0.000026 -0.000499 [component_container_isolated-3] 0.000053 1.000000 0.000149 -0.000092 [component_container_isolated-3] 0.000026 -0.000149 1.000000 -0.000053 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.316087512] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.009,0.002} {-0.007,0.044,-0.046} [component_container_isolated-3] [DEBUG] [1762964973.316136416] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.316180800] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.316216909] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 -0.000065 0.191271 -0.006925 [component_container_isolated-3] -0.001649 0.999960 0.008804 0.059994 [component_container_isolated-3] -0.191263 -0.008957 0.981498 0.017031 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.316239553] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.523,11.027,-0.096} [component_container_isolated-3] [DEBUG] [1762964973.316272085] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.009,-0.002} {-0.507,10.983,-0.049} [component_container_isolated-3] [DEBUG] [1762964973.316322872] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.327315064] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.327381601] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.327421467] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.327465021] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000021 0.000024 0.000313 [component_container_isolated-3] 0.000021 1.000000 -0.000102 -0.000295 [component_container_isolated-3] -0.000024 0.000102 1.000000 -0.000054 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.327489908] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,0.005} {-0.043,0.059,-0.069} [component_container_isolated-3] [DEBUG] [1762964973.327536597] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.327578066] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.327613604] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982759 -0.000097 0.184890 -0.007287 [component_container_isolated-3] 0.000029 1.000000 0.000372 0.059255 [component_container_isolated-3] -0.184890 -0.000360 0.982759 0.016773 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.327636348] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.021,10.655,0.002} [component_container_isolated-3] [DEBUG] [1762964973.327667617] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.003,-0.005} {0.035,10.595,0.071} [component_container_isolated-3] [DEBUG] [1762964973.327728474] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.330232406] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.330310385] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.330351663] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.330397972] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000226 0.000124 0.000039 [component_container_isolated-3] 0.000226 1.000000 -0.000130 -0.000256 [component_container_isolated-3] -0.000124 0.000130 1.000000 0.000129 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.330425364] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.100,0.040,0.006} [component_container_isolated-3] [DEBUG] [1762964973.330473716] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.330521367] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.330559761] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 -0.000004 0.476037 -0.001167 [component_container_isolated-3] -0.004671 0.999952 0.008637 0.060285 [component_container_isolated-3] -0.476014 -0.009819 0.879383 0.018179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.330583286] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.425,-0.304} [component_container_isolated-3] [DEBUG] [1762964973.330613694] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.543,28.385,-0.310} [component_container_isolated-3] [DEBUG] [1762964973.330662727] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.336744412] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.336801942] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.336841297] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.336887575] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000164 -0.000288 -0.000110 [component_container_isolated-3] -0.000165 1.000000 -0.000158 0.000896 [component_container_isolated-3] 0.000288 0.000158 1.000000 -0.000621 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.336912653] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.012,0.005} {-0.037,0.088,0.153} [component_container_isolated-3] [DEBUG] [1762964973.336998617] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.337047531] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.337088048] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979134 -0.000070 0.203215 -0.006837 [component_container_isolated-3] 0.002453 0.999931 -0.011478 0.059155 [component_container_isolated-3] -0.203201 0.011737 0.979067 0.018770 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.337112535] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.687,11.724,0.144} [component_container_isolated-3] [DEBUG] [1762964973.337144767] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.011,-0.005} {0.693,11.639,-0.013} [component_container_isolated-3] [DEBUG] [1762964973.337195203] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.340452924] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.340505384] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.340546142] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.340591299] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000042 0.000054 -0.000160 [component_container_isolated-3] 0.000042 1.000000 0.000040 0.000111 [component_container_isolated-3] -0.000054 -0.000040 1.000000 0.000375 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.340617108] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.009,0.002} {-0.009,0.047,-0.044} [component_container_isolated-3] [DEBUG] [1762964973.340665250] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.340708352] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.340743599] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981527 -0.000115 0.191323 -0.006956 [component_container_isolated-3] -0.001607 0.999960 0.008844 0.059988 [component_container_isolated-3] -0.191317 -0.008988 0.981487 0.017098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.340766173] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.525,11.030,-0.094} [component_container_isolated-3] [DEBUG] [1762964973.340799146] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.009,-0.002} {-0.507,10.983,-0.049} [component_container_isolated-3] [DEBUG] [1762964973.340852287] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.358320357] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.358382165] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.358421249] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.358465504] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000021 0.000024 0.000313 [component_container_isolated-3] 0.000021 1.000000 -0.000102 -0.000295 [component_container_isolated-3] -0.000024 0.000102 1.000000 -0.000054 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.358491253] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,0.004} {-0.037,0.061,-0.067} [component_container_isolated-3] [DEBUG] [1762964973.358540357] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.358584000] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.358619779] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982759 -0.000097 0.184890 -0.007287 [component_container_isolated-3] 0.000029 1.000000 0.000372 0.059255 [component_container_isolated-3] -0.184890 -0.000360 0.982759 0.016773 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.358644676] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.021,10.655,0.002} [component_container_isolated-3] [DEBUG] [1762964973.358675956] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.002,-0.005} {0.029,10.594,0.070} [component_container_isolated-3] [DEBUG] [1762964973.358727675] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.362648983] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.362712815] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.362751349] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.362796485] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000065 0.000146 0.000310 [component_container_isolated-3] -0.000065 1.000000 -0.000237 0.000099 [component_container_isolated-3] -0.000146 0.000237 1.000000 0.000296 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.362821663] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.011,0.005} {-0.024,0.096,0.149} [component_container_isolated-3] [DEBUG] [1762964973.362870096] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.362913158] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.362975417] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979104 0.000043 0.203359 -0.006805 [component_container_isolated-3] 0.002390 0.999929 -0.011715 0.059208 [component_container_isolated-3] -0.203345 0.011956 0.979034 0.018721 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.362999302] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.700,11.733,0.140} [component_container_isolated-3] [DEBUG] [1762964973.363031915] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.011,-0.006} {0.693,11.639,-0.013} [component_container_isolated-3] [DEBUG] [1762964973.363087210] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.364913458] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.364980386] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.365021033] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.365064076] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000115 0.000032 -0.000065 [component_container_isolated-3] -0.000115 1.000000 0.000118 0.000178 [component_container_isolated-3] -0.000032 -0.000118 1.000000 0.000123 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.365089394] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.000} {-0.107,0.042,-0.001} [component_container_isolated-3] [DEBUG] [1762964973.365137967] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.365179706] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.365215084] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 0.000041 0.476064 -0.001159 [component_container_isolated-3] -0.004786 0.999950 0.008755 0.060295 [component_container_isolated-3] -0.476040 -0.009978 0.879367 0.018179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.365237587] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.650,28.427,-0.312} [component_container_isolated-3] [DEBUG] [1762964973.365268266] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.000,-0.000} {-0.543,28.385,-0.310} [component_container_isolated-3] [DEBUG] [1762964973.365320616] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.380289212] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.380343506] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.380384384] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.380428809] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000034 -0.000047 0.000553 [component_container_isolated-3] -0.000034 1.000000 -0.000057 -0.000001 [component_container_isolated-3] 0.000047 0.000057 1.000000 -0.000273 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.380455179] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.009,0.002} {-0.006,0.044,-0.046} [component_container_isolated-3] [DEBUG] [1762964973.380503571] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.380548086] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.380584115] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981536 -0.000071 0.191278 -0.006886 [component_container_isolated-3] -0.001640 0.999960 0.008787 0.059982 [component_container_isolated-3] -0.191271 -0.008939 0.981497 0.017088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.380607981] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.522,11.027,-0.096} [component_container_isolated-3] [DEBUG] [1762964973.380642597] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.009,-0.002} {-0.507,10.983,-0.049} [component_container_isolated-3] [DEBUG] [1762964973.380696039] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.381766193] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.381814465] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.381852007] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.381894728] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000115 0.000032 -0.000065 [component_container_isolated-3] -0.000115 1.000000 0.000118 0.000178 [component_container_isolated-3] -0.000032 -0.000118 1.000000 0.000123 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.381919085] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.000} {-0.114,0.044,-0.007} [component_container_isolated-3] [DEBUG] [1762964973.381999258] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.382045827] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.382085513] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 0.000041 0.476064 -0.001159 [component_container_isolated-3] -0.004786 0.999950 0.008755 0.060295 [component_container_isolated-3] -0.476040 -0.009978 0.879367 0.018179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.382108927] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.650,28.427,-0.312} [component_container_isolated-3] [DEBUG] [1762964973.382141800] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.000} {-0.532,28.383,-0.303} [component_container_isolated-3] [DEBUG] [1762964973.382190643] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.393385192] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.393438794] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.393477188] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.393519308] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000021 0.000024 0.000313 [component_container_isolated-3] 0.000021 1.000000 -0.000102 -0.000295 [component_container_isolated-3] -0.000024 0.000102 1.000000 -0.000054 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.393543855] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,0.004} {-0.031,0.062,-0.066} [component_container_isolated-3] [DEBUG] [1762964973.393591847] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.393638716] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.393677741] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982759 -0.000097 0.184890 -0.007287 [component_container_isolated-3] 0.000029 1.000000 0.000372 0.059255 [component_container_isolated-3] -0.184890 -0.000360 0.982759 0.016773 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.393701486] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.021,10.655,0.002} [component_container_isolated-3] [DEBUG] [1762964973.393735171] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.002,-0.005} {0.023,10.593,0.069} [component_container_isolated-3] [DEBUG] [1762964973.393786529] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.404843335] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.404908850] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.404967942] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.405012728] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000152 0.000054 -0.000336 [component_container_isolated-3] 0.000152 1.000000 0.000107 -0.000443 [component_container_isolated-3] -0.000054 -0.000107 1.000000 0.000240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.405037706] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.012,0.006} {-0.030,0.099,0.158} [component_container_isolated-3] [DEBUG] [1762964973.405086228] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.405127086] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.405166001] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979093 -0.000128 0.203412 -0.006843 [component_container_isolated-3] 0.002542 0.999929 -0.011607 0.059185 [component_container_isolated-3] -0.203396 0.011882 0.979024 0.018705 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.405189325] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.695,11.736,0.149} [component_container_isolated-3] [DEBUG] [1762964973.405222398] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.011,-0.006} {0.693,11.639,-0.013} [component_container_isolated-3] [DEBUG] [1762964973.405272704] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.416090985] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.416147743] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.416186377] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.416229419] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000076 -0.000042 -0.000110 [component_container_isolated-3] -0.000076 1.000000 -0.000102 0.000342 [component_container_isolated-3] 0.000042 0.000102 1.000000 -0.000021 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.416254307] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.009,0.002} {-0.000,0.042,-0.050} [component_container_isolated-3] [DEBUG] [1762964973.416303731] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.416348887] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.416387180] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000023 0.191237 -0.006868 [component_container_isolated-3] -0.001715 0.999961 0.008685 0.060033 [component_container_isolated-3] -0.191229 -0.008853 0.981506 0.017087 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.416409563] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.517,11.025,-0.100} [component_container_isolated-3] [DEBUG] [1762964973.416440061] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.009,-0.002} {-0.507,10.983,-0.049} [component_container_isolated-3] [DEBUG] [1762964973.416492171] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.422663236] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.422734622] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.422781081] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.422832349] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000115 0.000032 -0.000065 [component_container_isolated-3] -0.000115 1.000000 0.000118 0.000178 [component_container_isolated-3] -0.000032 -0.000118 1.000000 0.000123 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.422860873] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.000} {-0.120,0.046,-0.014} [component_container_isolated-3] [DEBUG] [1762964973.422914085] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.422994338] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.423033022] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 0.000041 0.476064 -0.001159 [component_container_isolated-3] -0.004786 0.999950 0.008755 0.060295 [component_container_isolated-3] -0.476040 -0.009978 0.879367 0.018179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.423056146] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.650,28.427,-0.312} [component_container_isolated-3] [DEBUG] [1762964973.423086805] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.001} {-0.522,28.382,-0.295} [component_container_isolated-3] [DEBUG] [1762964973.423135318] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.433252269] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.433318385] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.433359614] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.433403638] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000119 -0.000055 -0.000115 [component_container_isolated-3] -0.000119 1.000000 -0.000039 0.000408 [component_container_isolated-3] 0.000055 0.000039 1.000000 -0.000115 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.433429166] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.012,0.006} {-0.028,0.096,0.151} [component_container_isolated-3] [DEBUG] [1762964973.433478571] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.433524238] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.433563763] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979105 -0.000004 0.203358 -0.006875 [component_container_isolated-3] 0.002423 0.999929 -0.011647 0.059240 [component_container_isolated-3] -0.203343 0.011896 0.979035 0.018691 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.433588681] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.696,11.733,0.142} [component_container_isolated-3] [DEBUG] [1762964973.433619440] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.011,-0.006} {0.693,11.639,-0.013} [component_container_isolated-3] [DEBUG] [1762964973.433669726] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.443885415] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.443973013] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.444015794] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.444061732] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000058 0.000172 -0.000216 [component_container_isolated-3] -0.000058 1.000000 0.000197 0.000589 [component_container_isolated-3] -0.000172 -0.000197 1.000000 0.000361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.444086880] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.010,0.002} {-0.012,0.051,-0.053} [component_container_isolated-3] [DEBUG] [1762964973.444135884] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.444181771] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.444221908] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 0.000042 0.191406 -0.006866 [component_container_isolated-3] -0.001775 0.999959 0.008882 0.060233 [component_container_isolated-3] -0.191398 -0.009057 0.981471 0.017139 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.444245653] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.529,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964973.444276272] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.010,-0.002} {-0.507,10.983,-0.049} [component_container_isolated-3] [DEBUG] [1762964973.444326167] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.450130953] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.450188022] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.450230573] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.450275128] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000026 0.000028 -0.000228 [component_container_isolated-3] -0.000026 1.000000 -0.000061 0.000174 [component_container_isolated-3] -0.000028 0.000061 1.000000 0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.450300216] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,0.004} {-0.028,0.064,-0.068} [component_container_isolated-3] [DEBUG] [1762964973.450349490] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.450392242] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.450427529] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982754 -0.000060 0.184917 -0.007321 [component_container_isolated-3] 0.000003 1.000000 0.000311 0.059237 [component_container_isolated-3] -0.184917 -0.000305 0.982754 0.016759 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.450450052] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.018,10.656,0.000} [component_container_isolated-3] [DEBUG] [1762964973.450480500] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.002,-0.005} {0.023,10.593,0.069} [component_container_isolated-3] [DEBUG] [1762964973.450533401] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.466722048] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.466784397] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.466823441] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.466867726] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000115 0.000032 -0.000065 [component_container_isolated-3] -0.000115 1.000000 0.000118 0.000178 [component_container_isolated-3] -0.000032 -0.000118 1.000000 0.000123 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.466893285] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.127,0.047,-0.021} [component_container_isolated-3] [DEBUG] [1762964973.466977486] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.467026279] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.467066996] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 0.000041 0.476064 -0.001159 [component_container_isolated-3] -0.004786 0.999950 0.008755 0.060295 [component_container_isolated-3] -0.476040 -0.009978 0.879367 0.018179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.467091553] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.650,28.427,-0.312} [component_container_isolated-3] [DEBUG] [1762964973.467121861] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.001} {-0.511,28.380,-0.288} [component_container_isolated-3] [DEBUG] [1762964973.467172458] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.476228713] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.476287475] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.476329776] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.476374782] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000054 0.000031 -0.000083 [component_container_isolated-3] 0.000054 1.000000 0.000057 -0.000334 [component_container_isolated-3] -0.000031 -0.000057 1.000000 0.000175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.476400561] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.012,0.006} {-0.031,0.098,0.154} [component_container_isolated-3] [DEBUG] [1762964973.476449575] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.476491355] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.476530620] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 -0.000068 0.203388 -0.006913 [component_container_isolated-3] 0.002477 0.999930 -0.011590 0.059227 [component_container_isolated-3] -0.203373 0.011852 0.979030 0.018696 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.476554576] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.694,11.734,0.145} [component_container_isolated-3] [DEBUG] [1762964973.476587699] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.011,-0.006} {0.693,11.639,-0.013} [component_container_isolated-3] [DEBUG] [1762964973.476638386] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.489243037] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.489309074] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.489349891] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.489394557] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000027 -0.000178 0.000412 [component_container_isolated-3] 0.000027 1.000000 -0.000164 -0.000732 [component_container_isolated-3] 0.000178 0.000164 1.000000 -0.000448 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.489420146] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.009,0.002} {-0.002,0.041,-0.052} [component_container_isolated-3] [DEBUG] [1762964973.489470442] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.489515408] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.489555143] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981545 0.000047 0.191232 -0.006815 [component_container_isolated-3] -0.001746 0.999960 0.008718 0.060207 [component_container_isolated-3] -0.191224 -0.008892 0.981506 0.017104 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.489581023] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.519,11.024,-0.102} [component_container_isolated-3] [DEBUG] [1762964973.489615218] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.009,-0.002} {-0.507,10.983,-0.049} [component_container_isolated-3] [DEBUG] [1762964973.489665214] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.495427348] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.495490889] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.495533110] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.495577645] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000115 0.000032 -0.000065 [component_container_isolated-3] -0.000115 1.000000 0.000118 0.000178 [component_container_isolated-3] -0.000032 -0.000118 1.000000 0.000123 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.495602482] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.001,0.001} {-0.134,0.049,-0.027} [component_container_isolated-3] [DEBUG] [1762964973.495650184] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.495759522] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.495839906] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 0.000041 0.476064 -0.001159 [component_container_isolated-3] -0.004786 0.999950 0.008755 0.060295 [component_container_isolated-3] -0.476040 -0.009978 0.879367 0.018179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.495864583] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.650,28.427,-0.312} [component_container_isolated-3] [DEBUG] [1762964973.495888729] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.001} {-0.501,28.378,-0.280} [component_container_isolated-3] [DEBUG] [1762964973.495958332] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.496179675] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.496228288] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.496266531] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.496310254] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000012 0.000071 -0.000012 [component_container_isolated-3] -0.000012 1.000000 -0.000041 0.000057 [component_container_isolated-3] -0.000071 0.000041 1.000000 0.000033 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.496335031] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,0.004} {-0.025,0.068,-0.068} [component_container_isolated-3] [DEBUG] [1762964973.496381310] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.496423871] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.496463827] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982741 -0.000041 0.184987 -0.007344 [component_container_isolated-3] -0.000009 1.000000 0.000270 0.059230 [component_container_isolated-3] -0.184987 -0.000267 0.982741 0.016745 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.496485890] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.016,10.660,-0.001} [component_container_isolated-3] [DEBUG] [1762964973.496517300] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.002,-0.005} {0.023,10.593,0.069} [component_container_isolated-3] [DEBUG] [1762964973.496566393] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.517878725] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.517966312] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.518009114] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.518054931] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000002 -0.000090 0.000542 [component_container_isolated-3] 0.000002 1.000000 0.000067 0.000196 [component_container_isolated-3] 0.000090 -0.000067 1.000000 -0.000270 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.518080590] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.012,0.005} {-0.035,0.093,0.154} [component_container_isolated-3] [DEBUG] [1762964973.518130175] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.518172416] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.518208124] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979116 -0.000084 0.203300 -0.006864 [component_container_isolated-3] 0.002478 0.999931 -0.011523 0.059246 [component_container_isolated-3] -0.203285 0.011787 0.979049 0.018639 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.518230767] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.690,11.729,0.145} [component_container_isolated-3] [DEBUG] [1762964973.518262387] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.011,-0.006} {0.693,11.639,-0.013} [component_container_isolated-3] [DEBUG] [1762964973.518313084] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.525774985] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.525828046] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.525867802] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.525912467] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000116 0.000055 -0.000044 [component_container_isolated-3] 0.000116 1.000000 -0.000018 -0.000735 [component_container_isolated-3] -0.000055 0.000018 1.000000 -0.000031 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.525969085] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.008,0.002} {-0.001,0.044,-0.045} [component_container_isolated-3] [DEBUG] [1762964973.526023299] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.526071631] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.526112860] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 -0.000063 0.191286 -0.006802 [component_container_isolated-3] -0.001631 0.999961 0.008700 0.059986 [component_container_isolated-3] -0.191279 -0.008851 0.981496 0.017085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.526137587] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.517,11.027,-0.095} [component_container_isolated-3] [DEBUG] [1762964973.526171592] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.008,-0.002} {-0.507,10.983,-0.049} [component_container_isolated-3] [DEBUG] [1762964973.526223591] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.531732011] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.531790683] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.531834958] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.531886546] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000115 0.000032 -0.000065 [component_container_isolated-3] -0.000115 1.000000 0.000118 0.000178 [component_container_isolated-3] -0.000032 -0.000118 1.000000 0.000123 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.531916423] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.001,0.001} {-0.141,0.051,-0.034} [component_container_isolated-3] [DEBUG] [1762964973.532028507] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.532088572] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.532136514] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 0.000041 0.476064 -0.001159 [component_container_isolated-3] -0.004786 0.999950 0.008755 0.060295 [component_container_isolated-3] -0.476040 -0.009978 0.879367 0.018179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.532166792] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.650,28.427,-0.312} [component_container_isolated-3] [DEBUG] [1762964973.532204544] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.001} {-0.491,28.376,-0.273} [component_container_isolated-3] [DEBUG] [1762964973.532269658] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.532500308] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.532551346] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.532593286] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.532641047] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000063 0.000072 0.000374 [component_container_isolated-3] 0.000063 1.000000 0.000174 0.000236 [component_container_isolated-3] -0.000072 -0.000174 1.000000 0.000530 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.532666917] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,0.005} {-0.035,0.072,-0.065} [component_container_isolated-3] [DEBUG] [1762964973.532715229] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.532757520] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.532793619] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982728 -0.000135 0.185058 -0.007299 [component_container_isolated-3] 0.000054 1.000000 0.000444 0.059260 [component_container_isolated-3] -0.185058 -0.000426 0.982728 0.016807 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.532816262] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.025,10.665,0.003} [component_container_isolated-3] [DEBUG] [1762964973.532848163] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.002,-0.005} {0.023,10.593,0.069} [component_container_isolated-3] [DEBUG] [1762964973.532897848] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.537734955] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.537786353] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.537825107] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.537868380] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000116 0.000055 -0.000044 [component_container_isolated-3] 0.000116 1.000000 -0.000018 -0.000735 [component_container_isolated-3] -0.000055 0.000018 1.000000 -0.000031 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.537894239] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.008,0.002} {-0.000,0.048,-0.039} [component_container_isolated-3] [DEBUG] [1762964973.537969062] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.538016553] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.538057401] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 -0.000063 0.191286 -0.006802 [component_container_isolated-3] -0.001631 0.999961 0.008700 0.059986 [component_container_isolated-3] -0.191279 -0.008851 0.981496 0.017085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.538081898] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.517,11.027,-0.095} [component_container_isolated-3] [DEBUG] [1762964973.538115712] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.008,-0.002} {-0.509,10.980,-0.055} [component_container_isolated-3] [DEBUG] [1762964973.538169124] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.541882336] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.541989210] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.542032112] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.542076847] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000064 0.000049 -0.000116 [component_container_isolated-3] 0.000064 1.000000 -0.000182 -0.000302 [component_container_isolated-3] -0.000049 0.000182 1.000000 0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.542102196] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.012,0.006} {-0.024,0.095,0.158} [component_container_isolated-3] [DEBUG] [1762964973.542151830] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.542193440] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.542230000] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000109 0.203348 -0.006858 [component_container_isolated-3] 0.002543 0.999928 -0.011705 0.059212 [component_container_isolated-3] -0.203332 0.011978 0.979037 0.018626 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.542254286] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.701,11.732,0.149} [component_container_isolated-3] [DEBUG] [1762964973.542284313] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.011,-0.006} {0.693,11.639,-0.013} [component_container_isolated-3] [DEBUG] [1762964973.542334259] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.549039755] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.549103276] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.549146799] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.549191996] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000064 0.000049 -0.000116 [component_container_isolated-3] 0.000064 1.000000 -0.000182 -0.000302 [component_container_isolated-3] -0.000049 0.000182 1.000000 0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.549217885] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.012,0.006} {-0.014,0.098,0.161} [component_container_isolated-3] [DEBUG] [1762964973.549266778] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.549309951] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.549345058] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000109 0.203348 -0.006858 [component_container_isolated-3] 0.002543 0.999928 -0.011705 0.059212 [component_container_isolated-3] -0.203332 0.011978 0.979037 0.018626 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.549367861] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.701,11.732,0.149} [component_container_isolated-3] [DEBUG] [1762964973.549398991] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.012,-0.006} {0.681,11.636,-0.017} [component_container_isolated-3] [DEBUG] [1762964973.549448966] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.556999366] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.557067897] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.557108194] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.557152158] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000115 0.000032 -0.000065 [component_container_isolated-3] -0.000115 1.000000 0.000118 0.000178 [component_container_isolated-3] -0.000032 -0.000118 1.000000 0.000123 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.557178207] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.148,0.053,-0.040} [component_container_isolated-3] [DEBUG] [1762964973.557227451] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.557269882] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.557311452] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 0.000041 0.476064 -0.001159 [component_container_isolated-3] -0.004786 0.999950 0.008755 0.060295 [component_container_isolated-3] -0.476040 -0.009978 0.879367 0.018179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.557335578] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.650,28.427,-0.312} [component_container_isolated-3] [DEBUG] [1762964973.557371727] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.001} {-0.480,28.375,-0.265} [component_container_isolated-3] [DEBUG] [1762964973.557440388] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.558379411] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.558429427] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.558467940] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.558510702] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000072 -0.000041 -0.000032 [component_container_isolated-3] -0.000072 1.000000 -0.000026 0.000264 [component_container_isolated-3] 0.000041 0.000026 1.000000 -0.000117 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.558535760] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,0.005} {-0.034,0.069,-0.069} [component_container_isolated-3] [DEBUG] [1762964973.558584182] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.558626774] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.558662231] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982735 -0.000059 0.185017 -0.007281 [component_container_isolated-3] -0.000018 1.000000 0.000418 0.059331 [component_container_isolated-3] -0.185017 -0.000414 0.982735 0.016823 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.558684474] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.024,10.662,-0.001} [component_container_isolated-3] [DEBUG] [1762964973.558717367] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.003,-0.005} {0.023,10.593,0.069} [component_container_isolated-3] [DEBUG] [1762964973.558768655] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.574095686] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.574152724] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.574191488] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.574234471] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000247 -0.000048 -0.000173 [component_container_isolated-3] -0.000247 1.000000 0.000139 0.001415 [component_container_isolated-3] 0.000048 -0.000139 1.000000 -0.000062 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.574259528] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.009,0.001} {-0.008,0.045,-0.053} [component_container_isolated-3] [DEBUG] [1762964973.574307169] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.574353758] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.574393835] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000153 0.191239 -0.006791 [component_container_isolated-3] -0.001878 0.999959 0.008839 0.060273 [component_container_isolated-3] -0.191229 -0.009035 0.981504 0.017048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.574417991] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.527,11.025,-0.110} [component_container_isolated-3] [DEBUG] [1762964973.574448950] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.009,-0.002} {-0.509,10.980,-0.055} [component_container_isolated-3] [DEBUG] [1762964973.574498946] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.579329180] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.579387682] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.579429301] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.579475981] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000016 -0.000005 -0.000152 [component_container_isolated-3] 0.000016 1.000000 0.000128 -0.000246 [component_container_isolated-3] 0.000005 -0.000128 1.000000 0.000154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.579501920] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,0.005} {-0.041,0.069,-0.068} [component_container_isolated-3] [DEBUG] [1762964973.579659160] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.579707723] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.579745185] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982736 -0.000098 0.185013 -0.007281 [component_container_isolated-3] -0.000003 1.000000 0.000546 0.059347 [component_container_isolated-3] -0.185013 -0.000537 0.982736 0.016857 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.579767848] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.031,10.662,-0.000} [component_container_isolated-3] [DEBUG] [1762964973.579798667] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.002,-0.005} {0.023,10.593,0.069} [component_container_isolated-3] [DEBUG] [1762964973.579847570] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.582130370] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.582192559] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.582232375] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.582277180] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000115 0.000032 -0.000065 [component_container_isolated-3] -0.000115 1.000000 0.000118 0.000178 [component_container_isolated-3] -0.000032 -0.000118 1.000000 0.000123 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.582303470] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.154,0.054,-0.047} [component_container_isolated-3] [DEBUG] [1762964973.582352805] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.582396979] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.582436865] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 0.000041 0.476064 -0.001159 [component_container_isolated-3] -0.004786 0.999950 0.008755 0.060295 [component_container_isolated-3] -0.476040 -0.009978 0.879367 0.018179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.582460661] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.650,28.427,-0.312} [component_container_isolated-3] [DEBUG] [1762964973.582491860] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.470,28.373,-0.258} [component_container_isolated-3] [DEBUG] [1762964973.582540824] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.592438195] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.592501146] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.592540921] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.592584565] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000064 0.000049 -0.000116 [component_container_isolated-3] 0.000064 1.000000 -0.000182 -0.000302 [component_container_isolated-3] -0.000049 0.000182 1.000000 0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.592610384] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.006} {-0.003,0.101,0.165} [component_container_isolated-3] [DEBUG] [1762964973.592658416] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.592704424] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.592743919] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000109 0.203348 -0.006858 [component_container_isolated-3] 0.002543 0.999928 -0.011705 0.059212 [component_container_isolated-3] -0.203332 0.011978 0.979037 0.018626 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.592767955] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.701,11.732,0.149} [component_container_isolated-3] [DEBUG] [1762964973.592798594] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.012,-0.006} {0.670,11.633,-0.021} [component_container_isolated-3] [DEBUG] [1762964973.592848148] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.593288649] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.593332153] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.593374313] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.593420101] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000247 -0.000048 -0.000173 [component_container_isolated-3] -0.000247 1.000000 0.000139 0.001415 [component_container_isolated-3] 0.000048 -0.000139 1.000000 -0.000062 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.593445289] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.010,0.001} {-0.016,0.042,-0.067} [component_container_isolated-3] [DEBUG] [1762964973.593493591] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.593535771] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.593570919] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000153 0.191239 -0.006791 [component_container_isolated-3] -0.001878 0.999959 0.008839 0.060273 [component_container_isolated-3] -0.191229 -0.009035 0.981504 0.017048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.593592850] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.527,11.025,-0.110} [component_container_isolated-3] [DEBUG] [1762964973.593623058] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.010,-0.002} {-0.498,10.983,-0.041} [component_container_isolated-3] [DEBUG] [1762964973.593675999] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.617216877] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.617280268] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.617322158] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.617370680] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000083 0.000164 0.000317 [component_container_isolated-3] -0.000083 1.000000 -0.000030 0.000550 [component_container_isolated-3] -0.000164 0.000030 1.000000 0.000413 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.617399065] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,0.005} {-0.039,0.079,-0.073} [component_container_isolated-3] [DEBUG] [1762964973.617631218] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.617679931] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.617709788] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 -0.000011 0.185173 -0.007204 [component_container_isolated-3] -0.000086 1.000000 0.000516 0.059484 [component_container_isolated-3] -0.185173 -0.000523 0.982706 0.016981 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.617728594] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.030,10.671,-0.005} [component_container_isolated-3] [DEBUG] [1762964973.617751187] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.003,-0.006} {0.023,10.593,0.069} [component_container_isolated-3] [DEBUG] [1762964973.617790572] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.621855736] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.621905330] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.621974062] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.622012555] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000064 0.000049 -0.000116 [component_container_isolated-3] 0.000064 1.000000 -0.000182 -0.000302 [component_container_isolated-3] -0.000049 0.000182 1.000000 0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.622032093] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.006} {0.007,0.104,0.169} [component_container_isolated-3] [DEBUG] [1762964973.622070857] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.622104902] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.622130711] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000109 0.203348 -0.006858 [component_container_isolated-3] 0.002543 0.999928 -0.011705 0.059212 [component_container_isolated-3] -0.203332 0.011978 0.979037 0.018626 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.622146922] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.701,11.732,0.149} [component_container_isolated-3] [DEBUG] [1762964973.622168052] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.012,-0.006} {0.659,11.630,-0.025} [component_container_isolated-3] [DEBUG] [1762964973.622205183] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.636147800] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.636201703] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.636242250] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.636292446] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000247 -0.000048 -0.000173 [component_container_isolated-3] -0.000247 1.000000 0.000139 0.001415 [component_container_isolated-3] 0.000048 -0.000139 1.000000 -0.000062 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.636318516] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.012,0.001} {-0.024,0.039,-0.081} [component_container_isolated-3] [DEBUG] [1762964973.636367730] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.636410642] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.636448514] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000153 0.191239 -0.006791 [component_container_isolated-3] -0.001878 0.999959 0.008839 0.060273 [component_container_isolated-3] -0.191229 -0.009035 0.981504 0.017048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.636478181] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.527,11.025,-0.110} [component_container_isolated-3] [DEBUG] [1762964973.636502037] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.012,-0.002} {-0.488,10.986,-0.027} [component_container_isolated-3] [DEBUG] [1762964973.636550459] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.637459365] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.637514290] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.637554376] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.637601426] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000103 0.000023 0.000042 [component_container_isolated-3] 0.000103 1.000000 0.000008 -0.000295 [component_container_isolated-3] -0.000023 -0.000008 1.000000 0.000057 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.637627526] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.001,0.001} {-0.155,0.056,-0.041} [component_container_isolated-3] [DEBUG] [1762964973.637680337] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.637779807] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.637823631] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879400 -0.000054 0.476084 -0.001154 [component_container_isolated-3] -0.004683 0.999951 0.008763 0.060254 [component_container_isolated-3] -0.476061 -0.009936 0.879356 0.018194 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.637847226] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.428,-0.305} [component_container_isolated-3] [DEBUG] [1762964973.637876912] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.001} {-0.470,28.373,-0.258} [component_container_isolated-3] [DEBUG] [1762964973.638007582] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.645060762] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.645114735] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.645156124] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.645200889] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000099 -0.000288 -0.000381 [component_container_isolated-3] 0.000099 1.000000 -0.000028 -0.000936 [component_container_isolated-3] 0.000288 0.000028 1.000000 -0.001025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.645226438] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,0.004} {-0.038,0.062,-0.067} [component_container_isolated-3] [DEBUG] [1762964973.645275031] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.645317352] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.645353030] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982759 -0.000103 0.184891 -0.007266 [component_container_isolated-3] 0.000013 1.000000 0.000488 0.059361 [component_container_isolated-3] -0.184891 -0.000477 0.982759 0.016847 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.645377567] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.028,10.655,0.001} [component_container_isolated-3] [DEBUG] [1762964973.645410830] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.002,-0.005} {0.023,10.593,0.069} [component_container_isolated-3] [DEBUG] [1762964973.645463341] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.645797238] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.645840431] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.645872201] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.645906447] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000064 0.000049 -0.000116 [component_container_isolated-3] 0.000064 1.000000 -0.000182 -0.000302 [component_container_isolated-3] -0.000049 0.000182 1.000000 0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.645952935] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.006} {0.017,0.106,0.172} [component_container_isolated-3] [DEBUG] [1762964973.645994505] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.646029642] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.646055582] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000109 0.203348 -0.006858 [component_container_isolated-3] 0.002543 0.999928 -0.011705 0.059212 [component_container_isolated-3] -0.203332 0.011978 0.979037 0.018626 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.646071432] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.701,11.732,0.149} [component_container_isolated-3] [DEBUG] [1762964973.646091931] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.006} {0.648,11.627,-0.028} [component_container_isolated-3] [DEBUG] [1762964973.646128671] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.664069664] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.664122765] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.664162441] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.664205223] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000247 -0.000048 -0.000173 [component_container_isolated-3] -0.000247 1.000000 0.000139 0.001415 [component_container_isolated-3] 0.000048 -0.000139 1.000000 -0.000062 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.664229479] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.013,0.001} {-0.032,0.037,-0.095} [component_container_isolated-3] [DEBUG] [1762964973.664277371] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.664319201] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.664354147] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000153 0.191239 -0.006791 [component_container_isolated-3] -0.001878 0.999959 0.008839 0.060273 [component_container_isolated-3] -0.191229 -0.009035 0.981504 0.017048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.664376981] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.527,11.025,-0.110} [component_container_isolated-3] [DEBUG] [1762964973.664410575] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.013,-0.002} {-0.477,10.989,-0.012} [component_container_isolated-3] [DEBUG] [1762964973.664464328] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.671094600] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.671144255] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.671178039] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.671214759] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000099 -0.000288 -0.000381 [component_container_isolated-3] 0.000099 1.000000 -0.000028 -0.000936 [component_container_isolated-3] 0.000288 0.000028 1.000000 -0.001025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.671235609] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.000,0.003} {-0.036,0.046,-0.061} [component_container_isolated-3] [DEBUG] [1762964973.671275746] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.671310081] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.671336903] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982759 -0.000103 0.184891 -0.007266 [component_container_isolated-3] 0.000013 1.000000 0.000488 0.059361 [component_container_isolated-3] -0.184891 -0.000477 0.982759 0.016847 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.671353915] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.028,10.655,0.001} [component_container_isolated-3] [DEBUG] [1762964973.671375967] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.001,-0.004} {0.020,10.609,0.063} [component_container_isolated-3] [DEBUG] [1762964973.671415162] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.676283309] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.676333996] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.676374754] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.676418337] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000064 0.000049 -0.000116 [component_container_isolated-3] 0.000064 1.000000 -0.000182 -0.000302 [component_container_isolated-3] -0.000049 0.000182 1.000000 0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.676443094] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.006} {0.028,0.109,0.176} [component_container_isolated-3] [DEBUG] [1762964973.676490826] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.676532355] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.676567492] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000109 0.203348 -0.006858 [component_container_isolated-3] 0.002543 0.999928 -0.011705 0.059212 [component_container_isolated-3] -0.203332 0.011978 0.979037 0.018626 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.676589033] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.701,11.732,0.149} [component_container_isolated-3] [DEBUG] [1762964973.676618600] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.006} {0.637,11.625,-0.032} [component_container_isolated-3] [DEBUG] [1762964973.676668856] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.679301283] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.679367920] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.679408848] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.679453073] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000060 -0.000066 -0.000084 [component_container_isolated-3] -0.000060 1.000000 -0.000079 0.000251 [component_container_isolated-3] 0.000066 0.000079 1.000000 0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.679478161] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.150,0.052,-0.044} [component_container_isolated-3] [DEBUG] [1762964973.679526162] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.679566790] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.679602147] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 0.000036 0.476026 -0.001148 [component_container_isolated-3] -0.004742 0.999951 0.008685 0.060259 [component_container_isolated-3] -0.476003 -0.009895 0.879388 0.018212 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.679624761] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.645,28.425,-0.309} [component_container_isolated-3] [DEBUG] [1762964973.679655800] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.470,28.373,-0.258} [component_container_isolated-3] [DEBUG] [1762964973.679706477] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.697102108] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.697162103] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.697200456] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.697242867] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000028 0.000165 0.000173 [component_container_isolated-3] 0.000028 1.000000 -0.000050 -0.000153 [component_container_isolated-3] -0.000165 0.000050 1.000000 0.000099 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.697267925] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.147,0.061,-0.043} [component_container_isolated-3] [DEBUG] [1762964973.697315105] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.697355171] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.697391771] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879352 0.000035 0.476172 -0.001117 [component_container_isolated-3] -0.004715 0.999952 0.008634 0.060244 [component_container_isolated-3] -0.476148 -0.009838 0.879310 0.018231 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.697415927] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.434,-0.307} [component_container_isolated-3] [DEBUG] [1762964973.697448870] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.470,28.373,-0.258} [component_container_isolated-3] [DEBUG] [1762964973.697501180] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.707042261] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.707090544] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.707131552] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.707194522] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000163 0.000005 0.000043 [component_container_isolated-3] 0.000163 1.000000 -0.000178 -0.000624 [component_container_isolated-3] -0.000005 0.000178 1.000000 0.000405 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.707222946] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.013,0.002} {-0.022,0.037,-0.086} [component_container_isolated-3] [DEBUG] [1762964973.707276599] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.707322517] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.707360038] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 0.000027 0.191244 -0.006784 [component_container_isolated-3] -0.001715 0.999961 0.008661 0.060253 [component_container_isolated-3] -0.191236 -0.008829 0.981504 0.017098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.707382732] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.515,11.025,-0.100} [component_container_isolated-3] [DEBUG] [1762964973.707414472] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.012,-0.002} {-0.477,10.989,-0.012} [component_container_isolated-3] [DEBUG] [1762964973.707464848] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.712340209] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.712400975] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.712443176] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.712487821] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000025 -0.000006 -0.000365 [component_container_isolated-3] 0.000025 1.000000 -0.000132 0.000308 [component_container_isolated-3] 0.000006 0.000132 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.712514382] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.001,0.003} {-0.029,0.045,-0.060} [component_container_isolated-3] [DEBUG] [1762964973.712562053] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.712604063] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.712640122] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982760 -0.000104 0.184885 -0.007363 [component_container_isolated-3] 0.000039 1.000000 0.000355 0.059358 [component_container_isolated-3] -0.184885 -0.000342 0.982760 0.016841 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.712665080] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.020,10.654,0.002} [component_container_isolated-3] [DEBUG] [1762964973.712698022] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.001,-0.004} {0.020,10.609,0.063} [component_container_isolated-3] [DEBUG] [1762964973.712749481] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.746291498] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.746349328] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.746389455] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.746433319] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000163 0.000005 0.000043 [component_container_isolated-3] 0.000163 1.000000 -0.000178 -0.000624 [component_container_isolated-3] -0.000005 0.000178 1.000000 0.000405 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.746458677] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.012,0.002} {-0.012,0.037,-0.077} [component_container_isolated-3] [DEBUG] [1762964973.746509925] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.746555652] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.746592693] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 0.000027 0.191244 -0.006784 [component_container_isolated-3] -0.001715 0.999961 0.008661 0.060253 [component_container_isolated-3] -0.191236 -0.008829 0.981504 0.017098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.746616308] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.515,11.025,-0.100} [component_container_isolated-3] [DEBUG] [1762964973.746648099] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.012,-0.002} {-0.489,10.988,-0.022} [component_container_isolated-3] [DEBUG] [1762964973.746698135] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.751160927] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.751219730] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.751267681] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.751313749] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000072 -0.000140 -0.000161 [component_container_isolated-3] -0.000072 1.000000 0.000057 0.000219 [component_container_isolated-3] 0.000140 -0.000057 1.000000 -0.000144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.751339989] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.151,0.053,-0.047} [component_container_isolated-3] [DEBUG] [1762964973.751390145] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.751437926] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.751477372] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879419 0.000071 0.476049 -0.001120 [component_container_isolated-3] -0.004786 0.999951 0.008692 0.060262 [component_container_isolated-3] -0.476025 -0.009922 0.879376 0.018235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.751500907] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.426,-0.312} [component_container_isolated-3] [DEBUG] [1762964973.751534140] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.470,28.373,-0.258} [component_container_isolated-3] [DEBUG] [1762964973.751593473] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.752156218] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.752215171] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.752255287] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.752300774] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000025 -0.000006 -0.000365 [component_container_isolated-3] 0.000025 1.000000 -0.000132 0.000308 [component_container_isolated-3] 0.000006 0.000132 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.752328056] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {-0.000,0.001,0.004} {-0.021,0.045,-0.059} [component_container_isolated-3] [DEBUG] [1762964973.752381308] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.752428318] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.752467272] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982760 -0.000104 0.184885 -0.007363 [component_container_isolated-3] 0.000039 1.000000 0.000355 0.059358 [component_container_isolated-3] -0.184885 -0.000342 0.982760 0.016841 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.752490436] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.020,10.654,0.002} [component_container_isolated-3] [DEBUG] [1762964973.752522307] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.002,-0.004} {0.012,10.609,0.062} [component_container_isolated-3] [DEBUG] [1762964973.752572854] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.758694915] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.758747346] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.758787462] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.758831807] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000087 0.000099 0.000262 [component_container_isolated-3] -0.000087 1.000000 0.000166 0.000473 [component_container_isolated-3] -0.000099 -0.000166 1.000000 0.000219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.758859319] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.006} {0.018,0.115,0.171} [component_container_isolated-3] [DEBUG] [1762964973.758911249] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.758999367] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.759041287] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 -0.000058 0.203445 -0.006798 [component_container_isolated-3] 0.002457 0.999930 -0.011539 0.059277 [component_container_isolated-3] -0.203430 0.011798 0.979018 0.018611 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.759066164] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.690,11.738,0.144} [component_container_isolated-3] [DEBUG] [1762964973.759099829] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.006} {0.637,11.625,-0.032} [component_container_isolated-3] [DEBUG] [1762964973.759150626] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.763941335] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.763992573] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.764029914] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.764072986] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000087 0.000099 0.000262 [component_container_isolated-3] -0.000087 1.000000 0.000166 0.000473 [component_container_isolated-3] -0.000099 -0.000166 1.000000 0.000219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.764097563] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.006} {0.009,0.121,0.166} [component_container_isolated-3] [DEBUG] [1762964973.764147168] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.764191212] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.764229615] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 -0.000058 0.203445 -0.006798 [component_container_isolated-3] 0.002457 0.999930 -0.011539 0.059277 [component_container_isolated-3] -0.203430 0.011798 0.979018 0.018611 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.764252269] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.690,11.738,0.144} [component_container_isolated-3] [DEBUG] [1762964973.764283588] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.012,-0.006} {0.647,11.619,-0.027} [component_container_isolated-3] [DEBUG] [1762964973.764334696] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.772640809] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.772690714] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.772729929] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.772772350] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000011 0.000001 0.000001 [component_container_isolated-3] 0.000011 1.000000 -0.000020 -0.000045 [component_container_isolated-3] -0.000001 0.000020 1.000000 0.000011 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.772797137] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.150,0.054,-0.046} [component_container_isolated-3] [DEBUG] [1762964973.772844838] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.772887360] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.772964637] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879418 0.000070 0.476050 -0.001122 [component_container_isolated-3] -0.004774 0.999951 0.008672 0.060267 [component_container_isolated-3] -0.476026 -0.009899 0.879375 0.018243 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.772991308] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.645,28.426,-0.311} [component_container_isolated-3] [DEBUG] [1762964973.773024431] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.470,28.373,-0.258} [component_container_isolated-3] [DEBUG] [1762964973.773081691] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.796723591] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.796761163] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.796781371] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.796803163] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000071 -0.000001 0.000106 [component_container_isolated-3] 0.000071 1.000000 0.000028 -0.000129 [component_container_isolated-3] 0.000001 -0.000028 1.000000 -0.000002 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.796820366] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.001,0.004} {-0.023,0.045,-0.054} [component_container_isolated-3] [DEBUG] [1762964973.796854381] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.796882234] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.796904226] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982760 -0.000179 0.184884 -0.007402 [component_container_isolated-3] 0.000110 1.000000 0.000383 0.059342 [component_container_isolated-3] -0.184884 -0.000356 0.982760 0.016822 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.796940175] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.001,-0.001,-0.001} {-0.021,10.654,0.006} [component_container_isolated-3] [DEBUG] [1762964973.796960484] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.002,-0.004} {0.012,10.609,0.062} [component_container_isolated-3] [DEBUG] [1762964973.796992294] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.804273490] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.804326401] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.804364453] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.804407205] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000012 0.000215 0.000076 [component_container_isolated-3] 0.000012 1.000000 0.000152 0.000117 [component_container_isolated-3] -0.000215 -0.000152 1.000000 0.000287 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.804431782] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.012,0.006} {0.000,0.133,0.167} [component_container_isolated-3] [DEBUG] [1762964973.804476918] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.804518027] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.804557171] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979043 -0.000101 0.203656 -0.006741 [component_container_isolated-3] 0.002472 0.999932 -0.011386 0.059329 [component_container_isolated-3] -0.203641 0.011651 0.978976 0.018650 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.804580386] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.682,11.750,0.145} [component_container_isolated-3] [DEBUG] [1762964973.804611956] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.012,-0.007} {0.647,11.619,-0.027} [component_container_isolated-3] [DEBUG] [1762964973.804665378] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.810971211] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.811043970] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.811084417] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.811129142] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000079 -0.000263 -0.000026 [component_container_isolated-3] -0.000079 1.000000 0.000074 0.000248 [component_container_isolated-3] 0.000263 -0.000074 1.000000 -0.001133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.811154781] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.012,0.001} {-0.016,0.022,-0.081} [component_container_isolated-3] [DEBUG] [1762964973.811204997] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.811251275] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.811287695] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981593 0.000091 0.190986 -0.006838 [component_container_isolated-3] -0.001792 0.999960 0.008735 0.060278 [component_container_isolated-3] -0.190977 -0.008917 0.981554 0.016798 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.811311240] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.520,11.010,-0.105} [component_container_isolated-3] [DEBUG] [1762964973.811342650] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.012,-0.002} {-0.489,10.988,-0.022} [component_container_isolated-3] [DEBUG] [1762964973.811392295] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.813820352] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.813882561] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.813970899] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.814019692] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000039 0.000035 0.000061 [component_container_isolated-3] 0.000039 1.000000 0.000045 -0.000105 [component_container_isolated-3] -0.000035 -0.000045 1.000000 0.000073 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.814046844] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.152,0.056,-0.044} [component_container_isolated-3] [DEBUG] [1762964973.814101879] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.814147707] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.814188074] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000015 0.476080 -0.001115 [component_container_isolated-3] -0.004736 0.999951 0.008717 0.060261 [component_container_isolated-3] -0.476057 -0.009920 0.879358 0.018254 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.814212881] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.646,28.428,-0.309} [component_container_isolated-3] [DEBUG] [1762964973.814244321] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.470,28.373,-0.258} [component_container_isolated-3] [DEBUG] [1762964973.814293565] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.822258456] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.822346224] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.822395658] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.822446115] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000079 -0.000263 -0.000026 [component_container_isolated-3] -0.000079 1.000000 0.000074 0.000248 [component_container_isolated-3] 0.000263 -0.000074 1.000000 -0.001133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.822474168] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.012,-0.000} {-0.020,0.007,-0.086} [component_container_isolated-3] [DEBUG] [1762964973.822524354] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.822570122] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.822610699] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981593 0.000091 0.190986 -0.006838 [component_container_isolated-3] -0.001792 0.999960 0.008735 0.060278 [component_container_isolated-3] -0.190977 -0.008917 0.981554 0.016798 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.822634765] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.520,11.010,-0.105} [component_container_isolated-3] [DEBUG] [1762964973.822667147] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.012,-0.000} {-0.484,11.003,-0.017} [component_container_isolated-3] [DEBUG] [1762964973.822716491] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.823367595] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.823414985] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.823454260] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.823497162] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000039 0.000035 0.000061 [component_container_isolated-3] 0.000039 1.000000 0.000045 -0.000105 [component_container_isolated-3] -0.000035 -0.000045 1.000000 0.000073 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.823521248] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.155,0.058,-0.042} [component_container_isolated-3] [DEBUG] [1762964973.823574069] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.823624004] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.823666686] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000015 0.476080 -0.001115 [component_container_isolated-3] -0.004736 0.999951 0.008717 0.060261 [component_container_isolated-3] -0.476057 -0.009920 0.879358 0.018254 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.823689750] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.646,28.428,-0.309} [component_container_isolated-3] [DEBUG] [1762964973.823711682] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.001} {-0.469,28.371,-0.260} [component_container_isolated-3] [DEBUG] [1762964973.823753231] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.826030250] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.826095364] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.826138456] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.826185717] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000255 0.000189 0.000792 [component_container_isolated-3] -0.000255 1.000000 0.000238 0.000833 [component_container_isolated-3] -0.000189 -0.000238 1.000000 0.000869 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.826213309] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,0.004} {-0.036,0.056,-0.069} [component_container_isolated-3] [DEBUG] [1762964973.826263154] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.826311587] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.826349810] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982725 0.000027 0.185070 -0.007216 [component_container_isolated-3] -0.000145 1.000000 0.000621 0.059540 [component_container_isolated-3] -0.185070 -0.000638 0.982725 0.016962 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.826373355] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.037,10.665,-0.008} [component_container_isolated-3] [DEBUG] [1762964973.826403953] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.002,-0.005} {0.012,10.609,0.062} [component_container_isolated-3] [DEBUG] [1762964973.826453418] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.831598924] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.831655472] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.831694768] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.831738050] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000255 0.000189 0.000792 [component_container_isolated-3] -0.000255 1.000000 0.000238 0.000833 [component_container_isolated-3] -0.000189 -0.000238 1.000000 0.000869 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.831763499] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.003,0.005} {-0.050,0.067,-0.084} [component_container_isolated-3] [DEBUG] [1762964973.831813735] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.831855985] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.831891393] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982725 0.000027 0.185070 -0.007216 [component_container_isolated-3] -0.000145 1.000000 0.000621 0.059540 [component_container_isolated-3] -0.185070 -0.000638 0.982725 0.016962 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.831913866] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.037,10.665,-0.008} [component_container_isolated-3] [DEBUG] [1762964973.831985092] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.003,-0.005} {0.028,10.599,0.077} [component_container_isolated-3] [DEBUG] [1762964973.832039376] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.832993297] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.833043704] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.833083981] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.833130119] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000086 -0.000168 -0.000225 [component_container_isolated-3] 0.000086 1.000000 0.000025 -0.000606 [component_container_isolated-3] 0.000168 -0.000025 1.000000 -0.000634 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.833155407] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.006} {-0.001,0.123,0.172} [component_container_isolated-3] [DEBUG] [1762964973.833204861] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.833246882] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.833291597] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 -0.000191 0.203491 -0.006751 [component_container_isolated-3] 0.002556 0.999932 -0.011362 0.059263 [component_container_isolated-3] -0.203475 0.011644 0.979011 0.018563 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.833317236] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.681,11.740,0.150} [component_container_isolated-3] [DEBUG] [1762964973.833349969] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.006} {0.647,11.619,-0.027} [component_container_isolated-3] [DEBUG] [1762964973.833402569] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.838076114] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.838147360] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.838187287] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.838233765] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000010 0.000255 -0.000442 [component_container_isolated-3] 0.000010 1.000000 -0.000022 -0.000066 [component_container_isolated-3] -0.000255 0.000022 1.000000 0.001133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.838261629] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.012,0.001} {-0.019,0.022,-0.085} [component_container_isolated-3] [DEBUG] [1762964973.838313768] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.838360568] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.838401115] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000086 0.191236 -0.006888 [component_container_isolated-3] -0.001785 0.999960 0.008713 0.060288 [component_container_isolated-3] -0.191228 -0.008893 0.981505 0.016955 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.838426323] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.519,11.024,-0.104} [component_container_isolated-3] [DEBUG] [1762964973.838458785] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.012,-0.001} {-0.484,11.003,-0.017} [component_container_isolated-3] [DEBUG] [1762964973.838525132] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.861341686] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.861415908] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.861455283] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.861497984] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000091 0.000225 -0.000140 [component_container_isolated-3] 0.000091 1.000000 -0.000189 -0.000299 [component_container_isolated-3] -0.000225 0.000189 1.000000 0.000998 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.861523082] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.007} {0.010,0.136,0.177} [component_container_isolated-3] [DEBUG] [1762964973.861570623] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.861611391] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.861650746] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979031 -0.000242 0.203711 -0.006715 [component_container_isolated-3] 0.002650 0.999930 -0.011550 0.059161 [component_container_isolated-3] -0.203694 0.011847 0.978963 0.018773 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.861674431] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.693,11.753,0.155} [component_container_isolated-3] [DEBUG] [1762964973.861706913] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.007} {0.647,11.619,-0.027} [component_container_isolated-3] [DEBUG] [1762964973.861755697] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.862933516] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.862967180] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.862993981] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.863025772] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000053 -0.000020 -0.000016 [component_container_isolated-3] -0.000053 1.000000 -0.000038 0.000099 [component_container_isolated-3] 0.000020 0.000038 1.000000 -0.000088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.863042264] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.153,0.056,-0.045} [component_container_isolated-3] [DEBUG] [1762964973.863074776] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.863101266] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.863123589] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 0.000079 0.476063 -0.001110 [component_container_isolated-3] -0.004788 0.999951 0.008679 0.060266 [component_container_isolated-3] -0.476039 -0.009912 0.879368 0.018256 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.863137245] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.646,28.427,-0.312} [component_container_isolated-3] [DEBUG] [1762964973.863155841] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.469,28.371,-0.260} [component_container_isolated-3] [DEBUG] [1762964973.863185036] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.874263604] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.874332525] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.874373704] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.874416626] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000049 -0.000112 0.000483 [component_container_isolated-3] 0.000049 1.000000 -0.000105 -0.000128 [component_container_isolated-3] 0.000112 0.000105 1.000000 -0.000479 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.874441243] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.012,0.000} {-0.013,0.015,-0.082} [component_container_isolated-3] [DEBUG] [1762964973.874488313] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.874531295] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.874567284] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981566 0.000057 0.191126 -0.006866 [component_container_isolated-3] -0.001735 0.999962 0.008608 0.060280 [component_container_isolated-3] -0.191119 -0.008781 0.981528 0.016929 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.874590558] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.513,11.018,-0.101} [component_container_isolated-3] [DEBUG] [1762964973.874622188] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.012,-0.001} {-0.484,11.003,-0.017} [component_container_isolated-3] [DEBUG] [1762964973.874672885] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.876093809] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.876157501] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.876198960] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.876244998] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000029 0.000048 -0.000127 [component_container_isolated-3] 0.000029 1.000000 -0.000168 0.000051 [component_container_isolated-3] -0.000048 0.000168 1.000000 0.000069 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.876273552] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.003,0.005} {-0.040,0.069,-0.082} [component_container_isolated-3] [DEBUG] [1762964973.876323868] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.876367411] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.876404061] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 0.000030 0.185117 -0.007176 [component_container_isolated-3] -0.000116 1.000000 0.000454 0.059615 [component_container_isolated-3] -0.185117 -0.000467 0.982716 0.017041 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.876428358] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.027,10.668,-0.007} [component_container_isolated-3] [DEBUG] [1762964973.876459227] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.003,-0.005} {0.028,10.599,0.077} [component_container_isolated-3] [DEBUG] [1762964973.876511006] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.888071854] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.888126148] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.888166906] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.888210208] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000053 -0.000020 -0.000016 [component_container_isolated-3] -0.000053 1.000000 -0.000038 0.000099 [component_container_isolated-3] 0.000020 0.000038 1.000000 -0.000088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.888235717] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.150,0.055,-0.048} [component_container_isolated-3] [DEBUG] [1762964973.888284270] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.888325599] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.888361157] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 0.000079 0.476063 -0.001110 [component_container_isolated-3] -0.004788 0.999951 0.008679 0.060266 [component_container_isolated-3] -0.476039 -0.009912 0.879368 0.018256 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.888385193] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.646,28.427,-0.312} [component_container_isolated-3] [DEBUG] [1762964973.888415941] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.469,28.372,-0.257} [component_container_isolated-3] [DEBUG] [1762964973.888465967] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.905937974] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.906002337] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.906043836] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.906088682] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000123 -0.000099 -0.000116 [component_container_isolated-3] -0.000123 1.000000 -0.000004 0.000076 [component_container_isolated-3] 0.000099 0.000004 1.000000 -0.000406 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.906113840] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.006} {0.010,0.131,0.170} [component_container_isolated-3] [DEBUG] [1762964973.906164266] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.906207489] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.906245261] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979051 -0.000121 0.203615 -0.006728 [component_container_isolated-3] 0.002526 0.999930 -0.011554 0.059126 [component_container_isolated-3] -0.203599 0.011826 0.978983 0.018791 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.906269938] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.692,11.747,0.148} [component_container_isolated-3] [DEBUG] [1762964973.906302280] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.006} {0.647,11.619,-0.027} [component_container_isolated-3] [DEBUG] [1762964973.906351454] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.914964923] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.915030328] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.915070144] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.915115491] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000235 -0.000201 -0.000162 [component_container_isolated-3] 0.000235 1.000000 -0.000075 -0.001281 [component_container_isolated-3] 0.000201 0.000075 1.000000 -0.001091 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.915141471] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,0.004} {-0.036,0.058,-0.069} [component_container_isolated-3] [DEBUG] [1762964973.915190554] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.915235400] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.915275587] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982754 -0.000188 0.184920 -0.007217 [component_container_isolated-3] 0.000120 1.000000 0.000379 0.059346 [component_container_isolated-3] -0.184920 -0.000351 0.982754 0.016850 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.915300725] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.020,10.656,0.007} [component_container_isolated-3] [DEBUG] [1762964973.915332345] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.002,-0.005} {0.028,10.599,0.077} [component_container_isolated-3] [DEBUG] [1762964973.915382461] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.921155456] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.921222564] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.921264825] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.921309981] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000069 0.000053 0.000027 [component_container_isolated-3] -0.000069 1.000000 0.000063 0.000118 [component_container_isolated-3] -0.000053 -0.000063 1.000000 0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.921336081] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.012,0.001} {-0.016,0.018,-0.086} [component_container_isolated-3] [DEBUG] [1762964973.921385315] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.921435451] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.921476238] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981555 0.000113 0.191178 -0.006847 [component_container_isolated-3] -0.001804 0.999961 0.008671 0.060291 [component_container_isolated-3] -0.191170 -0.008856 0.981517 0.016909 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.921501887] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.517,11.021,-0.105} [component_container_isolated-3] [DEBUG] [1762964973.921534870] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.012,-0.001} {-0.484,11.003,-0.017} [component_container_isolated-3] [DEBUG] [1762964973.921584565] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.926722107] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.926778645] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.926817168] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.926860581] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000069 0.000053 0.000027 [component_container_isolated-3] -0.000069 1.000000 0.000063 0.000118 [component_container_isolated-3] -0.000053 -0.000063 1.000000 0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.926886020] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.012,0.001} {-0.020,0.021,-0.090} [component_container_isolated-3] [DEBUG] [1762964973.926966744] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.927013052] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.927054421] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981555 0.000113 0.191178 -0.006847 [component_container_isolated-3] -0.001804 0.999961 0.008671 0.060291 [component_container_isolated-3] -0.191170 -0.008856 0.981517 0.016909 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.927079459] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.517,11.021,-0.105} [component_container_isolated-3] [DEBUG] [1762964973.927112673] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.012,-0.001} {-0.479,11.000,-0.013} [component_container_isolated-3] [DEBUG] [1762964973.927165514] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.928335959] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.928386696] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.928428676] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.928477950] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000116 -0.000224 0.000284 [component_container_isolated-3] -0.000116 1.000000 -0.000020 0.000718 [component_container_isolated-3] 0.000224 0.000020 1.000000 -0.000518 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.928505923] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.012,0.006} {0.011,0.118,0.163} [component_container_isolated-3] [DEBUG] [1762964973.928559175] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.928605734] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.928644127] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 -0.000003 0.203395 -0.006723 [component_container_isolated-3] 0.002408 0.999930 -0.011575 0.059230 [component_container_isolated-3] -0.203381 0.011822 0.979028 0.018691 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.928666460] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.692,11.735,0.141} [component_container_isolated-3] [DEBUG] [1762964973.928696457] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.012,-0.006} {0.647,11.619,-0.027} [component_container_isolated-3] [DEBUG] [1762964973.928745441] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.931409298] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.931465996] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.931510461] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.931557060] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000067 -0.000028 0.000010 [component_container_isolated-3] 0.000067 1.000000 0.000003 -0.000110 [component_container_isolated-3] 0.000028 -0.000003 1.000000 0.000017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.931583922] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.151,0.054,-0.044} [component_container_isolated-3] [DEBUG] [1762964973.931633727] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.931676328] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.931712126] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879424 0.000019 0.476038 -0.001112 [component_container_isolated-3] -0.004722 0.999951 0.008682 0.060258 [component_container_isolated-3] -0.476015 -0.009883 0.879382 0.018261 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.931735321] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.644,28.425,-0.308} [component_container_isolated-3] [DEBUG] [1762964973.931767923] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.469,28.372,-0.257} [component_container_isolated-3] [DEBUG] [1762964973.931820934] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.945993220] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.946050028] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.946089293] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.946134059] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000030 -0.000012 -0.000312 [component_container_isolated-3] -0.000030 1.000000 0.000053 0.000310 [component_container_isolated-3] 0.000012 -0.000053 1.000000 0.000109 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.946159357] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,0.004} {-0.039,0.057,-0.070} [component_container_isolated-3] [DEBUG] [1762964973.946207579] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.946248818] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.946285027] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982756 -0.000168 0.184908 -0.007263 [component_container_isolated-3] 0.000090 1.000000 0.000432 0.059320 [component_container_isolated-3] -0.184908 -0.000408 0.982756 0.016821 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.946307841] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.024,10.656,0.005} [component_container_isolated-3] [DEBUG] [1762964973.946338730] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.002,-0.005} {0.028,10.599,0.077} [component_container_isolated-3] [DEBUG] [1762964973.946398724] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.950974783] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.951035239] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.951074033] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.951118578] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000012 0.000131 -0.000005 [component_container_isolated-3] 0.000012 1.000000 0.000079 -0.000177 [component_container_isolated-3] -0.000131 -0.000079 1.000000 0.000409 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.951143526] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.006} {0.006,0.125,0.164} [component_container_isolated-3] [DEBUG] [1762964973.951190996] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.951235682] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.951274416] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979070 -0.000031 0.203523 -0.006708 [component_container_isolated-3] 0.002421 0.999931 -0.011495 0.059246 [component_container_isolated-3] -0.203509 0.011747 0.979003 0.018698 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.951311016] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.687,11.742,0.142} [component_container_isolated-3] [DEBUG] [1762964973.951345211] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.012,-0.006} {0.647,11.619,-0.027} [component_container_isolated-3] [DEBUG] [1762964973.951397922] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.955699457] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.955754061] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.955792645] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.955835697] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000069 0.000053 0.000027 [component_container_isolated-3] -0.000069 1.000000 0.000063 0.000118 [component_container_isolated-3] -0.000053 -0.000063 1.000000 0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.955860905] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.013,0.001} {-0.024,0.024,-0.094} [component_container_isolated-3] [DEBUG] [1762964973.955909969] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.955984952] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.956026762] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981555 0.000113 0.191178 -0.006847 [component_container_isolated-3] -0.001804 0.999961 0.008671 0.060291 [component_container_isolated-3] -0.191170 -0.008856 0.981517 0.016909 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.956052060] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.517,11.021,-0.105} [component_container_isolated-3] [DEBUG] [1762964973.956085344] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.012,-0.001} {-0.475,10.997,-0.009} [component_container_isolated-3] [DEBUG] [1762964973.956135850] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.961589385] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.961640983] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.961679367] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.961722780] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000055 0.000020 0.000298 [component_container_isolated-3] 0.000055 1.000000 -0.000102 -0.000178 [component_container_isolated-3] -0.000020 0.000102 1.000000 -0.000062 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.961748869] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.145,0.055,-0.041} [component_container_isolated-3] [DEBUG] [1762964973.961796891] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.961839452] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.961879509] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879415 0.000020 0.476056 -0.001066 [component_container_isolated-3] -0.004667 0.999952 0.008580 0.060222 [component_container_isolated-3] -0.476033 -0.009767 0.879373 0.018240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.961903515] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.636,28.427,-0.304} [component_container_isolated-3] [DEBUG] [1762964973.961970943] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.469,28.372,-0.257} [component_container_isolated-3] [DEBUG] [1762964973.962024185] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.975405590] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.975463180] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.975505151] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.975551399] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000004 0.000003 0.000097 [component_container_isolated-3] -0.000004 1.000000 0.000066 -0.000110 [component_container_isolated-3] -0.000003 -0.000066 1.000000 -0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.975579132] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,0.004} {-0.043,0.057,-0.070} [component_container_isolated-3] [DEBUG] [1762964973.975632013] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.975678832] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.975720051] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982755 -0.000176 0.184911 -0.007280 [component_container_isolated-3] 0.000086 1.000000 0.000498 0.059286 [component_container_isolated-3] -0.184912 -0.000474 0.982755 0.016788 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.975744257] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.028,10.656,0.005} [component_container_isolated-3] [DEBUG] [1762964973.975774996] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.002,-0.005} {0.028,10.599,0.077} [component_container_isolated-3] [DEBUG] [1762964973.975824470] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.984492765] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.984544754] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.984585492] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.984628143] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000055 0.000020 0.000298 [component_container_isolated-3] 0.000055 1.000000 -0.000102 -0.000178 [component_container_isolated-3] -0.000020 0.000102 1.000000 -0.000062 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.984653281] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.139,0.056,-0.038} [component_container_isolated-3] [DEBUG] [1762964973.984699860] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.984739175] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.984774974] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879415 0.000020 0.476056 -0.001066 [component_container_isolated-3] -0.004667 0.999952 0.008580 0.060222 [component_container_isolated-3] -0.476033 -0.009767 0.879373 0.018240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.984796425] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.636,28.427,-0.304} [component_container_isolated-3] [DEBUG] [1762964973.984832574] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964973.984887869] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964973.988653270] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964973.988719858] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964973.988761507] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964973.988806383] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000017 -0.000008 0.000069 [component_container_isolated-3] 0.000017 1.000000 -0.000196 0.000104 [component_container_isolated-3] 0.000008 0.000196 1.000000 -0.000370 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964973.988832182] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.006} {0.018,0.125,0.165} [component_container_isolated-3] [DEBUG] [1762964973.988880735] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964973.988953965] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964973.988993420] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979072 -0.000008 0.203515 -0.006699 [component_container_isolated-3] 0.002438 0.999929 -0.011691 0.059269 [component_container_isolated-3] -0.203501 0.011942 0.979002 0.018650 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964973.989017666] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.699,11.742,0.143} [component_container_isolated-3] [DEBUG] [1762964973.989051240] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.012,-0.006} {0.647,11.619,-0.027} [component_container_isolated-3] [DEBUG] [1762964973.989104212] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.008375485] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.008441351] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.008481568] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.008524680] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000032 -0.000150 -0.000478 [component_container_isolated-3] -0.000032 1.000000 -0.000004 0.000274 [component_container_isolated-3] 0.000150 0.000004 1.000000 -0.000322 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.008549798] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.013,0.000} {-0.023,0.016,-0.096} [component_container_isolated-3] [DEBUG] [1762964974.008598271] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.008641403] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.008677632] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981584 0.000146 0.191031 -0.006932 [component_container_isolated-3] -0.001835 0.999961 0.008667 0.060347 [component_container_isolated-3] -0.191022 -0.008858 0.981546 0.016847 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.008700366] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.517,11.012,-0.107} [component_container_isolated-3] [DEBUG] [1762964974.008732988] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.013,-0.001} {-0.475,10.997,-0.009} [component_container_isolated-3] [DEBUG] [1762964974.008783114] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.013033701] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.013086081] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.013129394] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.013174560] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 -0.000037 -0.000106 [component_container_isolated-3] 0.000003 1.000000 -0.000033 0.000094 [component_container_isolated-3] 0.000037 0.000033 1.000000 -0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.013200019] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,0.004} {-0.041,0.055,-0.070} [component_container_isolated-3] [DEBUG] [1762964974.013249453] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.013291213] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.013327141] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982762 -0.000173 0.184876 -0.007309 [component_container_isolated-3] 0.000089 1.000000 0.000466 0.059266 [component_container_isolated-3] -0.184876 -0.000441 0.982762 0.016767 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.013349835] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.026,10.654,0.005} [component_container_isolated-3] [DEBUG] [1762964974.013382147] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.002,-0.005} {0.028,10.599,0.077} [component_container_isolated-3] [DEBUG] [1762964974.013431481] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.026754034] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.026810020] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.026847031] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.026889893] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000017 -0.000008 0.000069 [component_container_isolated-3] 0.000017 1.000000 -0.000196 0.000104 [component_container_isolated-3] 0.000008 0.000196 1.000000 -0.000370 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.026914851] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.012,0.005} {0.029,0.124,0.166} [component_container_isolated-3] [DEBUG] [1762964974.026998811] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.027046352] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.027086458] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979072 -0.000008 0.203515 -0.006699 [component_container_isolated-3] 0.002438 0.999929 -0.011691 0.059269 [component_container_isolated-3] -0.203501 0.011942 0.979002 0.018650 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.027110805] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.699,11.742,0.143} [component_container_isolated-3] [DEBUG] [1762964974.027143888] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.012,-0.006} {0.636,11.619,-0.028} [component_container_isolated-3] [DEBUG] [1762964974.027196338] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.042096995] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.042155326] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.042196445] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.042241711] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000032 -0.000150 -0.000478 [component_container_isolated-3] -0.000032 1.000000 -0.000004 0.000274 [component_container_isolated-3] 0.000150 0.000004 1.000000 -0.000322 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.042268653] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.013,-0.000} {-0.023,0.007,-0.098} [component_container_isolated-3] [DEBUG] [1762964974.042317857] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.042364816] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.042405524] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981584 0.000146 0.191031 -0.006932 [component_container_isolated-3] -0.001835 0.999961 0.008667 0.060347 [component_container_isolated-3] -0.191022 -0.008858 0.981546 0.016847 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.042429670] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.517,11.012,-0.107} [component_container_isolated-3] [DEBUG] [1762964974.042461421] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.013,-0.001} {-0.475,11.006,-0.007} [component_container_isolated-3] [DEBUG] [1762964974.042511747] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.046586048] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.046650531] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.046689756] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.046733079] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000016 -0.000054 -0.000153 [component_container_isolated-3] 0.000016 1.000000 -0.000101 0.000051 [component_container_isolated-3] 0.000054 0.000101 1.000000 -0.000082 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.046757205] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.133,0.053,-0.037} [component_container_isolated-3] [DEBUG] [1762964974.046805697] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.046851264] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.046891070] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879441 0.000054 0.476008 -0.001060 [component_container_isolated-3] -0.004651 0.999953 0.008479 0.060205 [component_container_isolated-3] -0.475986 -0.009671 0.879400 0.018227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.046914585] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.630,28.424,-0.303} [component_container_isolated-3] [DEBUG] [1762964974.046987615] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.047042099] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.048296414] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.048345638] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.048385905] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.048439247] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 -0.000037 -0.000106 [component_container_isolated-3] 0.000003 1.000000 -0.000033 0.000094 [component_container_isolated-3] 0.000037 0.000033 1.000000 -0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.048463053] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,0.004} {-0.039,0.053,-0.070} [component_container_isolated-3] [DEBUG] [1762964974.048505183] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.048540561] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.048585516] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982762 -0.000173 0.184876 -0.007309 [component_container_isolated-3] 0.000089 1.000000 0.000466 0.059266 [component_container_isolated-3] -0.184876 -0.000441 0.982762 0.016767 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.048615854] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.026,10.654,0.005} [component_container_isolated-3] [DEBUG] [1762964974.048649779] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.002,-0.005} {0.026,10.601,0.077} [component_container_isolated-3] [DEBUG] [1762964974.048721506] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.054759457] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.054821566] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.054861512] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.054906709] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000017 -0.000008 0.000069 [component_container_isolated-3] 0.000017 1.000000 -0.000196 0.000104 [component_container_isolated-3] 0.000008 0.000196 1.000000 -0.000370 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.054960080] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.012,0.005} {0.040,0.124,0.167} [component_container_isolated-3] [DEBUG] [1762964974.055013272] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.055058318] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.055098835] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979072 -0.000008 0.203515 -0.006699 [component_container_isolated-3] 0.002438 0.999929 -0.011691 0.059269 [component_container_isolated-3] -0.203501 0.011942 0.979002 0.018650 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.055123172] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.699,11.742,0.143} [component_container_isolated-3] [DEBUG] [1762964974.055157247] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.012,-0.005} {0.624,11.620,-0.029} [component_container_isolated-3] [DEBUG] [1762964974.055222702] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.073402270] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.073458007] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.073496480] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.073538841] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000055 0.000098 -0.000042 [component_container_isolated-3] -0.000055 1.000000 0.000268 0.000081 [component_container_isolated-3] -0.000098 -0.000268 1.000000 0.000114 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.073563548] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.148,0.058,-0.040} [component_container_isolated-3] [DEBUG] [1762964974.073611891] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.073652929] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.073690030] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879394 -0.000025 0.476095 -0.001057 [component_container_isolated-3] -0.004706 0.999951 0.008746 0.060203 [component_container_isolated-3] -0.476071 -0.009932 0.879351 0.018211 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.073713685] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.429,-0.307} [component_container_isolated-3] [DEBUG] [1762964974.073746297] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.073800401] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.086566771] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.086632527] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.086671221] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.086714313] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000041 0.000215 0.000388 [component_container_isolated-3] 0.000041 1.000000 0.000148 -0.000135 [component_container_isolated-3] -0.000215 -0.000148 1.000000 0.000586 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.086739461] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.013,0.000} {-0.032,0.020,-0.095} [component_container_isolated-3] [DEBUG] [1762964974.086797953] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.086849672] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.086890349] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 0.000077 0.191242 -0.006903 [component_container_isolated-3] -0.001796 0.999960 0.008814 0.060367 [component_container_isolated-3] -0.191234 -0.008995 0.981503 0.016888 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.086913964] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.525,11.025,-0.105} [component_container_isolated-3] [DEBUG] [1762964974.086983688] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.013,-0.001} {-0.475,11.006,-0.007} [component_container_isolated-3] [DEBUG] [1762964974.087551833] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.100739318] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.100793010] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.100832876] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.100876229] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000212 -0.000389 0.000190 [component_container_isolated-3] -0.000212 1.000000 0.000195 0.000993 [component_container_isolated-3] 0.000389 -0.000195 1.000000 -0.001396 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.100900586] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.011,0.004} {0.029,0.101,0.155} [component_container_isolated-3] [DEBUG] [1762964974.100986329] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.101029772] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.101068937] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979151 0.000160 0.203134 -0.006771 [component_container_isolated-3] 0.002221 0.999931 -0.011497 0.059635 [component_container_isolated-3] -0.203122 0.011708 0.979083 0.018044 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.101092622] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.685,11.720,0.130} [component_container_isolated-3] [DEBUG] [1762964974.101123181] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.011,-0.004} {0.624,11.620,-0.029} [component_container_isolated-3] [DEBUG] [1762964974.101171623] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.105484891] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.105558882] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.105600321] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.105677178] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000205 0.000331 0.000715 [component_container_isolated-3] -0.000205 1.000000 -0.000002 0.000846 [component_container_isolated-3] -0.000331 0.000002 1.000000 0.000948 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.105708938] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.003,0.005} {-0.039,0.072,-0.082} [component_container_isolated-3] [DEBUG] [1762964974.105764805] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.105810843] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.105848826] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000029 0.185201 -0.007126 [component_container_isolated-3] -0.000116 1.000000 0.000463 0.059462 [component_container_isolated-3] -0.185201 -0.000477 0.982701 0.016939 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.105872140] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.028,10.673,-0.007} [component_container_isolated-3] [DEBUG] [1762964974.105902919] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.003,-0.006} {0.026,10.601,0.077} [component_container_isolated-3] [DEBUG] [1762964974.105986138] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.108778470] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.108832874] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.108877439] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.108954016] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000019 -0.000026 -0.000096 [component_container_isolated-3] -0.000019 1.000000 -0.000011 0.000068 [component_container_isolated-3] 0.000026 0.000011 1.000000 0.000023 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.108982169] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.148,0.057,-0.041} [component_container_isolated-3] [DEBUG] [1762964974.109033528] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.109075558] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.109114442] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879406 -0.000004 0.476072 -0.001060 [component_container_isolated-3] -0.004725 0.999951 0.008736 0.060206 [component_container_isolated-3] -0.476048 -0.009932 0.879363 0.018219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.109138137] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.428,-0.308} [component_container_isolated-3] [DEBUG] [1762964974.109168535] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.109227648] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.110602334] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.110650806] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.110688819] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.110732382] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000205 0.000331 0.000715 [component_container_isolated-3] -0.000205 1.000000 -0.000002 0.000846 [component_container_isolated-3] -0.000331 0.000002 1.000000 0.000948 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.110758031] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.003,0.006} {-0.039,0.091,-0.094} [component_container_isolated-3] [DEBUG] [1762964974.110804650] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.110848925] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.110888951] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000029 0.185201 -0.007126 [component_container_isolated-3] -0.000116 1.000000 0.000463 0.059462 [component_container_isolated-3] -0.185201 -0.000477 0.982701 0.016939 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.110913588] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.028,10.673,-0.007} [component_container_isolated-3] [DEBUG] [1762964974.110968894] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.004,-0.006} {0.029,10.582,0.088} [component_container_isolated-3] [DEBUG] [1762964974.111023879] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.119486320] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.119538489] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.119571192] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.119607882] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000155 -0.000339 0.000283 [component_container_isolated-3] 0.000155 1.000000 -0.000116 -0.000848 [component_container_isolated-3] 0.000339 0.000116 1.000000 -0.000969 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.119628461] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.012,-0.001} {-0.025,0.000,-0.087} [component_container_isolated-3] [DEBUG] [1762964974.119668408] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.119705008] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.119732270] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981608 -0.000053 0.190909 -0.006891 [component_container_isolated-3] -0.001638 0.999961 0.008699 0.060164 [component_container_isolated-3] -0.190902 -0.008852 0.981569 0.016664 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.119749693] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.517,11.005,-0.096} [component_container_isolated-3] [DEBUG] [1762964974.119772266] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.012,-0.000} {-0.475,11.006,-0.007} [component_container_isolated-3] [DEBUG] [1762964974.119810960] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.135034403] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.135098145] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.135136648] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.135179660] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000115 0.000097 0.000093 [component_container_isolated-3] 0.000115 1.000000 -0.000070 -0.000351 [component_container_isolated-3] -0.000097 0.000070 1.000000 0.000155 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.135204057] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.012,0.004} {0.033,0.107,0.161} [component_container_isolated-3] [DEBUG] [1762964974.135251798] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.135293728] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.135329276] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979131 0.000062 0.203229 -0.006747 [component_container_isolated-3] 0.002337 0.999930 -0.011566 0.059704 [component_container_isolated-3] -0.203215 0.011800 0.979063 0.017947 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.135351629] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.691,11.725,0.137} [component_container_isolated-3] [DEBUG] [1762964974.135381987] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.012,-0.005} {0.624,11.620,-0.029} [component_container_isolated-3] [DEBUG] [1762964974.135430159] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.135509340] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.135558714] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.135596557] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.135639358] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000205 0.000331 0.000715 [component_container_isolated-3] -0.000205 1.000000 -0.000002 0.000846 [component_container_isolated-3] -0.000331 0.000002 1.000000 0.000948 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.135663524] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.004,0.007} {-0.039,0.110,-0.105} [component_container_isolated-3] [DEBUG] [1762964974.135711226] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.135753356] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.135788734] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000029 0.185201 -0.007126 [component_container_isolated-3] -0.000116 1.000000 0.000463 0.059462 [component_container_isolated-3] -0.185201 -0.000477 0.982701 0.016939 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.135811838] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.028,10.673,-0.007} [component_container_isolated-3] [DEBUG] [1762964974.135841795] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.005,-0.007} {0.031,10.563,0.100} [component_container_isolated-3] [DEBUG] [1762964974.135891249] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.136503008] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.136553234] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.136592499] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.136635370] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000004 0.000001 0.000054 [component_container_isolated-3] -0.000004 1.000000 -0.000011 -0.000008 [component_container_isolated-3] -0.000001 0.000011 1.000000 -0.000116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.136660629] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.147,0.057,-0.041} [component_container_isolated-3] [DEBUG] [1762964974.136708380] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.136749418] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.136784916] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879406 0.000005 0.476073 -0.001063 [component_container_isolated-3] -0.004729 0.999951 0.008725 0.060206 [component_container_isolated-3] -0.476049 -0.009924 0.879362 0.018210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.136808992] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.428,-0.308} [component_container_isolated-3] [DEBUG] [1762964974.136841915] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.136895477] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.146804661] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.146855528] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.146888191] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.146951371] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000058 0.000146 0.000051 [component_container_isolated-3] -0.000058 1.000000 0.000034 0.000124 [component_container_isolated-3] -0.000146 -0.000034 1.000000 0.000292 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.146973975] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.012,-0.000} {-0.027,0.008,-0.090} [component_container_isolated-3] [DEBUG] [1762964974.147014843] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.147051252] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.147078334] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981580 -0.000003 0.191052 -0.006850 [component_container_isolated-3] -0.001697 0.999960 0.008733 0.060127 [component_container_isolated-3] -0.191045 -0.008896 0.981541 0.016618 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.147096058] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.519,11.014,-0.099} [component_container_isolated-3] [DEBUG] [1762964974.147118350] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.012,-0.001} {-0.475,11.006,-0.007} [component_container_isolated-3] [DEBUG] [1762964974.147157435] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.162719415] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.162769380] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.162800810] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.162834725] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000058 0.000146 0.000051 [component_container_isolated-3] -0.000058 1.000000 0.000034 0.000124 [component_container_isolated-3] -0.000146 -0.000034 1.000000 0.000292 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.162853881] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.012,0.000} {-0.029,0.017,-0.093} [component_container_isolated-3] [DEBUG] [1762964974.162891864] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.162959333] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.162988799] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981580 -0.000003 0.191052 -0.006850 [component_container_isolated-3] -0.001697 0.999960 0.008733 0.060127 [component_container_isolated-3] -0.191045 -0.008896 0.981541 0.016618 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.163006643] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.519,11.014,-0.099} [component_container_isolated-3] [DEBUG] [1762964974.163028855] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.012,-0.001} {-0.472,10.998,-0.004} [component_container_isolated-3] [DEBUG] [1762964974.163068772] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.168702771] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.168757476] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.168796320] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.168839903] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000026 0.000020 -0.000148 [component_container_isolated-3] -0.000026 1.000000 -0.000027 0.000009 [component_container_isolated-3] -0.000020 0.000027 1.000000 0.000072 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.168865051] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.146,0.058,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.168913504] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.169005369] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.169046277] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879396 0.000041 0.476090 -0.001077 [component_container_isolated-3] -0.004756 0.999951 0.008698 0.060208 [component_container_isolated-3] -0.476067 -0.009913 0.879353 0.018221 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.169070233] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.429,-0.310} [component_container_isolated-3] [DEBUG] [1762964974.169102896] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.169154714] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.170240488] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.170306965] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.170348504] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.170393370] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000134 0.000252 -0.000378 [component_container_isolated-3] 0.000134 1.000000 0.000050 -0.000833 [component_container_isolated-3] -0.000252 -0.000050 1.000000 0.000987 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.170419159] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.005} {0.030,0.121,0.169} [component_container_isolated-3] [DEBUG] [1762964974.170468894] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.170512347] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.170552314] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 -0.000080 0.203476 -0.006747 [component_container_isolated-3] 0.002475 0.999931 -0.011516 0.059584 [component_container_isolated-3] -0.203461 0.011779 0.979012 0.018001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.170576440] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.689,11.739,0.145} [component_container_isolated-3] [DEBUG] [1762964974.170606357] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.012,-0.006} {0.624,11.620,-0.029} [component_container_isolated-3] [DEBUG] [1762964974.170655841] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.176028963] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.176086663] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.176127230] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.176172146] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000205 0.000331 0.000715 [component_container_isolated-3] -0.000205 1.000000 -0.000002 0.000846 [component_container_isolated-3] -0.000331 0.000002 1.000000 0.000948 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.176198396] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.005,0.008} {-0.039,0.129,-0.117} [component_container_isolated-3] [DEBUG] [1762964974.176246789] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.176290743] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.176332071] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000029 0.185201 -0.007126 [component_container_isolated-3] -0.000116 1.000000 0.000463 0.059462 [component_container_isolated-3] -0.185201 -0.000477 0.982701 0.016939 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.176356057] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.028,10.673,-0.007} [component_container_isolated-3] [DEBUG] [1762964974.176388950] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.006,-0.008} {0.033,10.544,0.112} [component_container_isolated-3] [DEBUG] [1762964974.176449295] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.176855681] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.176902621] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.176970250] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.177015376] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000134 0.000252 -0.000378 [component_container_isolated-3] 0.000134 1.000000 0.000050 -0.000833 [component_container_isolated-3] -0.000252 -0.000050 1.000000 0.000987 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.177040905] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.006} {0.027,0.136,0.177} [component_container_isolated-3] [DEBUG] [1762964974.177089718] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.177137199] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.177177576] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 -0.000080 0.203476 -0.006747 [component_container_isolated-3] 0.002475 0.999931 -0.011516 0.059584 [component_container_isolated-3] -0.203461 0.011779 0.979012 0.018001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.177199959] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.689,11.739,0.145} [component_container_isolated-3] [DEBUG] [1762964974.177221300] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.007} {0.626,11.606,-0.037} [component_container_isolated-3] [DEBUG] [1762964974.177263130] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.199092068] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.199146532] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.199189133] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.199234279] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000068 0.000022 0.000260 [component_container_isolated-3] -0.000068 1.000000 -0.000040 0.000137 [component_container_isolated-3] -0.000022 0.000040 1.000000 0.000099 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.199260569] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.143,0.059,-0.047} [component_container_isolated-3] [DEBUG] [1762964974.199310625] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.199353878] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.199390337] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879386 0.000120 0.476110 -0.001048 [component_container_isolated-3] -0.004824 0.999951 0.008658 0.060228 [component_container_isolated-3] -0.476086 -0.009910 0.879343 0.018222 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.199413151] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.430,-0.314} [component_container_isolated-3] [DEBUG] [1762964974.199445773] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.199499866] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.207662225] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.207721127] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.207764851] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.207810788] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000039 0.000138 -0.000415 [component_container_isolated-3] 0.000039 1.000000 0.000097 -0.000212 [component_container_isolated-3] -0.000138 -0.000097 1.000000 0.000452 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.207836598] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.012,0.001} {-0.034,0.025,-0.091} [component_container_isolated-3] [DEBUG] [1762964974.207885792] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.207984149] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.208029015] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981554 -0.000059 0.191187 -0.006859 [component_container_isolated-3] -0.001659 0.999960 0.008829 0.060044 [component_container_isolated-3] -0.191180 -0.008984 0.981514 0.016663 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.208054814] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.524,11.022,-0.097} [component_container_isolated-3] [DEBUG] [1762964974.208092095] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.012,-0.001} {-0.472,10.998,-0.004} [component_container_isolated-3] [DEBUG] [1762964974.208149325] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.215999206] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.216057227] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.216096271] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.216138672] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000199 -0.000258 -0.000611 [component_container_isolated-3] 0.000199 1.000000 -0.000003 -0.001003 [component_container_isolated-3] 0.000258 0.000003 1.000000 -0.000950 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.216163891] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.004,0.007} {-0.038,0.114,-0.106} [component_container_isolated-3] [DEBUG] [1762964974.216212443] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.216255205] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.216290683] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982749 -0.000167 0.184947 -0.007207 [component_container_isolated-3] 0.000083 1.000000 0.000460 0.059320 [component_container_isolated-3] -0.184947 -0.000437 0.982748 0.016825 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.216315400] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.025,10.658,0.005} [component_container_isolated-3] [DEBUG] [1762964974.216348283] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.005,-0.007} {0.033,10.544,0.112} [component_container_isolated-3] [DEBUG] [1762964974.216400763] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.217632596] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.217685737] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.217726515] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.217771671] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000134 0.000252 -0.000378 [component_container_isolated-3] 0.000134 1.000000 0.000050 -0.000833 [component_container_isolated-3] -0.000252 -0.000050 1.000000 0.000987 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.217796599] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.007} {0.024,0.150,0.184} [component_container_isolated-3] [DEBUG] [1762964974.217843538] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.217885769] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.217957917] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 -0.000080 0.203476 -0.006747 [component_container_isolated-3] 0.002475 0.999931 -0.011516 0.059584 [component_container_isolated-3] -0.203461 0.011779 0.979012 0.018001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.217985499] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.689,11.739,0.145} [component_container_isolated-3] [DEBUG] [1762964974.218018633] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.008} {0.627,11.591,-0.045} [component_container_isolated-3] [DEBUG] [1762964974.218072987] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.235098872] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.235144289] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.235176991] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.235226746] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000199 -0.000258 -0.000611 [component_container_isolated-3] 0.000199 1.000000 -0.000003 -0.001003 [component_container_isolated-3] 0.000258 0.000003 1.000000 -0.000950 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.235253778] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.003,0.006} {-0.038,0.099,-0.094} [component_container_isolated-3] [DEBUG] [1762964974.235304144] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.235359780] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.235395539] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982749 -0.000167 0.184947 -0.007207 [component_container_isolated-3] 0.000083 1.000000 0.000460 0.059320 [component_container_isolated-3] -0.184947 -0.000437 0.982748 0.016825 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.235418943] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.025,10.658,0.005} [component_container_isolated-3] [DEBUG] [1762964974.235449091] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.004,-0.006} {0.030,10.559,0.101} [component_container_isolated-3] [DEBUG] [1762964974.235502423] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.236705791] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.236767158] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.236805591] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.236844776] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000108 -0.000040 -0.000222 [component_container_isolated-3] 0.000108 1.000000 0.000023 -0.000068 [component_container_isolated-3] 0.000040 -0.000023 1.000000 -0.000121 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.236866678] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.145,0.057,-0.041} [component_container_isolated-3] [DEBUG] [1762964974.236907987] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.236980465] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.237012617] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879405 0.000014 0.476075 -0.001070 [component_container_isolated-3] -0.004716 0.999951 0.008681 0.060234 [component_container_isolated-3] -0.476052 -0.009879 0.879362 0.018227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.237031232] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.428,-0.307} [component_container_isolated-3] [DEBUG] [1762964974.237053244] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.237093441] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.245313449] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.245366621] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.245407339] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.245453366] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000033 0.000001 -0.000095 [component_container_isolated-3] -0.000033 1.000000 -0.000044 0.000396 [component_container_isolated-3] -0.000001 0.000044 1.000000 0.000329 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.245479416] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.013,0.001} {-0.032,0.025,-0.093} [component_container_isolated-3] [DEBUG] [1762964974.245530394] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.245578495] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.245618462] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981553 -0.000019 0.191188 -0.006861 [component_container_isolated-3] -0.001692 0.999960 0.008786 0.060028 [component_container_isolated-3] -0.191180 -0.008947 0.981514 0.016763 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.245643019] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.522,11.022,-0.099} [component_container_isolated-3] [DEBUG] [1762964974.245677535] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.013,-0.002} {-0.472,10.998,-0.004} [component_container_isolated-3] [DEBUG] [1762964974.245729233] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.275428141] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.275480050] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.275523253] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.275568309] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000033 0.000001 -0.000095 [component_container_isolated-3] -0.000033 1.000000 -0.000044 0.000396 [component_container_isolated-3] -0.000001 0.000044 1.000000 0.000329 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.275593908] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.013,0.001} {-0.029,0.025,-0.095} [component_container_isolated-3] [DEBUG] [1762964974.275642581] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.275686234] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.275721652] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981553 -0.000019 0.191188 -0.006861 [component_container_isolated-3] -0.001692 0.999960 0.008786 0.060028 [component_container_isolated-3] -0.191180 -0.008947 0.981514 0.016763 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.275744826] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.522,11.022,-0.099} [component_container_isolated-3] [DEBUG] [1762964974.275776286] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.013,-0.002} {-0.474,10.998,-0.002} [component_container_isolated-3] [DEBUG] [1762964974.275828686] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.280816762] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.280871046] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.280909169] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.280995373] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000199 -0.000258 -0.000611 [component_container_isolated-3] 0.000199 1.000000 -0.000003 -0.001003 [component_container_isolated-3] 0.000258 0.000003 1.000000 -0.000950 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.281021984] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.002,0.005} {-0.038,0.085,-0.083} [component_container_isolated-3] [DEBUG] [1762964974.281075456] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.281101967] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.281161280] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.281122997] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.281248597] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982749 -0.000167 0.184947 -0.007207 [component_container_isolated-3] 0.000083 1.000000 0.000460 0.059320 [component_container_isolated-3] -0.184947 -0.000437 0.982748 0.016825 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.281272172] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.025,10.658,0.005} [component_container_isolated-3] [DEBUG] [1762964974.281303732] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.003,-0.006} {0.028,10.573,0.089} [component_container_isolated-3] [DEBUG] [1762964974.281207538] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.281359799] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.281413452] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000000 -0.000018 0.000046 [component_container_isolated-3] -0.000000 1.000000 0.000033 -0.000054 [component_container_isolated-3] 0.000018 -0.000033 1.000000 0.000014 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.281482493] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.147,0.056,-0.041} [component_container_isolated-3] [DEBUG] [1762964974.281537679] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.281582414] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.281620527] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879413 -0.000001 0.476059 -0.001076 [component_container_isolated-3] -0.004716 0.999951 0.008714 0.060235 [component_container_isolated-3] -0.476036 -0.009908 0.879370 0.018227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.281643741] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.427,-0.307} [component_container_isolated-3] [DEBUG] [1762964974.281675061] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.281725838] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.285292991] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.285339089] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.285383173] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.285423901] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000109 0.000045 -0.000020 [component_container_isolated-3] 0.000109 1.000000 0.000137 -0.000233 [component_container_isolated-3] -0.000045 -0.000137 1.000000 0.000920 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.285443288] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.008} {0.016,0.153,0.191} [component_container_isolated-3] [DEBUG] [1762964974.285482512] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.285521297] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.285566924] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 -0.000214 0.203520 -0.006692 [component_container_isolated-3] 0.002584 0.999932 -0.011379 0.059484 [component_container_isolated-3] -0.203503 0.011667 0.979005 0.018317 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.285592623] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.683,11.742,0.151} [component_container_isolated-3] [DEBUG] [1762964974.285622780] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.008} {0.627,11.591,-0.045} [component_container_isolated-3] [DEBUG] [1762964974.285675441] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.291465178] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.291525643] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.291574016] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.291631085] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000109 0.000045 -0.000020 [component_container_isolated-3] 0.000109 1.000000 0.000137 -0.000233 [component_container_isolated-3] -0.000045 -0.000137 1.000000 0.000920 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.291667524] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.015,0.009} {0.009,0.155,0.197} [component_container_isolated-3] [DEBUG] [1762964974.291732128] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.291794787] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.291845895] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 -0.000214 0.203520 -0.006692 [component_container_isolated-3] 0.002584 0.999932 -0.011379 0.059484 [component_container_isolated-3] -0.203503 0.011667 0.979005 0.018317 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.291878066] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.683,11.742,0.151} [component_container_isolated-3] [DEBUG] [1762964974.291917682] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.009} {0.633,11.589,-0.052} [component_container_isolated-3] [DEBUG] [1762964974.292009347] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.298215229] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.298269262] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.298310561] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.298355587] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000033 0.000001 -0.000095 [component_container_isolated-3] -0.000033 1.000000 -0.000044 0.000396 [component_container_isolated-3] -0.000001 0.000044 1.000000 0.000329 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.298380454] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.013,0.002} {-0.027,0.025,-0.097} [component_container_isolated-3] [DEBUG] [1762964974.298429047] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.298471959] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.298507888] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981553 -0.000019 0.191188 -0.006861 [component_container_isolated-3] -0.001692 0.999960 0.008786 0.060028 [component_container_isolated-3] -0.191180 -0.008947 0.981514 0.016763 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.298531443] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.522,11.022,-0.099} [component_container_isolated-3] [DEBUG] [1762964974.298563063] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.002} {-0.477,10.998,-0.000} [component_container_isolated-3] [DEBUG] [1762964974.298617146] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.306015986] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.306063126] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.306099947] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.306154401] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000001 -0.000005 0.000070 [component_container_isolated-3] -0.000001 1.000000 -0.000018 -0.000055 [component_container_isolated-3] 0.000005 0.000018 1.000000 -0.000073 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.306183246] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.145,0.056,-0.041} [component_container_isolated-3] [DEBUG] [1762964974.306234414] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.306280812] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.306317703] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879415 0.000008 0.476055 -0.001077 [component_container_isolated-3] -0.004716 0.999951 0.008695 0.060229 [component_container_isolated-3] -0.476032 -0.009892 0.879372 0.018218 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.306340576] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.427,-0.307} [component_container_isolated-3] [DEBUG] [1762964974.306370834] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.306427572] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.318748492] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.318825259] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.318867680] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.318913798] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000172 0.000248 0.000486 [component_container_isolated-3] -0.000172 1.000000 0.000110 0.001073 [component_container_isolated-3] -0.000248 -0.000110 1.000000 0.000996 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.318987148] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.003,0.006} {-0.044,0.099,-0.093} [component_container_isolated-3] [DEBUG] [1762964974.319039348] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.319084594] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.319124941] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 -0.000018 0.185191 -0.007100 [component_container_isolated-3] -0.000089 1.000000 0.000570 0.059532 [component_container_isolated-3] -0.185191 -0.000577 0.982702 0.016991 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.319151342] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.034,10.672,-0.005} [component_container_isolated-3] [DEBUG] [1762964974.319183654] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.004,-0.006} {0.028,10.573,0.089} [component_container_isolated-3] [DEBUG] [1762964974.319233549] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.337205491] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.337258753] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.337297106] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.337340539] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000033 0.000001 -0.000095 [component_container_isolated-3] -0.000033 1.000000 -0.000044 0.000396 [component_container_isolated-3] -0.000001 0.000044 1.000000 0.000329 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.337365486] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.014,0.002} {-0.024,0.025,-0.098} [component_container_isolated-3] [DEBUG] [1762964974.337412817] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.337457823] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.337497509] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981553 -0.000019 0.191188 -0.006861 [component_container_isolated-3] -0.001692 0.999960 0.008786 0.060028 [component_container_isolated-3] -0.191180 -0.008947 0.981514 0.016763 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.337520583] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.522,11.022,-0.099} [component_container_isolated-3] [DEBUG] [1762964974.337553586] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.003} {-0.479,10.998,0.002} [component_container_isolated-3] [DEBUG] [1762964974.337605264] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.341337602] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.341413698] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.341457301] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.341505583] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000159 0.000294 -0.000112 [component_container_isolated-3] -0.000159 1.000000 0.000028 0.000694 [component_container_isolated-3] -0.000294 -0.000028 1.000000 0.000537 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.341535139] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.009} {0.007,0.172,0.188} [component_container_isolated-3] [DEBUG] [1762964974.341586778] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.341633587] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.341672923] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979011 -0.000064 0.203807 -0.006636 [component_container_isolated-3] 0.002428 0.999933 -0.011351 0.059541 [component_container_isolated-3] -0.203793 0.011607 0.978945 0.018625 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.341696518] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.679,11.759,0.142} [component_container_isolated-3] [DEBUG] [1762964974.341726745] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.009} {0.633,11.589,-0.052} [component_container_isolated-3] [DEBUG] [1762964974.341774807] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.344043299] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.344093365] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.344130486] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.344174109] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000006 0.000052 0.000017 [component_container_isolated-3] 0.000006 1.000000 -0.000009 0.000044 [component_container_isolated-3] -0.000052 0.000009 1.000000 0.000082 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.344199137] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.145,0.059,-0.040} [component_container_isolated-3] [DEBUG] [1762964974.344257198] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.344302044] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.344340106] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879391 0.000007 0.476100 -0.001072 [component_container_isolated-3] -0.004711 0.999951 0.008686 0.060228 [component_container_isolated-3] -0.476077 -0.009881 0.879348 0.018217 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.344362840] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.430,-0.307} [component_container_isolated-3] [DEBUG] [1762964974.344392757] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.344445608] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.350118241] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.350172665] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.350210487] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.350256094] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000159 0.000294 -0.000112 [component_container_isolated-3] -0.000159 1.000000 0.000028 0.000694 [component_container_isolated-3] -0.000294 -0.000028 1.000000 0.000537 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.350281723] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {0.005,0.189,0.179} [component_container_isolated-3] [DEBUG] [1762964974.350333392] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.350379981] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.350419677] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979011 -0.000064 0.203807 -0.006636 [component_container_isolated-3] 0.002428 0.999933 -0.011351 0.059541 [component_container_isolated-3] -0.203793 0.011607 0.978945 0.018625 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.350444164] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.679,11.759,0.142} [component_container_isolated-3] [DEBUG] [1762964974.350475694] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.010} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.350526190] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.359427019] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.359494538] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.359536047] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.359580983] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000084 -0.000333 -0.000849 [component_container_isolated-3] 0.000084 1.000000 0.000037 -0.000729 [component_container_isolated-3] 0.000333 -0.000037 1.000000 -0.000974 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.359608114] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.002,0.005} {-0.046,0.080,-0.088} [component_container_isolated-3] [DEBUG] [1762964974.359666235] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.359716301] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.359757600] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982764 -0.000108 0.184864 -0.007288 [component_container_isolated-3] -0.000005 1.000000 0.000607 0.059480 [component_container_isolated-3] -0.184864 -0.000597 0.982764 0.016883 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.359782818] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.035,10.653,-0.000} [component_container_isolated-3] [DEBUG] [1762964974.359821322] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.003,-0.006} {0.028,10.573,0.089} [component_container_isolated-3] [DEBUG] [1762964974.359874844] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.368746737] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.368804357] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.368841708] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.368883538] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000072 -0.000027 -0.000062 [component_container_isolated-3] -0.000072 1.000000 -0.000009 0.000031 [component_container_isolated-3] 0.000027 0.000009 1.000000 -0.000054 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.368907173] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.144,0.057,-0.044} [component_container_isolated-3] [DEBUG] [1762964974.368994901] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.369041179] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.369082188] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879404 0.000074 0.476077 -0.001074 [component_container_isolated-3] -0.004782 0.999951 0.008678 0.060232 [component_container_isolated-3] -0.476053 -0.009908 0.879361 0.018212 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.369105953] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.428,-0.312} [component_container_isolated-3] [DEBUG] [1762964974.369136842] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.369186106] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.378853539] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.378948049] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.378998806] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.379046166] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000029 0.000071 0.000163 [component_container_isolated-3] 0.000029 1.000000 0.000047 -0.000201 [component_container_isolated-3] -0.000071 -0.000047 1.000000 0.000105 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.379073469] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.014,0.002} {-0.027,0.029,-0.097} [component_container_isolated-3] [DEBUG] [1762964974.379125378] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.379168811] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.379205601] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981540 -0.000056 0.191257 -0.006847 [component_container_isolated-3] -0.001664 0.999960 0.008832 0.059993 [component_container_isolated-3] -0.191250 -0.008988 0.981500 0.016830 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.379230909] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.525,11.026,-0.097} [component_container_isolated-3] [DEBUG] [1762964974.379265215] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.003} {-0.479,10.998,0.002} [component_container_isolated-3] [DEBUG] [1762964974.379352752] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.383528246] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.383584564] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.383623498] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.383667342] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000116 0.000272 0.000645 [component_container_isolated-3] -0.000116 1.000000 -0.000116 0.000900 [component_container_isolated-3] -0.000272 0.000116 1.000000 0.000987 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.383691368] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.003,0.006} {-0.040,0.095,-0.095} [component_container_isolated-3] [DEBUG] [1762964974.383739510] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.383793473] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.383831976] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000027 0.185131 -0.007199 [component_container_isolated-3] -0.000120 1.000000 0.000491 0.059676 [component_container_isolated-3] -0.185131 -0.000505 0.982714 0.017052 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.383854990] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.669,-0.007} [component_container_isolated-3] [DEBUG] [1762964974.383887642] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.004,-0.006} {0.028,10.573,0.089} [component_container_isolated-3] [DEBUG] [1762964974.383960351] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.396949007] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.397002419] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.397040812] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.397093292] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000029 0.000071 0.000163 [component_container_isolated-3] 0.000029 1.000000 0.000047 -0.000201 [component_container_isolated-3] -0.000071 -0.000047 1.000000 0.000105 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.397120965] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.013,0.002} {-0.030,0.033,-0.095} [component_container_isolated-3] [DEBUG] [1762964974.397171702] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.397216808] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.397254159] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981540 -0.000056 0.191257 -0.006847 [component_container_isolated-3] -0.001664 0.999960 0.008832 0.059993 [component_container_isolated-3] -0.191250 -0.008988 0.981500 0.016830 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.397277995] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.525,11.026,-0.097} [component_container_isolated-3] [DEBUG] [1762964974.397308984] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.003} {-0.476,10.994,0.000} [component_container_isolated-3] [DEBUG] [1762964974.397361394] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.399842703] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.399897187] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.399972601] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.400021063] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000089 -0.000308 0.000281 [component_container_isolated-3] 0.000089 1.000000 -0.000127 -0.000456 [component_container_isolated-3] 0.000308 0.000127 1.000000 -0.001026 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.400051081] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.009} {0.013,0.171,0.184} [component_container_isolated-3] [DEBUG] [1762964974.400113149] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.400161411] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.400202229] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979074 -0.000125 0.203505 -0.006626 [component_container_isolated-3] 0.002513 0.999931 -0.011479 0.059490 [component_container_isolated-3] -0.203490 0.011750 0.979007 0.018604 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.400225774] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.741,0.147} [component_container_isolated-3] [DEBUG] [1762964974.400257555] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.009} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.400306308] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.400729346] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.400779261] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.400821833] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.400870245] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000029 0.000021 -0.000071 [component_container_isolated-3] 0.000029 1.000000 0.000136 -0.000022 [component_container_isolated-3] -0.000022 -0.000136 1.000000 -0.000009 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.400897327] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.152,0.059,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.400980766] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.401025081] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.401061691] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879394 -0.000016 0.476095 -0.001090 [component_container_isolated-3] -0.004753 0.999950 0.008813 0.060234 [component_container_isolated-3] -0.476072 -0.010013 0.879349 0.018207 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.401084414] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.652,28.429,-0.310} [component_container_isolated-3] [DEBUG] [1762964974.401114502] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.401162914] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.406665913] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.406731419] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.406770032] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.406813956] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000211 -0.000310 -0.000334 [component_container_isolated-3] 0.000211 1.000000 0.000002 -0.001128 [component_container_isolated-3] 0.000310 -0.000002 1.000000 -0.001018 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.406838042] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.002,0.005} {-0.040,0.078,-0.082} [component_container_isolated-3] [DEBUG] [1762964974.406889230] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.406965415] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.407007295] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982771 -0.000181 0.184827 -0.007271 [component_container_isolated-3] 0.000091 1.000000 0.000493 0.059494 [component_container_isolated-3] -0.184827 -0.000468 0.982771 0.016898 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.407031632] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.027,10.651,0.005} [component_container_isolated-3] [DEBUG] [1762964974.407062451] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.003,-0.005} {0.028,10.573,0.089} [component_container_isolated-3] [DEBUG] [1762964974.407112316] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.420872865] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.420978066] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.421022210] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.421071785] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000105 0.000244 -0.001075 [component_container_isolated-3] -0.000105 1.000000 0.000061 -0.000046 [component_container_isolated-3] -0.000244 -0.000061 1.000000 0.001206 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.421098907] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.014,0.010} {0.009,0.185,0.178} [component_container_isolated-3] [DEBUG] [1762964974.421151027] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.421198036] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.421236279] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979024 -0.000035 0.203745 -0.006834 [component_container_isolated-3] 0.002412 0.999932 -0.011417 0.059455 [component_container_isolated-3] -0.203731 0.011669 0.978957 0.019014 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.421258883] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.683,11.755,0.141} [component_container_isolated-3] [DEBUG] [1762964974.421289601] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.010} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.421339416] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.428537844] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.428601846] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.428640951] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.428683742] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000002 -0.000030 -0.000025 [component_container_isolated-3] -0.000002 1.000000 -0.000026 0.000004 [component_container_isolated-3] 0.000030 0.000026 1.000000 -0.000050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.428708610] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.151,0.057,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.428757493] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.428797960] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.428832677] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879408 -0.000002 0.476069 -0.001104 [component_container_isolated-3] -0.004755 0.999950 0.008787 0.060234 [component_container_isolated-3] -0.476045 -0.009991 0.879364 0.018205 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.428856683] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.651,28.427,-0.310} [component_container_isolated-3] [DEBUG] [1762964974.428890207] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.001,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.428973285] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.439568900] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.439639505] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.439682868] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.439728706] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000058 -0.000060 -0.000144 [component_container_isolated-3] -0.000058 1.000000 -0.000034 0.000343 [component_container_isolated-3] 0.000060 0.000034 1.000000 -0.000055 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.439755547] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.014,0.002} {-0.028,0.029,-0.099} [component_container_isolated-3] [DEBUG] [1762964974.439806584] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.439852462] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.439888561] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981551 0.000008 0.191198 -0.006853 [component_container_isolated-3] -0.001722 0.999960 0.008798 0.060012 [component_container_isolated-3] -0.191191 -0.008965 0.981512 0.016873 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.439913218] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.523,11.022,-0.100} [component_container_isolated-3] [DEBUG] [1762964974.439968604] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.003} {-0.476,10.994,0.000} [component_container_isolated-3] [DEBUG] [1762964974.440021695] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.443109682] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.443166631] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.443209743] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.443254349] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000013 0.000024 -0.000013 [component_container_isolated-3] -0.000013 1.000000 0.000062 0.000010 [component_container_isolated-3] -0.000024 -0.000062 1.000000 -0.000007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.443281260] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.002,0.005} {-0.044,0.079,-0.083} [component_container_isolated-3] [DEBUG] [1762964974.443330504] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.443372474] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.443408202] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982767 -0.000179 0.184850 -0.007295 [component_container_isolated-3] 0.000078 1.000000 0.000555 0.059443 [component_container_isolated-3] -0.184850 -0.000531 0.982767 0.016846 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.443430174] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.031,10.652,0.005} [component_container_isolated-3] [DEBUG] [1762964974.443459961] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.003,-0.006} {0.028,10.573,0.089} [component_container_isolated-3] [DEBUG] [1762964974.443510688] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.452749382] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.452813394] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.452855775] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.452902043] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000088 -0.000338 0.000676 [component_container_isolated-3] 0.000088 1.000000 -0.000201 -0.000036 [component_container_isolated-3] 0.000338 0.000201 1.000000 -0.001443 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.452953351] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.008} {0.021,0.166,0.183} [component_container_isolated-3] [DEBUG] [1762964974.453006232] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.453049214] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.453086325] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979093 -0.000080 0.203414 -0.006885 [component_container_isolated-3] 0.002495 0.999930 -0.011619 0.059425 [component_container_isolated-3] -0.203399 0.011883 0.979024 0.018800 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.453111383] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.736,0.146} [component_container_isolated-3] [DEBUG] [1762964974.453141731] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.009} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.453191175] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.458973719] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.459040516] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.459080613] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.459126861] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000058 -0.000060 -0.000144 [component_container_isolated-3] -0.000058 1.000000 -0.000034 0.000343 [component_container_isolated-3] 0.000060 0.000034 1.000000 -0.000055 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.459154143] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.014,0.002} {-0.026,0.026,-0.102} [component_container_isolated-3] [DEBUG] [1762964974.459207024] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.459255026] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.459294892] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981551 0.000008 0.191198 -0.006853 [component_container_isolated-3] -0.001722 0.999960 0.008798 0.060012 [component_container_isolated-3] -0.191191 -0.008965 0.981512 0.016873 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.459320451] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.523,11.022,-0.100} [component_container_isolated-3] [DEBUG] [1762964974.459353414] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.003} {-0.478,10.997,0.003} [component_container_isolated-3] [DEBUG] [1762964974.459403560] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.464081904] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.464142620] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.464186344] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.464233163] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000053 -0.000054 -0.000008 [component_container_isolated-3] -0.000053 1.000000 -0.000020 0.000132 [component_container_isolated-3] 0.000054 0.000020 1.000000 -0.000063 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.464260876] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.150,0.054,-0.046} [component_container_isolated-3] [DEBUG] [1762964974.464310340] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.464352591] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.464388299] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879434 0.000054 0.476021 -0.001119 [component_container_isolated-3] -0.004807 0.999950 0.008767 0.060252 [component_container_isolated-3] -0.475997 -0.009999 0.879390 0.018195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.464411123] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.651,28.424,-0.313} [component_container_isolated-3] [DEBUG] [1762964974.464442102] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.464492077] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.480396030] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.480462257] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.480504598] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.480549593] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000249 0.000271 0.000510 [component_container_isolated-3] -0.000249 1.000000 -0.000024 0.001005 [component_container_isolated-3] -0.000271 0.000024 1.000000 0.001009 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.480575723] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.003,0.006} {-0.042,0.095,-0.097} [component_container_isolated-3] [DEBUG] [1762964974.480625358] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.480668721] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.480705211] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 0.000070 0.185117 -0.007166 [component_container_isolated-3] -0.000171 1.000000 0.000532 0.059639 [component_container_isolated-3] -0.185116 -0.000554 0.982716 0.017022 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.480728695] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.032,10.668,-0.010} [component_container_isolated-3] [DEBUG] [1762964974.480763231] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.004,-0.006} {0.028,10.573,0.089} [component_container_isolated-3] [DEBUG] [1762964974.480814399] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.490378845] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.490445382] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.490484487] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.490528992] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000021 -0.000142 0.000259 [component_container_isolated-3] 0.000021 1.000000 -0.000066 0.000023 [component_container_isolated-3] 0.000142 0.000066 1.000000 -0.000787 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.490554230] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.008} {0.025,0.158,0.184} [component_container_isolated-3] [DEBUG] [1762964974.490602442] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.490643591] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.490680932] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979122 -0.000087 0.203274 -0.006914 [component_container_isolated-3] 0.002515 0.999929 -0.011685 0.059407 [component_container_isolated-3] -0.203259 0.011953 0.979052 0.018439 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.490702794] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.699,11.728,0.147} [component_container_isolated-3] [DEBUG] [1762964974.490732801] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.008} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.490781304] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.494146580] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.494197297] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.494235751] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.494278803] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000249 0.000271 0.000510 [component_container_isolated-3] -0.000249 1.000000 -0.000024 0.001005 [component_container_isolated-3] -0.000271 0.000024 1.000000 0.001009 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.494303911] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.004,0.007} {-0.041,0.110,-0.112} [component_container_isolated-3] [DEBUG] [1762964974.494351221] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.494397249] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.494437436] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 0.000070 0.185117 -0.007166 [component_container_isolated-3] -0.000171 1.000000 0.000532 0.059639 [component_container_isolated-3] -0.185116 -0.000554 0.982716 0.017022 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.494459248] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.032,10.668,-0.010} [component_container_isolated-3] [DEBUG] [1762964974.494490217] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.005,-0.007} {0.029,10.558,0.104} [component_container_isolated-3] [DEBUG] [1762964974.494540903] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.497784117] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.497841637] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.497882355] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.497958771] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000024 0.000088 -0.000035 [component_container_isolated-3] 0.000024 1.000000 0.000062 0.000011 [component_container_isolated-3] -0.000088 -0.000062 1.000000 0.000059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.497985452] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.153,0.059,-0.044} [component_container_isolated-3] [DEBUG] [1762964974.498034796] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.498075654] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.498111322] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879392 0.000004 0.476099 -0.001136 [component_container_isolated-3] -0.004784 0.999950 0.008829 0.060266 [component_container_isolated-3] -0.476074 -0.010042 0.879348 0.018192 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.498132633] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.654,28.429,-0.312} [component_container_isolated-3] [DEBUG] [1762964974.498163231] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.498211183] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.522558390] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.522622863] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.522663812] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.522709639] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000026 0.000355 -0.000193 [component_container_isolated-3] -0.000026 1.000000 0.000170 -0.000276 [component_container_isolated-3] -0.000355 -0.000170 1.000000 0.001252 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.522734967] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.009} {0.015,0.178,0.182} [component_container_isolated-3] [DEBUG] [1762964974.522783971] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.522827053] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.522862501] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979050 -0.000096 0.203622 -0.006878 [component_container_isolated-3] 0.002493 0.999931 -0.011515 0.059332 [component_container_isolated-3] -0.203606 0.011781 0.978982 0.018555 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.522887138] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.748,0.146} [component_container_isolated-3] [DEBUG] [1762964974.522947543] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.009} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.523002508] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.532575570] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.532638390] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.532681393] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.532726118] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000043 -0.000040 0.000061 [component_container_isolated-3] 0.000043 1.000000 -0.000115 -0.000014 [component_container_isolated-3] 0.000040 0.000115 1.000000 0.000008 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.532752308] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.147,0.056,-0.042} [component_container_isolated-3] [DEBUG] [1762964974.532805620] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.532847019] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.532882206] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 0.000021 0.476063 -0.001144 [component_container_isolated-3] -0.004741 0.999951 0.008714 0.060274 [component_container_isolated-3] -0.476040 -0.009920 0.879368 0.018197 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.532904879] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.427,-0.309} [component_container_isolated-3] [DEBUG] [1762964974.532971176] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.533023947] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.533727210] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.533780351] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.533822271] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.533868119] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000064 -0.000085 0.000281 [component_container_isolated-3] 0.000064 1.000000 -0.000126 -0.000383 [component_container_isolated-3] 0.000085 0.000126 1.000000 -0.000380 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.533893327] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.014,0.002} {-0.019,0.021,-0.098} [component_container_isolated-3] [DEBUG] [1762964974.533960395] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.534005732] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.534041971] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981568 -0.000031 0.191115 -0.006831 [component_container_isolated-3] -0.001657 0.999961 0.008672 0.059958 [component_container_isolated-3] -0.191108 -0.008829 0.981529 0.016869 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.534064374] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.515,11.017,-0.097} [component_container_isolated-3] [DEBUG] [1762964974.534094842] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.002} {-0.478,10.997,0.003} [component_container_isolated-3] [DEBUG] [1762964974.534142844] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.539944213] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.540006622] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.540045296] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.540087607] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000064 -0.000085 0.000281 [component_container_isolated-3] 0.000064 1.000000 -0.000126 -0.000383 [component_container_isolated-3] 0.000085 0.000126 1.000000 -0.000380 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.540111452] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.013,0.001} {-0.011,0.016,-0.095} [component_container_isolated-3] [DEBUG] [1762964974.540158422] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.540200793] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.540236200] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981568 -0.000031 0.191115 -0.006831 [component_container_isolated-3] -0.001657 0.999961 0.008672 0.059958 [component_container_isolated-3] -0.191108 -0.008829 0.981529 0.016869 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.540260206] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.515,11.017,-0.097} [component_container_isolated-3] [DEBUG] [1762964974.540293169] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.002} {-0.486,11.002,-0.000} [component_container_isolated-3] [DEBUG] [1762964974.540346521] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.548560869] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.548620062] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.548660068] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.548705204] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000239 -0.000319 -0.000716 [component_container_isolated-3] 0.000239 1.000000 -0.000060 -0.000833 [component_container_isolated-3] 0.000319 0.000060 1.000000 -0.000999 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.548730593] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.003,0.006} {-0.037,0.092,-0.098} [component_container_isolated-3] [DEBUG] [1762964974.548783183] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.548830554] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.548870560] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982776 -0.000154 0.184803 -0.007309 [component_container_isolated-3] 0.000068 1.000000 0.000471 0.059543 [component_container_isolated-3] -0.184803 -0.000451 0.982776 0.016895 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.548894756] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.026,10.650,0.004} [component_container_isolated-3] [DEBUG] [1762964974.548952236] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.004,-0.006} {0.029,10.558,0.104} [component_container_isolated-3] [DEBUG] [1762964974.549005428] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.558244181] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.558304697] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.558346647] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.558393346] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000100 -0.000251 0.000022 [component_container_isolated-3] -0.000101 1.000000 -0.000249 0.000265 [component_container_isolated-3] 0.000251 0.000249 1.000000 -0.000583 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.558420117] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.008} {0.029,0.164,0.177} [component_container_isolated-3] [DEBUG] [1762964974.558469041] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.558514989] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.558555556] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979101 0.000053 0.203376 -0.006883 [component_container_isolated-3] 0.002390 0.999928 -0.011765 0.059310 [component_container_isolated-3] -0.203362 0.012005 0.979030 0.018502 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.558580013] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.703,11.734,0.140} [component_container_isolated-3] [DEBUG] [1762964974.558610982] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.009} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.558660196] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.567564721] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.567623193] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.567662528] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.567707454] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000060 0.000069 0.000038 [component_container_isolated-3] -0.000060 1.000000 0.000047 0.000054 [component_container_isolated-3] -0.000069 -0.000047 1.000000 0.000176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.567732742] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.149,0.060,-0.045} [component_container_isolated-3] [DEBUG] [1762964974.567781255] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.567824578] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.567864113] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879378 0.000052 0.476124 -0.001134 [component_container_isolated-3] -0.004802 0.999950 0.008760 0.060291 [component_container_isolated-3] -0.476099 -0.009990 0.879335 0.018209 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.567888339] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.651,28.431,-0.313} [component_container_isolated-3] [DEBUG] [1762964974.567953714] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.477,28.371,-0.261} [component_container_isolated-3] [DEBUG] [1762964974.568008098] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.577347244] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.577415374] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.577459087] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.577503141] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000007 0.000229 0.000200 [component_container_isolated-3] -0.000007 1.000000 0.000217 0.000134 [component_container_isolated-3] -0.000229 -0.000217 1.000000 0.000111 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.577528169] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.013,0.001} {-0.024,0.029,-0.095} [component_container_isolated-3] [DEBUG] [1762964974.577578245] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.577621477] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.577657937] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 -0.000065 0.191340 -0.006776 [component_container_isolated-3] -0.001667 0.999959 0.008888 0.059948 [component_container_isolated-3] -0.191333 -0.009043 0.981484 0.016858 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.577680550] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.528,11.031,-0.097} [component_container_isolated-3] [DEBUG] [1762964974.577713663] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.002} {-0.486,11.002,-0.000} [component_container_isolated-3] [DEBUG] [1762964974.577765322] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.584435029] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.584511896] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.584552564] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.584597820] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000009 0.000069 0.000226 [component_container_isolated-3] -0.000009 1.000000 -0.000003 -0.000167 [component_container_isolated-3] -0.000069 0.000003 1.000000 -0.000006 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.584622528] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.003,0.006} {-0.037,0.096,-0.099} [component_container_isolated-3] [DEBUG] [1762964974.584674106] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.584719393] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.584759038] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982763 -0.000144 0.184870 -0.007328 [component_container_isolated-3] 0.000059 1.000000 0.000468 0.059471 [component_container_isolated-3] -0.184870 -0.000449 0.982763 0.016848 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.584783465] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.026,10.654,0.003} [component_container_isolated-3] [DEBUG] [1762964974.584815436] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.004,-0.006} {0.029,10.558,0.104} [component_container_isolated-3] [DEBUG] [1762964974.584866013] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.596573231] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.596637483] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.596676528] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.596719019] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000060 0.000069 0.000038 [component_container_isolated-3] -0.000060 1.000000 0.000047 0.000054 [component_container_isolated-3] -0.000069 -0.000047 1.000000 0.000176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.596743315] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.152,0.064,-0.049} [component_container_isolated-3] [DEBUG] [1762964974.596790335] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.596830933] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.596865409] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879378 0.000052 0.476124 -0.001134 [component_container_isolated-3] -0.004802 0.999950 0.008760 0.060291 [component_container_isolated-3] -0.476099 -0.009990 0.879335 0.018209 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.596888743] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.651,28.431,-0.313} [component_container_isolated-3] [DEBUG] [1762964974.596953527] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.472,28.367,-0.257} [component_container_isolated-3] [DEBUG] [1762964974.597015976] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.601171342] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.601238400] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.601282003] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.601331888] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000097 0.000052 -0.000005 [component_container_isolated-3] 0.000097 1.000000 0.000180 0.000003 [component_container_isolated-3] -0.000052 -0.000180 1.000000 0.000163 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.601358890] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.008} {0.019,0.167,0.182} [component_container_isolated-3] [DEBUG] [1762964974.601410008] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.601452619] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.601489009] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979090 -0.000078 0.203427 -0.006888 [component_container_isolated-3] 0.002487 0.999930 -0.011585 0.059302 [component_container_isolated-3] -0.203412 0.011848 0.979022 0.018482 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.601511662] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.737,0.146} [component_container_isolated-3] [DEBUG] [1762964974.601543212] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.009} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.601591735] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.607067853] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.607155891] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.607212389] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.607265861] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000035 -0.000173 -0.000294 [component_container_isolated-3] 0.000035 1.000000 -0.000109 -0.000312 [component_container_isolated-3] 0.000173 0.000109 1.000000 0.000076 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.607296479] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.013,0.001} {-0.018,0.019,-0.093} [component_container_isolated-3] [DEBUG] [1762964974.607351344] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.607401300] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.607439122] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981557 -0.000078 0.191170 -0.006777 [component_container_isolated-3] -0.001630 0.999960 0.008779 0.059878 [component_container_isolated-3] -0.191163 -0.008929 0.981518 0.016882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.607463619] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.521,11.021,-0.095} [component_container_isolated-3] [DEBUG] [1762964974.607495630] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.013,-0.002} {-0.486,11.002,-0.000} [component_container_isolated-3] [DEBUG] [1762964974.607545635] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.618851376] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.618914928] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.618978700] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.619023545] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000051 0.000086 0.000081 [component_container_isolated-3] 0.000051 1.000000 -0.000082 -0.000063 [component_container_isolated-3] -0.000086 0.000082 1.000000 0.000024 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.619051539] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.003,0.006} {-0.032,0.101,-0.096} [component_container_isolated-3] [DEBUG] [1762964974.619103478] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.619147702] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.619183511] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982747 -0.000179 0.184954 -0.007334 [component_container_isolated-3] 0.000109 1.000000 0.000386 0.059417 [component_container_isolated-3] -0.184955 -0.000359 0.982747 0.016823 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.619206745] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.021,10.658,0.006} [component_container_isolated-3] [DEBUG] [1762964974.619237584] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.004,-0.006} {0.029,10.558,0.104} [component_container_isolated-3] [DEBUG] [1762964974.619287519] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.625473884] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.625533187] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.625578504] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.625629291] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000028 0.000254 0.000023 [component_container_isolated-3] -0.000028 1.000000 0.000073 -0.000068 [component_container_isolated-3] -0.000254 -0.000073 1.000000 0.000633 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.625659458] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.009} {0.015,0.181,0.181} [component_container_isolated-3] [DEBUG] [1762964974.625722058] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.625776682] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.625825726] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979038 -0.000065 0.203676 -0.006850 [component_container_isolated-3] 0.002462 0.999931 -0.011511 0.059283 [component_container_isolated-3] -0.203661 0.011771 0.978971 0.018609 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.625855723] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.689,11.751,0.144} [component_container_isolated-3] [DEBUG] [1762964974.625894728] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.009} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.625994378] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.638199917] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.638266495] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.638304858] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.638347770] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000054 -0.000023 -0.000124 [component_container_isolated-3] 0.000054 1.000000 -0.000029 -0.000103 [component_container_isolated-3] 0.000023 0.000029 1.000000 -0.000121 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.638372988] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.150,0.063,-0.046} [component_container_isolated-3] [DEBUG] [1762964974.638421571] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.638465545] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.638504800] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 0.000018 0.476103 -0.001152 [component_container_isolated-3] -0.004748 0.999951 0.008732 0.060293 [component_container_isolated-3] -0.476079 -0.009939 0.879346 0.018218 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.638528916] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.648,28.430,-0.309} [component_container_isolated-3] [DEBUG] [1762964974.638561248] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.472,28.367,-0.257} [component_container_isolated-3] [DEBUG] [1762964974.638611544] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.650008018] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.650083172] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.650126264] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.650174055] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000002 0.000104 0.000002 [component_container_isolated-3] -0.000002 1.000000 -0.000057 0.000158 [component_container_isolated-3] -0.000104 0.000057 1.000000 -0.000086 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.650201908] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.013,0.001} {-0.014,0.025,-0.093} [component_container_isolated-3] [DEBUG] [1762964974.650253537] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.650299876] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.650336325] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 -0.000065 0.191272 -0.006774 [component_container_isolated-3] -0.001633 0.999961 0.008722 0.059855 [component_container_isolated-3] -0.191265 -0.008873 0.981498 0.016891 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.650362655] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.518,11.027,-0.095} [component_container_isolated-3] [DEBUG] [1762964974.650398574] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.002} {-0.486,11.002,-0.000} [component_container_isolated-3] [DEBUG] [1762964974.650452737] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.656200264] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.656272812] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.656311957] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.656355500] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000202 -0.000243 -0.000236 [component_container_isolated-3] -0.000202 1.000000 -0.000017 0.000563 [component_container_isolated-3] 0.000243 0.000017 1.000000 -0.000564 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.656382462] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.008} {0.016,0.168,0.169} [component_container_isolated-3] [DEBUG] [1762964974.656432598] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.656475089] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.656510607] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979088 0.000136 0.203438 -0.006878 [component_container_isolated-3] 0.002256 0.999931 -0.011528 0.059377 [component_container_isolated-3] -0.203425 0.011746 0.979020 0.018585 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.656534282] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.687,11.737,0.132} [component_container_isolated-3] [DEBUG] [1762964974.656566423] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.009} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.656616859] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.658489155] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.658543880] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.658584347] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.658628531] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000149 0.000148 0.000466 [component_container_isolated-3] -0.000149 1.000000 0.000211 0.001007 [component_container_isolated-3] -0.000148 -0.000211 1.000000 0.000947 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.658653238] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.004,0.007} {-0.045,0.109,-0.104} [component_container_isolated-3] [DEBUG] [1762964974.658705258] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.658755213] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.658792895] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982720 -0.000071 0.185100 -0.007197 [component_container_isolated-3] -0.000040 1.000000 0.000597 0.059606 [component_container_isolated-3] -0.185100 -0.000594 0.982719 0.016983 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.658816711] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.035,10.667,-0.002} [component_container_isolated-3] [DEBUG] [1762964974.658850295] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.005,-0.007} {0.029,10.558,0.104} [component_container_isolated-3] [DEBUG] [1762964974.658963140] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.672988586] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.673060864] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.673102062] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.673132080] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.673182205] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.673145956] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000057 -0.000020 0.000097 [component_container_isolated-3] -0.000057 1.000000 -0.000128 -0.000062 [component_container_isolated-3] 0.000020 0.000128 1.000000 0.000060 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.673249694] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.143,0.062,-0.049} [component_container_isolated-3] [DEBUG] [1762964974.673304519] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.673351689] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.673390673] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879399 0.000129 0.476086 -0.001146 [component_container_isolated-3] -0.004805 0.999952 0.008603 0.060288 [component_container_isolated-3] -0.476062 -0.009853 0.879357 0.018229 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.673414910] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.428,-0.313} [component_container_isolated-3] [DEBUG] [1762964974.673447612] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.472,28.367,-0.257} [component_container_isolated-3] [DEBUG] [1762964974.673222693] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.673509350] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.673587349] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000149 0.000148 0.000466 [component_container_isolated-3] -0.000149 1.000000 0.000211 0.001007 [component_container_isolated-3] -0.000148 -0.000211 1.000000 0.000947 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.673640490] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.005,0.008} {-0.057,0.118,-0.113} [component_container_isolated-3] [DEBUG] [1762964974.673704222] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.673765760] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.673817428] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982720 -0.000071 0.185100 -0.007197 [component_container_isolated-3] -0.000040 1.000000 0.000597 0.059606 [component_container_isolated-3] -0.185100 -0.000594 0.982719 0.016983 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.673847345] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.035,10.667,-0.002} [component_container_isolated-3] [DEBUG] [1762964974.673881030] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.006,-0.008} {0.043,10.549,0.112} [component_container_isolated-3] [DEBUG] [1762964974.673952947] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.683112550] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.683194837] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.683239041] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.683284789] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000048 -0.000000 0.000210 [component_container_isolated-3] 0.000048 1.000000 0.000022 0.000078 [component_container_isolated-3] 0.000000 -0.000022 1.000000 0.000038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.683311189] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.013,0.001} {-0.015,0.025,-0.090} [component_container_isolated-3] [DEBUG] [1762964974.683362327] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.683408024] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.683449393] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 -0.000116 0.191272 -0.006745 [component_container_isolated-3] -0.001585 0.999961 0.008744 0.059845 [component_container_isolated-3] -0.191265 -0.008885 0.981498 0.016892 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.683473539] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.519,11.027,-0.093} [component_container_isolated-3] [DEBUG] [1762964974.683504809] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.002} {-0.486,11.002,-0.000} [component_container_isolated-3] [DEBUG] [1762964974.683554444] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.694771756] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.694830127] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.694870735] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.694949255] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000197 0.000105 0.000038 [component_container_isolated-3] 0.000197 1.000000 -0.000077 -0.000144 [component_container_isolated-3] -0.000105 0.000077 1.000000 0.000247 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.694978120] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.009} {0.020,0.174,0.180} [component_container_isolated-3] [DEBUG] [1762964974.695027735] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.695079564] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.695117957] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979066 -0.000041 0.203541 -0.006894 [component_container_isolated-3] 0.002455 0.999930 -0.011605 0.059394 [component_container_isolated-3] -0.203526 0.011861 0.978998 0.018613 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.695139498] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.743,0.144} [component_container_isolated-3] [DEBUG] [1762964974.695169526] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.009} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.695217698] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.696071629] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.696125171] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.696168173] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.696214000] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000149 0.000148 0.000466 [component_container_isolated-3] -0.000149 1.000000 0.000211 0.001007 [component_container_isolated-3] -0.000148 -0.000211 1.000000 0.000947 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.696239329] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.006,0.009} {-0.069,0.126,-0.121} [component_container_isolated-3] [DEBUG] [1762964974.696286870] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.696330002] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.696366061] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982720 -0.000071 0.185100 -0.007197 [component_container_isolated-3] -0.000040 1.000000 0.000597 0.059606 [component_container_isolated-3] -0.185100 -0.000594 0.982719 0.016983 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.696387722] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.035,10.667,-0.002} [component_container_isolated-3] [DEBUG] [1762964974.696420936] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.007,-0.009} {0.057,10.541,0.121} [component_container_isolated-3] [DEBUG] [1762964974.696471622] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.699756295] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.699814917] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.699865354] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.699954444] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000017 0.000041 -0.000001 [component_container_isolated-3] 0.000017 1.000000 0.000059 0.000035 [component_container_isolated-3] -0.000041 -0.000059 1.000000 -0.000015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.699996965] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.146,0.064,-0.048} [component_container_isolated-3] [DEBUG] [1762964974.700126622] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.700202618] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.700260829] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879379 0.000086 0.476122 -0.001148 [component_container_isolated-3] -0.004788 0.999951 0.008663 0.060289 [component_container_isolated-3] -0.476098 -0.009897 0.879337 0.018229 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.700295816] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.645,28.431,-0.312} [component_container_isolated-3] [DEBUG] [1762964974.700339760] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.472,28.367,-0.257} [component_container_isolated-3] [DEBUG] [1762964974.700415574] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.706709865] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.706780480] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.706822590] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.706867366] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000036 -0.000005 0.000066 [component_container_isolated-3] -0.000036 1.000000 0.000066 -0.000001 [component_container_isolated-3] 0.000005 -0.000066 1.000000 -0.000016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.706892724] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.013,0.001} {-0.019,0.025,-0.092} [component_container_isolated-3] [DEBUG] [1762964974.706969230] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.707020889] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.707060685] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 -0.000093 0.191267 -0.006714 [component_container_isolated-3] -0.001622 0.999960 0.008809 0.059839 [component_container_isolated-3] -0.191260 -0.008957 0.981499 0.016888 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.707084721] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.523,11.026,-0.095} [component_container_isolated-3] [DEBUG] [1762964974.707116041] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.002} {-0.486,11.002,-0.000} [component_container_isolated-3] [DEBUG] [1762964974.707165525] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.715615983] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.715675828] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.715715904] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.715759738] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000033 0.000030 0.000008 [component_container_isolated-3] 0.000033 1.000000 0.000069 -0.000283 [component_container_isolated-3] -0.000030 -0.000069 1.000000 0.000144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.715784896] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.009} {0.016,0.175,0.182} [component_container_isolated-3] [DEBUG] [1762964974.715831545] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.715872353] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.715907801] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979060 -0.000088 0.203571 -0.006899 [component_container_isolated-3] 0.002488 0.999930 -0.011536 0.059374 [component_container_isolated-3] -0.203555 0.011800 0.978992 0.018647 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.715958167] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.745,0.146} [component_container_isolated-3] [DEBUG] [1762964974.715991040] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.009} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.716046115] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.721580745] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.721647602] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.721687288] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.721731503] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000036 -0.000005 0.000066 [component_container_isolated-3] -0.000036 1.000000 0.000066 -0.000001 [component_container_isolated-3] 0.000005 -0.000066 1.000000 -0.000016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.721757021] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.013,0.001} {-0.023,0.025,-0.095} [component_container_isolated-3] [DEBUG] [1762964974.721806255] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.721850630] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.721890927] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 -0.000093 0.191267 -0.006714 [component_container_isolated-3] -0.001622 0.999960 0.008809 0.059839 [component_container_isolated-3] -0.191260 -0.008957 0.981499 0.016888 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.721916546] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.523,11.026,-0.095} [component_container_isolated-3] [DEBUG] [1762964974.721983113] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.002} {-0.481,11.002,0.002} [component_container_isolated-3] [DEBUG] [1762964974.722038238] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.727650727] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.727715411] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.727759024] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.727796846] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000009 -0.000015 -0.000001 [component_container_isolated-3] 0.000009 1.000000 0.000038 0.000037 [component_container_isolated-3] 0.000015 -0.000038 1.000000 -0.000024 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.727817095] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.148,0.063,-0.048} [component_container_isolated-3] [DEBUG] [1762964974.727859686] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.727893140] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.727959867] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879387 0.000060 0.476108 -0.001152 [component_container_isolated-3] -0.004779 0.999951 0.008700 0.060294 [component_container_isolated-3] -0.476084 -0.009926 0.879344 0.018228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.727983994] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.430,-0.311} [component_container_isolated-3] [DEBUG] [1762964974.728006366] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.472,28.367,-0.257} [component_container_isolated-3] [DEBUG] [1762964974.728048216] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.742246662] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.742314441] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.742354828] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.742400826] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000149 0.000148 0.000466 [component_container_isolated-3] -0.000149 1.000000 0.000211 0.001007 [component_container_isolated-3] -0.000148 -0.000211 1.000000 0.000947 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.742425353] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.007,0.010} {-0.081,0.135,-0.130} [component_container_isolated-3] [DEBUG] [1762964974.742474417] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.742517098] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.742553067] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982720 -0.000071 0.185100 -0.007197 [component_container_isolated-3] -0.000040 1.000000 0.000597 0.059606 [component_container_isolated-3] -0.185100 -0.000594 0.982719 0.016983 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.742576622] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.035,10.667,-0.002} [component_container_isolated-3] [DEBUG] [1762964974.742610136] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.008,-0.010} {0.070,10.532,0.130} [component_container_isolated-3] [DEBUG] [1762964974.742660783] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.750728390] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.750780679] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.750818071] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.750862145] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000047 -0.000158 0.000112 [component_container_isolated-3] 0.000047 1.000000 -0.000094 -0.000156 [component_container_isolated-3] 0.000158 0.000094 1.000000 -0.000828 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.750887604] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.008} {0.021,0.166,0.185} [component_container_isolated-3] [DEBUG] [1762964974.750970252] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.751049823] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.751094168] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 -0.000114 0.203416 -0.006933 [component_container_isolated-3] 0.002533 0.999929 -0.011630 0.059337 [component_container_isolated-3] -0.203400 0.011902 0.979023 0.018491 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.751117944] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.696,11.736,0.148} [component_container_isolated-3] [DEBUG] [1762964974.751148993] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.009} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.751199459] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.771976889] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.772039890] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.772080738] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.772124752] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000149 0.000148 0.000466 [component_container_isolated-3] -0.000149 1.000000 0.000211 0.001007 [component_container_isolated-3] -0.000148 -0.000211 1.000000 0.000947 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.772149659] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.093,0.143,-0.138} [component_container_isolated-3] [DEBUG] [1762964974.772199044] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.772246464] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.772286971] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982720 -0.000071 0.185100 -0.007197 [component_container_isolated-3] -0.000040 1.000000 0.000597 0.059606 [component_container_isolated-3] -0.185100 -0.000594 0.982719 0.016983 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.772310536] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.035,10.667,-0.002} [component_container_isolated-3] [DEBUG] [1762964974.772344411] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.009,-0.011} {0.084,10.524,0.138} [component_container_isolated-3] [DEBUG] [1762964974.772394216] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.776757679] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.776816722] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.776856508] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.776905412] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000076 0.000036 -0.000403 [component_container_isolated-3] -0.000076 1.000000 0.000005 -0.000015 [component_container_isolated-3] -0.000036 -0.000005 1.000000 -0.000054 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.776962751] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.013,0.001} {-0.023,0.027,-0.099} [component_container_isolated-3] [DEBUG] [1762964974.777016614] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.777062772] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.777102979] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981531 -0.000019 0.191303 -0.006744 [component_container_isolated-3] -0.001699 0.999960 0.008814 0.059832 [component_container_isolated-3] -0.191295 -0.008976 0.981492 0.016894 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.777126263] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.524,11.028,-0.099} [component_container_isolated-3] [DEBUG] [1762964974.777156591] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.002} {-0.481,11.002,0.002} [component_container_isolated-3] [DEBUG] [1762964974.777205134] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.777966999] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.778015982] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.778049546] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.778085064] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000000 -0.000036 -0.000103 [component_container_isolated-3] 0.000000 1.000000 -0.000134 -0.000008 [component_container_isolated-3] 0.000036 0.000134 1.000000 0.000021 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.778114671] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.141,0.061,-0.048} [component_container_isolated-3] [DEBUG] [1762964974.778175397] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.778218960] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.778247985] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879404 0.000124 0.476077 -0.001161 [component_container_isolated-3] -0.004779 0.999952 0.008567 0.060294 [component_container_isolated-3] -0.476053 -0.009809 0.879362 0.018243 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.778265399] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.639,28.428,-0.311} [component_container_isolated-3] [DEBUG] [1762964974.778287471] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.472,28.367,-0.257} [component_container_isolated-3] [DEBUG] [1762964974.778333038] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.792480817] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.792535010] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.792575177] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.792617859] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000000 -0.000036 -0.000103 [component_container_isolated-3] 0.000000 1.000000 -0.000134 -0.000008 [component_container_isolated-3] 0.000036 0.000134 1.000000 0.000021 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.792641694] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.133,0.059,-0.048} [component_container_isolated-3] [DEBUG] [1762964974.792689495] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.792730494] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.792765641] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879404 0.000124 0.476077 -0.001161 [component_container_isolated-3] -0.004779 0.999952 0.008567 0.060294 [component_container_isolated-3] -0.476053 -0.009809 0.879362 0.018243 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.792788274] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.639,28.428,-0.311} [component_container_isolated-3] [DEBUG] [1762964974.792822079] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.480,28.369,-0.257} [component_container_isolated-3] [DEBUG] [1762964974.792875160] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.799615031] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.799693682] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.799735812] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.799781219] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000076 0.000036 -0.000403 [component_container_isolated-3] -0.000076 1.000000 0.000005 -0.000015 [component_container_isolated-3] -0.000036 -0.000005 1.000000 -0.000054 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.799807018] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.013,0.001} {-0.024,0.029,-0.103} [component_container_isolated-3] [DEBUG] [1762964974.799857725] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.799904544] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.799982834] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981531 -0.000019 0.191303 -0.006744 [component_container_isolated-3] -0.001699 0.999960 0.008814 0.059832 [component_container_isolated-3] -0.191295 -0.008976 0.981492 0.016894 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.800010086] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.524,11.028,-0.099} [component_container_isolated-3] [DEBUG] [1762964974.800043299] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.014,-0.002} {-0.480,11.000,0.006} [component_container_isolated-3] [DEBUG] [1762964974.800095569] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.801730942] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.801791117] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.801830392] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.801874436] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000082 0.000334 0.000004 [component_container_isolated-3] -0.000082 1.000000 0.000078 0.000141 [component_container_isolated-3] -0.000334 -0.000078 1.000000 0.001217 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.801898683] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.009} {0.017,0.185,0.180} [component_container_isolated-3] [DEBUG] [1762964974.801980349] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.802024854] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.802060682] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979024 -0.000049 0.203743 -0.006871 [component_container_isolated-3] 0.002454 0.999930 -0.011551 0.059326 [component_container_isolated-3] -0.203728 0.011809 0.978956 0.018728 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.802084538] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.755,0.144} [component_container_isolated-3] [DEBUG] [1762964974.802130415] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.010} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.802181623] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.822707603] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.822770413] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.822809317] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.822852008] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000016 0.000023 -0.000121 [component_container_isolated-3] 0.000016 1.000000 0.000073 0.000059 [component_container_isolated-3] -0.000023 -0.000073 1.000000 0.000278 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.822876014] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.010} {0.013,0.187,0.181} [component_container_isolated-3] [DEBUG] [1762964974.822951248] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.823000432] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.823039967] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979020 -0.000080 0.203765 -0.006852 [component_container_isolated-3] 0.002470 0.999931 -0.011477 0.059324 [component_container_isolated-3] -0.203750 0.011740 0.978952 0.018883 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.823063102] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.687,11.756,0.145} [component_container_isolated-3] [DEBUG] [1762964974.823094652] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.010} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.823143124] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.829338145] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.829401346] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.829443206] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.829489224] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000161 -0.000186 -0.000525 [component_container_isolated-3] 0.000161 1.000000 0.000011 -0.001011 [component_container_isolated-3] 0.000186 -0.000011 1.000000 -0.001013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.829516065] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.007,0.010} {-0.094,0.132,-0.129} [component_container_isolated-3] [DEBUG] [1762964974.829568696] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.829616777] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.829656373] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982754 -0.000232 0.184918 -0.007267 [component_container_isolated-3] 0.000121 1.000000 0.000608 0.059443 [component_container_isolated-3] -0.184918 -0.000575 0.982754 0.016837 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.829679808] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.034,10.656,0.007} [component_container_isolated-3] [DEBUG] [1762964974.829712170] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.008,-0.010} {0.084,10.524,0.138} [component_container_isolated-3] [DEBUG] [1762964974.829762716] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.832680288] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.832740162] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.832781000] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.832826778] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000004 0.000049 0.000147 [component_container_isolated-3] 0.000004 1.000000 0.000142 -0.000003 [component_container_isolated-3] -0.000049 -0.000142 1.000000 -0.000016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.832853218] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.141,0.062,-0.047} [component_container_isolated-3] [DEBUG] [1762964974.832900759] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.832982335] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.833025968] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879380 0.000052 0.476120 -0.001159 [component_container_isolated-3] -0.004775 0.999951 0.008709 0.060299 [component_container_isolated-3] -0.476096 -0.009932 0.879337 0.018233 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.833051006] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.431,-0.311} [component_container_isolated-3] [DEBUG] [1762964974.833084791] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.480,28.369,-0.257} [component_container_isolated-3] [DEBUG] [1762964974.833134786] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.836649598] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.836703091] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.836742827] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.836789395] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000161 -0.000186 -0.000525 [component_container_isolated-3] 0.000161 1.000000 0.000011 -0.001011 [component_container_isolated-3] 0.000186 -0.000011 1.000000 -0.001013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.836816267] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.006,0.009} {-0.094,0.122,-0.120} [component_container_isolated-3] [DEBUG] [1762964974.836865421] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.836913282] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.836994487] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982754 -0.000232 0.184918 -0.007267 [component_container_isolated-3] 0.000121 1.000000 0.000608 0.059443 [component_container_isolated-3] -0.184918 -0.000575 0.982754 0.016837 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.837052799] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.034,10.656,0.007} [component_container_isolated-3] [DEBUG] [1762964974.837085250] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.007,-0.009} {0.083,10.534,0.129} [component_container_isolated-3] [DEBUG] [1762964974.837139654] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.842468221] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.842528325] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.842567430] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.842610613] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000047 0.000103 -0.000152 [component_container_isolated-3] 0.000047 1.000000 0.000024 0.000300 [component_container_isolated-3] -0.000103 -0.000024 1.000000 0.000892 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.842635911] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.014,0.002} {-0.025,0.035,-0.101} [component_container_isolated-3] [DEBUG] [1762964974.842683993] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.842731213] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.842770929] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 -0.000069 0.191404 -0.006741 [component_container_isolated-3] -0.001653 0.999960 0.008838 0.059873 [component_container_isolated-3] -0.191397 -0.008991 0.981472 0.017148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.842796608] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.525,11.034,-0.096} [component_container_isolated-3] [DEBUG] [1762964974.842830482] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.014,-0.002} {-0.480,11.000,0.006} [component_container_isolated-3] [DEBUG] [1762964974.842891258] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.850013340] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.850074336] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.850114914] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.850159148] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000083 0.000097 0.000538 [component_container_isolated-3] -0.000083 1.000000 -0.000120 0.000389 [component_container_isolated-3] -0.000097 0.000120 1.000000 0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.850183485] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.010} {0.020,0.192,0.176} [component_container_isolated-3] [DEBUG] [1762964974.850233180] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.850275731] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.850311289] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979000 0.000026 0.203860 -0.006737 [component_container_isolated-3] 0.002388 0.999930 -0.011598 0.059394 [component_container_isolated-3] -0.203846 0.011841 0.978931 0.018944 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.850335165] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.693,11.762,0.140} [component_container_isolated-3] [DEBUG] [1762964974.850367607] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.010} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.850417482] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.864366932] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.864427768] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.864468416] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.864513632] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000032 -0.000053 0.000105 [component_container_isolated-3] 0.000032 1.000000 0.000036 -0.000033 [component_container_isolated-3] 0.000053 -0.000036 1.000000 0.000010 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.864538900] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.143,0.059,-0.045} [component_container_isolated-3] [DEBUG] [1762964974.864587944] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.864631357] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.864668869] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879406 0.000007 0.476073 -0.001146 [component_container_isolated-3] -0.004742 0.999951 0.008745 0.060297 [component_container_isolated-3] -0.476049 -0.009948 0.879362 0.018225 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.864694868] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.648,28.428,-0.309} [component_container_isolated-3] [DEBUG] [1762964974.864732490] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.480,28.369,-0.257} [component_container_isolated-3] [DEBUG] [1762964974.864792224] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.874696238] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.874762835] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.874803874] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.874847006] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000034 -0.000064 0.000334 [component_container_isolated-3] 0.000034 1.000000 -0.000041 -0.000274 [component_container_isolated-3] 0.000064 0.000041 1.000000 -0.000627 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.874871333] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.013,0.001} {-0.023,0.031,-0.099} [component_container_isolated-3] [DEBUG] [1762964974.874944142] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.874992735] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.875029715] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 -0.000095 0.191341 -0.006731 [component_container_isolated-3] -0.001618 0.999960 0.008797 0.059859 [component_container_isolated-3] -0.191334 -0.008944 0.981484 0.017151 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.875053230] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.522,11.031,-0.094} [component_container_isolated-3] [DEBUG] [1762964974.875086754] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.002} {-0.480,11.000,0.006} [component_container_isolated-3] [DEBUG] [1762964974.875138042] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.879655770] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.879720113] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.879759428] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.879803241] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000098 0.000042 0.000093 [component_container_isolated-3] -0.000098 1.000000 -0.000080 0.000433 [component_container_isolated-3] -0.000042 0.000080 1.000000 0.000385 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.879828991] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.007,0.009} {-0.090,0.124,-0.126} [component_container_isolated-3] [DEBUG] [1762964974.879877724] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.879955542] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.880032609] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982746 -0.000120 0.184960 -0.007263 [component_container_isolated-3] 0.000023 1.000000 0.000528 0.059446 [component_container_isolated-3] -0.184960 -0.000515 0.982746 0.016840 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.880058038] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.030,10.659,0.001} [component_container_isolated-3] [DEBUG] [1762964974.880089899] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.007,-0.009} {0.083,10.534,0.129} [component_container_isolated-3] [DEBUG] [1762964974.880158730] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.910646585] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.910722109] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.910768918] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.910823362] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000020 -0.000154 -0.000249 [component_container_isolated-3] -0.000020 1.000000 0.000105 0.000085 [component_container_isolated-3] 0.000154 -0.000105 1.000000 -0.000146 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.910856295] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.009} {0.014,0.183,0.175} [component_container_isolated-3] [DEBUG] [1762964974.910912633] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.910990882] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.911023605] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979032 0.000024 0.203709 -0.006714 [component_container_isolated-3] 0.002367 0.999931 -0.011493 0.059447 [component_container_isolated-3] -0.203695 0.011734 0.978964 0.018991 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.911041269] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.687,11.753,0.139} [component_container_isolated-3] [DEBUG] [1762964974.911062800] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.009} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.911101133] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.917964761] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.918021750] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.918058850] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.918102634] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000004 -0.000032 -0.000106 [component_container_isolated-3] 0.000004 1.000000 -0.000113 -0.000051 [component_container_isolated-3] 0.000032 0.000113 1.000000 0.000063 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.918128784] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.137,0.057,-0.045} [component_container_isolated-3] [DEBUG] [1762964974.918176856] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.918222733] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.918263181] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879421 0.000057 0.476044 -0.001138 [component_container_isolated-3] -0.004738 0.999952 0.008632 0.060289 [component_container_isolated-3] -0.476021 -0.009847 0.879379 0.018236 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.918287808] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.426,-0.309} [component_container_isolated-3] [DEBUG] [1762964974.918320450] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.480,28.369,-0.257} [component_container_isolated-3] [DEBUG] [1762964974.918370325] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.928310398] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.928379761] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.928426871] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.928472217] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000060 -0.000034 -0.000092 [component_container_isolated-3] -0.000060 1.000000 0.000008 0.000015 [component_container_isolated-3] 0.000034 -0.000008 1.000000 0.000124 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.928498057] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.013,0.002} {-0.023,0.029,-0.102} [component_container_isolated-3] [DEBUG] [1762964974.928547321] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.928590804] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.928627324] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000037 0.191307 -0.006729 [component_container_isolated-3] -0.001678 0.999960 0.008805 0.059854 [component_container_isolated-3] -0.191300 -0.008963 0.981491 0.017164 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.928652492] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.523,11.029,-0.098} [component_container_isolated-3] [DEBUG] [1762964974.928685856] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.014,-0.002} {-0.480,11.000,0.006} [component_container_isolated-3] [DEBUG] [1762964974.928735490] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.933257125] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.933327139] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.933369801] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.933417943] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000069 0.000159 0.000313 [component_container_isolated-3] -0.000069 1.000000 0.000085 0.000345 [component_container_isolated-3] -0.000159 -0.000085 1.000000 0.000548 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.933445786] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.007,0.010} {-0.094,0.133,-0.130} [component_container_isolated-3] [DEBUG] [1762964974.933496062] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.933541378] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.933582116] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 -0.000068 0.185116 -0.007187 [component_container_isolated-3] -0.000046 1.000000 0.000613 0.059515 [component_container_isolated-3] -0.185116 -0.000611 0.982717 0.016948 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.933606863] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.036,10.668,-0.003} [component_container_isolated-3] [DEBUG] [1762964974.933639796] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.007,-0.010} {0.083,10.534,0.129} [component_container_isolated-3] [DEBUG] [1762964974.933689982] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.946461322] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.946525645] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.946566283] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.946611619] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000063 -0.000074 0.000121 [component_container_isolated-3] 0.000063 1.000000 -0.000122 -0.000513 [component_container_isolated-3] 0.000074 0.000122 1.000000 -0.000400 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.946636627] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.009} {0.021,0.179,0.179} [component_container_isolated-3] [DEBUG] [1762964974.946685060] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.946731398] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.946770182] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979047 -0.000013 0.203637 -0.006693 [component_container_isolated-3] 0.002429 0.999930 -0.011615 0.059408 [component_container_isolated-3] -0.203622 0.011866 0.978978 0.018990 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.946792525] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.694,11.749,0.142} [component_container_isolated-3] [DEBUG] [1762964974.946822332] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.009} {0.637,11.572,-0.043} [component_container_isolated-3] [DEBUG] [1762964974.946871345] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.952319210] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.952387500] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.952426825] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.952472452] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000006 -0.000016 0.000040 [component_container_isolated-3] 0.000006 1.000000 0.000087 -0.000020 [component_container_isolated-3] 0.000016 -0.000087 1.000000 -0.000098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.952498732] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.142,0.056,-0.045} [component_container_isolated-3] [DEBUG] [1762964974.952547245] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.952590017] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.952625655] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 0.000010 0.476030 -0.001137 [component_container_isolated-3] -0.004732 0.999951 0.008720 0.060282 [component_container_isolated-3] -0.476006 -0.009921 0.879386 0.018226 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.952650242] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.425,-0.308} [component_container_isolated-3] [DEBUG] [1762964974.952684146] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.480,28.369,-0.257} [component_container_isolated-3] [DEBUG] [1762964974.952735034] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.955320692] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.955375125] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.955413509] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.955458785] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000063 -0.000074 0.000121 [component_container_isolated-3] 0.000063 1.000000 -0.000122 -0.000513 [component_container_isolated-3] 0.000074 0.000122 1.000000 -0.000400 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.955483472] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.014,0.009} {0.028,0.175,0.182} [component_container_isolated-3] [DEBUG] [1762964974.955531063] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.955575739] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.955615074] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979047 -0.000013 0.203637 -0.006693 [component_container_isolated-3] 0.002429 0.999930 -0.011615 0.059408 [component_container_isolated-3] -0.203622 0.011866 0.978978 0.018990 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.955638819] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.694,11.749,0.142} [component_container_isolated-3] [DEBUG] [1762964974.955671592] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.009} {0.629,11.576,-0.046} [component_container_isolated-3] [DEBUG] [1762964974.955721687] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.960576659] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.960642355] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.960682221] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.960725914] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000006 -0.000016 0.000040 [component_container_isolated-3] 0.000006 1.000000 0.000087 -0.000020 [component_container_isolated-3] 0.000016 -0.000087 1.000000 -0.000098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.960750131] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.147,0.055,-0.045} [component_container_isolated-3] [DEBUG] [1762964974.960798182] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.960838830] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.960874208] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 0.000010 0.476030 -0.001137 [component_container_isolated-3] -0.004732 0.999951 0.008720 0.060282 [component_container_isolated-3] -0.476006 -0.009921 0.879386 0.018226 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.960896891] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.425,-0.308} [component_container_isolated-3] [DEBUG] [1762964974.960951515] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.475,28.370,-0.257} [component_container_isolated-3] [DEBUG] [1762964974.961012472] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.960977835] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.961091703] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.961131920] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.961177938] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000063 0.000040 -0.000401 [component_container_isolated-3] 0.000063 1.000000 0.000056 -0.000285 [component_container_isolated-3] -0.000040 -0.000056 1.000000 0.000272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.961203126] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.013,0.002} {-0.026,0.032,-0.099} [component_container_isolated-3] [DEBUG] [1762964974.961254494] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.961304920] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.961343003] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981522 -0.000110 0.191347 -0.006800 [component_container_isolated-3] -0.001615 0.999959 0.008861 0.059799 [component_container_isolated-3] -0.191340 -0.009006 0.981482 0.017241 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.961366277] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.526,11.031,-0.094} [component_container_isolated-3] [DEBUG] [1762964974.961399481] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.013,-0.002} {-0.480,11.000,0.006} [component_container_isolated-3] [DEBUG] [1762964974.961450638] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.965748636] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.965809352] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.965847165] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.965888844] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000063 0.000040 -0.000401 [component_container_isolated-3] 0.000063 1.000000 0.000056 -0.000285 [component_container_isolated-3] -0.000040 -0.000056 1.000000 0.000272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.965912399] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.013,0.002} {-0.029,0.034,-0.095} [component_container_isolated-3] [DEBUG] [1762964974.965990579] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.966033240] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.966069219] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981522 -0.000110 0.191347 -0.006800 [component_container_isolated-3] -0.001615 0.999959 0.008861 0.059799 [component_container_isolated-3] -0.191340 -0.009006 0.981482 0.017241 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.966091702] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.526,11.031,-0.094} [component_container_isolated-3] [DEBUG] [1762964974.966122070] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.013,-0.002} {-0.478,10.998,0.003} [component_container_isolated-3] [DEBUG] [1762964974.966174209] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.967351738] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.967403687] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.967444345] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.967489010] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000099 -0.000224 -0.000363 [component_container_isolated-3] 0.000099 1.000000 -0.000132 -0.000806 [component_container_isolated-3] 0.000225 0.000132 1.000000 -0.000896 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.967515461] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.006,0.009} {-0.087,0.121,-0.124} [component_container_isolated-3] [DEBUG] [1762964974.967564144] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.967608869] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.967649497] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982758 -0.000141 0.184895 -0.007240 [component_container_isolated-3] 0.000053 1.000000 0.000481 0.059379 [component_container_isolated-3] -0.184895 -0.000463 0.982758 0.016830 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.967674154] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.027,10.655,0.003} [component_container_isolated-3] [DEBUG] [1762964974.967707628] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.007,-0.009} {0.083,10.534,0.129} [component_container_isolated-3] [DEBUG] [1762964974.967757603] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.974960198] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.975016566] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.975053667] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.975096819] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000099 -0.000224 -0.000363 [component_container_isolated-3] 0.000099 1.000000 -0.000132 -0.000806 [component_container_isolated-3] 0.000225 0.000132 1.000000 -0.000896 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.975121186] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.005,0.008} {-0.079,0.108,-0.118} [component_container_isolated-3] [DEBUG] [1762964974.975170069] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.975216558] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.975252787] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982758 -0.000141 0.184895 -0.007240 [component_container_isolated-3] 0.000053 1.000000 0.000481 0.059379 [component_container_isolated-3] -0.184895 -0.000463 0.982758 0.016830 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.975277214] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.027,10.655,0.003} [component_container_isolated-3] [DEBUG] [1762964974.975307221] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.006,-0.008} {0.074,10.547,0.123} [component_container_isolated-3] [DEBUG] [1762964974.975357657] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.975442870] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.975490090] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.975526550] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.975568881] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000063 -0.000074 0.000121 [component_container_isolated-3] 0.000063 1.000000 -0.000122 -0.000513 [component_container_isolated-3] 0.000074 0.000122 1.000000 -0.000400 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.975592766] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.015,0.008} {0.034,0.171,0.186} [component_container_isolated-3] [DEBUG] [1762964974.975641529] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.975685143] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.975724328] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979047 -0.000013 0.203637 -0.006693 [component_container_isolated-3] 0.002429 0.999930 -0.011615 0.059408 [component_container_isolated-3] -0.203622 0.011866 0.978978 0.018990 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.975748113] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.694,11.749,0.142} [component_container_isolated-3] [DEBUG] [1762964974.975781046] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.014,-0.008} {0.621,11.580,-0.050} [component_container_isolated-3] [DEBUG] [1762964974.975832154] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964974.984527159] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964974.984591271] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964974.984631689] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964974.984675703] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000063 0.000040 -0.000401 [component_container_isolated-3] 0.000063 1.000000 0.000056 -0.000285 [component_container_isolated-3] -0.000040 -0.000056 1.000000 0.000272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964974.984701392] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.013,0.002} {-0.033,0.036,-0.091} [component_container_isolated-3] [DEBUG] [1762964974.984749073] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964974.984795391] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964974.984832522] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981522 -0.000110 0.191347 -0.006800 [component_container_isolated-3] -0.001615 0.999959 0.008861 0.059799 [component_container_isolated-3] -0.191340 -0.009006 0.981482 0.017241 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964974.984856859] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.526,11.031,-0.094} [component_container_isolated-3] [DEBUG] [1762964974.984890653] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.013,-0.003} {-0.475,10.996,-0.001} [component_container_isolated-3] [DEBUG] [1762964974.984965486] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.002755461] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.002826246] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.002870340] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.002917590] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000013 -0.000012 -0.000108 [component_container_isolated-3] -0.000013 1.000000 -0.000073 0.000088 [component_container_isolated-3] 0.000012 0.000073 1.000000 0.000047 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.002987764] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.143,0.054,-0.045} [component_container_isolated-3] [DEBUG] [1762964975.003040415] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.003085581] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.003125517] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879435 0.000056 0.476019 -0.001140 [component_container_isolated-3] -0.004745 0.999951 0.008647 0.060284 [component_container_isolated-3] -0.475995 -0.009863 0.879392 0.018234 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.003150725] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.643,28.424,-0.309} [component_container_isolated-3] [DEBUG] [1762964975.003182436] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.475,28.370,-0.257} [component_container_isolated-3] [DEBUG] [1762964975.003233493] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.008122981] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.008184449] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.008224415] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.008268489] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000140 0.000206 0.000293 [component_container_isolated-3] -0.000140 1.000000 0.000096 0.001181 [component_container_isolated-3] -0.000206 -0.000096 1.000000 0.000986 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.008292856] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.007,0.009} {-0.085,0.119,-0.126} [component_container_isolated-3] [DEBUG] [1762964975.008340667] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.008384190] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.008421852] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982720 -0.000021 0.185098 -0.007169 [component_container_isolated-3] -0.000088 1.000000 0.000577 0.059631 [component_container_isolated-3] -0.185098 -0.000583 0.982720 0.016995 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.008446158] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.034,10.667,-0.005} [component_container_isolated-3] [DEBUG] [1762964975.008476857] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.007,-0.009} {0.074,10.547,0.123} [component_container_isolated-3] [DEBUG] [1762964975.008526512] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.019131625] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.019181681] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.019218421] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.019261703] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000013 0.000012 -0.001047 [component_container_isolated-3] 0.000013 1.000000 0.000208 -0.000416 [component_container_isolated-3] -0.000012 -0.000208 1.000000 0.000351 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.019285910] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.015,0.009} {0.023,0.171,0.187} [component_container_isolated-3] [DEBUG] [1762964975.019330304] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.019371754] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.019410377] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979044 -0.000068 0.203649 -0.006942 [component_container_isolated-3] 0.002442 0.999932 -0.011407 0.059295 [component_container_isolated-3] -0.203634 0.011665 0.978978 0.019088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.019434203] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.683,11.750,0.143} [component_container_isolated-3] [DEBUG] [1762964975.019466505] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.015,-0.009} {0.621,11.580,-0.050} [component_container_isolated-3] [DEBUG] [1762964975.019517001] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.029321435] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.029375969] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.029414303] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.029457836] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000052 0.000114 0.000142 [component_container_isolated-3] 0.000052 1.000000 -0.000066 -0.000121 [component_container_isolated-3] -0.000114 0.000066 1.000000 0.000083 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.029482853] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.139,0.061,-0.042} [component_container_isolated-3] [DEBUG] [1762964975.029531216] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.029574168] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.029614595] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879381 0.000042 0.476119 -0.001123 [component_container_isolated-3] -0.004693 0.999952 0.008581 0.060270 [component_container_isolated-3] -0.476096 -0.009781 0.879339 0.018243 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.029638791] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.431,-0.306} [component_container_isolated-3] [DEBUG] [1762964975.029672235] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.475,28.370,-0.257} [component_container_isolated-3] [DEBUG] [1762964975.029724896] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.030688616] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.030736868] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.030773719] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.030815709] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000140 0.000206 0.000293 [component_container_isolated-3] -0.000140 1.000000 0.000096 0.001181 [component_container_isolated-3] -0.000206 -0.000096 1.000000 0.000986 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.030840406] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.008,0.010} {-0.090,0.131,-0.134} [component_container_isolated-3] [DEBUG] [1762964975.030885863] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.030962399] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.031004710] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982720 -0.000021 0.185098 -0.007169 [component_container_isolated-3] -0.000088 1.000000 0.000577 0.059631 [component_container_isolated-3] -0.185098 -0.000583 0.982720 0.016995 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.031028906] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.034,10.667,-0.005} [component_container_isolated-3] [DEBUG] [1762964975.031062109] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.008,-0.010} {0.081,10.535,0.131} [component_container_isolated-3] [DEBUG] [1762964975.031113928] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.042122392] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.042185342] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.042223896] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.042266928] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000087 0.000071 -0.000029 [component_container_isolated-3] -0.000087 1.000000 0.000005 0.000515 [component_container_isolated-3] -0.000071 -0.000005 1.000000 0.000310 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.042291515] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.013,0.003} {-0.033,0.040,-0.096} [component_container_isolated-3] [DEBUG] [1762964975.042340559] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.042385635] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.042424509] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981509 -0.000026 0.191417 -0.006816 [component_container_isolated-3] -0.001703 0.999959 0.008865 0.059849 [component_container_isolated-3] -0.191409 -0.009027 0.981469 0.017361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.042449436] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.527,11.035,-0.099} [component_container_isolated-3] [DEBUG] [1762964975.042482820] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.013,-0.003} {-0.475,10.996,-0.001} [component_container_isolated-3] [DEBUG] [1762964975.042532866] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.057748604] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.057813107] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.057854867] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.057900204] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000046 -0.000242 0.000863 [component_container_isolated-3] -0.000046 1.000000 -0.000153 0.000574 [component_container_isolated-3] 0.000242 0.000153 1.000000 -0.001480 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.057945761] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.015,0.007} {0.031,0.158,0.184} [component_container_isolated-3] [DEBUG] [1762964975.057999794] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.058113461] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.058153548] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979093 0.000009 0.203412 -0.006965 [component_container_isolated-3] 0.002393 0.999930 -0.011560 0.059327 [component_container_isolated-3] -0.203398 0.011805 0.979025 0.018654 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.058172043] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.736,0.140} [component_container_isolated-3] [DEBUG] [1762964975.058193774] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.007} {0.621,11.580,-0.050} [component_container_isolated-3] [DEBUG] [1762964975.058235564] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.061525968] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.061586053] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.061625478] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.061668600] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000087 0.000071 -0.000029 [component_container_isolated-3] -0.000087 1.000000 0.000005 0.000515 [component_container_isolated-3] -0.000071 -0.000005 1.000000 0.000310 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.061693348] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.014,0.003} {-0.033,0.044,-0.101} [component_container_isolated-3] [DEBUG] [1762964975.061741269] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.061785033] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.061824969] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981509 -0.000026 0.191417 -0.006816 [component_container_isolated-3] -0.001703 0.999959 0.008865 0.059849 [component_container_isolated-3] -0.191409 -0.009027 0.981469 0.017361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.061849075] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.527,11.035,-0.099} [component_container_isolated-3] [DEBUG] [1762964975.061882779] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.014,-0.003} {-0.474,10.991,0.004} [component_container_isolated-3] [DEBUG] [1762964975.061965026] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.062884953] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.062961830] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.063002838] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.063046432] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000140 0.000206 0.000293 [component_container_isolated-3] -0.000140 1.000000 0.000096 0.001181 [component_container_isolated-3] -0.000206 -0.000096 1.000000 0.000986 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.063072081] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.009,0.011} {-0.096,0.143,-0.142} [component_container_isolated-3] [DEBUG] [1762964975.063121575] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.063164748] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.063200947] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982720 -0.000021 0.185098 -0.007169 [component_container_isolated-3] -0.000088 1.000000 0.000577 0.059631 [component_container_isolated-3] -0.185098 -0.000583 0.982720 0.016995 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.063225193] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.034,10.667,-0.005} [component_container_isolated-3] [DEBUG] [1762964975.063258567] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.009,-0.011} {0.088,10.524,0.140} [component_container_isolated-3] [DEBUG] [1762964975.063268245] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.063376773] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.063427850] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.063476904] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000143 -0.000026 -0.000080 [component_container_isolated-3] -0.000143 1.000000 0.000213 0.000246 [component_container_isolated-3] 0.000026 -0.000213 1.000000 -0.000090 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.063504887] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.151,0.059,-0.051} [component_container_isolated-3] [DEBUG] [1762964975.063321186] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.063567216] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.063684560] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.063725719] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879393 0.000066 0.476096 -0.001122 [component_container_isolated-3] -0.004836 0.999950 0.008794 0.060297 [component_container_isolated-3] -0.476072 -0.010036 0.879349 0.018228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.063745527] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.654,28.429,-0.315} [component_container_isolated-3] [DEBUG] [1762964975.063767849] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.475,28.370,-0.257} [component_container_isolated-3] [DEBUG] [1762964975.063807846] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.068249488] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.068311126] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.068348497] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.068391449] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000046 -0.000242 0.000863 [component_container_isolated-3] -0.000046 1.000000 -0.000153 0.000574 [component_container_isolated-3] 0.000242 0.000153 1.000000 -0.001480 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.068415024] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.014,0.006} {0.040,0.144,0.181} [component_container_isolated-3] [DEBUG] [1762964975.068460832] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.068500989] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.068535835] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979093 0.000009 0.203412 -0.006965 [component_container_isolated-3] 0.002393 0.999930 -0.011560 0.059327 [component_container_isolated-3] -0.203398 0.011805 0.979025 0.018654 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.068559130] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.736,0.140} [component_container_isolated-3] [DEBUG] [1762964975.068591602] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.014,-0.006} {0.613,11.594,-0.047} [component_container_isolated-3] [DEBUG] [1762964975.068643831] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.094304317] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.094365794] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.094404328] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.094447761] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000087 0.000071 -0.000029 [component_container_isolated-3] -0.000087 1.000000 0.000005 0.000515 [component_container_isolated-3] -0.000071 -0.000005 1.000000 0.000310 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.094472087] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.014,0.003} {-0.033,0.048,-0.106} [component_container_isolated-3] [DEBUG] [1762964975.094520009] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.094564073] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.094603558] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981509 -0.000026 0.191417 -0.006816 [component_container_isolated-3] -0.001703 0.999959 0.008865 0.059849 [component_container_isolated-3] -0.191409 -0.009027 0.981469 0.017361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.094626101] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.527,11.035,-0.099} [component_container_isolated-3] [DEBUG] [1762964975.094657040] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.014,-0.004} {-0.473,10.987,0.009} [component_container_isolated-3] [DEBUG] [1762964975.094707447] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.096962914] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.097022808] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.097060951] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.097103402] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000099 0.000006 -0.000068 [component_container_isolated-3] 0.000099 1.000000 0.000001 -0.000131 [component_container_isolated-3] -0.000006 -0.000001 1.000000 -0.000015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.097127478] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.151,0.060,-0.045} [component_container_isolated-3] [DEBUG] [1762964975.097175891] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.097216989] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.097254130] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879390 -0.000022 0.476102 -0.001135 [component_container_isolated-3] -0.004737 0.999950 0.008794 0.060296 [component_container_isolated-3] -0.476078 -0.009989 0.879346 0.018234 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.097277956] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.651,28.430,-0.309} [component_container_isolated-3] [DEBUG] [1762964975.097311129] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.475,28.370,-0.257} [component_container_isolated-3] [DEBUG] [1762964975.097401832] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.099641409] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.099706263] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.099745187] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.099788540] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000140 0.000206 0.000293 [component_container_isolated-3] -0.000140 1.000000 0.000096 0.001181 [component_container_isolated-3] -0.000206 -0.000096 1.000000 0.000986 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.099813708] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.010,0.012} {-0.101,0.155,-0.150} [component_container_isolated-3] [DEBUG] [1762964975.099860959] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.099904171] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.099975157] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982720 -0.000021 0.185098 -0.007169 [component_container_isolated-3] -0.000088 1.000000 0.000577 0.059631 [component_container_isolated-3] -0.185098 -0.000583 0.982720 0.016995 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.100000906] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.034,10.667,-0.005} [component_container_isolated-3] [DEBUG] [1762964975.100035071] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.010,-0.012} {0.095,10.512,0.148} [component_container_isolated-3] [DEBUG] [1762964975.100090226] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.124996902] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.125059061] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.125097013] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.125142130] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000046 -0.000242 0.000863 [component_container_isolated-3] -0.000046 1.000000 -0.000153 0.000574 [component_container_isolated-3] 0.000242 0.000153 1.000000 -0.001480 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.125167288] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.004} {0.049,0.130,0.179} [component_container_isolated-3] [DEBUG] [1762964975.125215389] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.125257830] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.125294511] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979093 0.000009 0.203412 -0.006965 [component_container_isolated-3] 0.002393 0.999930 -0.011560 0.059327 [component_container_isolated-3] -0.203398 0.011805 0.979025 0.018654 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.125318406] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.736,0.140} [component_container_isolated-3] [DEBUG] [1762964975.125350678] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.004} {0.605,11.608,-0.044} [component_container_isolated-3] [DEBUG] [1762964975.125404651] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.131374131] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.131433334] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.131474373] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.131516764] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000021 0.000036 -0.000102 [component_container_isolated-3] -0.000021 1.000000 -0.000125 0.000058 [component_container_isolated-3] -0.000036 0.000125 1.000000 0.000088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.131541591] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.144,0.062,-0.046} [component_container_isolated-3] [DEBUG] [1762964975.131589893] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.131631262] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.131665788] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879373 0.000056 0.476133 -0.001144 [component_container_isolated-3] -0.004758 0.999951 0.008669 0.060301 [component_container_isolated-3] -0.476109 -0.009889 0.879331 0.018256 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.131687910] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.644,28.432,-0.310} [component_container_isolated-3] [DEBUG] [1762964975.131720853] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.475,28.370,-0.257} [component_container_isolated-3] [DEBUG] [1762964975.131774586] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.132186943] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.132241437] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.132280552] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.132323494] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000087 0.000071 -0.000029 [component_container_isolated-3] -0.000087 1.000000 0.000005 0.000515 [component_container_isolated-3] -0.000071 -0.000005 1.000000 0.000310 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.132349103] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.015,0.004} {-0.034,0.053,-0.111} [component_container_isolated-3] [DEBUG] [1762964975.132398838] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.132444936] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.132485153] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981509 -0.000026 0.191417 -0.006816 [component_container_isolated-3] -0.001703 0.999959 0.008865 0.059849 [component_container_isolated-3] -0.191409 -0.009027 0.981469 0.017361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.132512365] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.527,11.035,-0.099} [component_container_isolated-3] [DEBUG] [1762964975.132544156] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.015,-0.004} {-0.472,10.983,0.014} [component_container_isolated-3] [DEBUG] [1762964975.132584943] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.139199836] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.139255843] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.139294277] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.139337830] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000140 0.000206 0.000293 [component_container_isolated-3] -0.000140 1.000000 0.000096 0.001181 [component_container_isolated-3] -0.000206 -0.000096 1.000000 0.000986 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.139363449] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.011,0.013} {-0.107,0.167,-0.158} [component_container_isolated-3] [DEBUG] [1762964975.139411210] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.139458671] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.139498497] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982720 -0.000021 0.185098 -0.007169 [component_container_isolated-3] -0.000088 1.000000 0.000577 0.059631 [component_container_isolated-3] -0.185098 -0.000583 0.982720 0.016995 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.139522452] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.034,10.667,-0.005} [component_container_isolated-3] [DEBUG] [1762964975.139556307] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.012,-0.013} {0.102,10.500,0.156} [component_container_isolated-3] [DEBUG] [1762964975.139607144] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.144332318] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.144384448] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.144425256] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.144472005] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000046 -0.000242 0.000863 [component_container_isolated-3] -0.000046 1.000000 -0.000153 0.000574 [component_container_isolated-3] 0.000242 0.000153 1.000000 -0.001480 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.144497734] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.003} {0.058,0.116,0.176} [component_container_isolated-3] [DEBUG] [1762964975.144546607] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.144589479] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.144625087] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979093 0.000009 0.203412 -0.006965 [component_container_isolated-3] 0.002393 0.999930 -0.011560 0.059327 [component_container_isolated-3] -0.203398 0.011805 0.979025 0.018654 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.144646608] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.736,0.140} [component_container_isolated-3] [DEBUG] [1762964975.144676065] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.012,-0.003} {0.597,11.622,-0.041} [component_container_isolated-3] [DEBUG] [1762964975.144725038] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.157150478] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.157214179] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.157251711] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.157293170] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000087 0.000071 -0.000029 [component_container_isolated-3] -0.000087 1.000000 0.000005 0.000515 [component_container_isolated-3] -0.000071 -0.000005 1.000000 0.000310 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.157318669] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.015,0.004} {-0.034,0.057,-0.116} [component_container_isolated-3] [DEBUG] [1762964975.157365999] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.157408150] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.157443046] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981509 -0.000026 0.191417 -0.006816 [component_container_isolated-3] -0.001703 0.999959 0.008865 0.059849 [component_container_isolated-3] -0.191409 -0.009027 0.981469 0.017361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.157467173] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.527,11.035,-0.099} [component_container_isolated-3] [DEBUG] [1762964975.157500917] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.015,-0.004} {-0.470,10.979,0.019} [component_container_isolated-3] [DEBUG] [1762964975.157552666] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.166637205] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.166692050] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.166726345] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.166775880] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000046 -0.000242 0.000863 [component_container_isolated-3] -0.000046 1.000000 -0.000153 0.000574 [component_container_isolated-3] 0.000242 0.000153 1.000000 -0.001480 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.166802841] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.012,0.001} {0.066,0.102,0.173} [component_container_isolated-3] [DEBUG] [1762964975.166852797] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.166896651] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.166961484] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979093 0.000009 0.203412 -0.006965 [component_container_isolated-3] 0.002393 0.999930 -0.011560 0.059327 [component_container_isolated-3] -0.203398 0.011805 0.979025 0.018654 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.166986492] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.736,0.140} [component_container_isolated-3] [DEBUG] [1762964975.167016269] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.012,-0.001} {0.589,11.635,-0.038} [component_container_isolated-3] [DEBUG] [1762964975.167077786] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.167217704] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.167267529] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.167308327] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.167351930] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000030 -0.000066 0.000043 [component_container_isolated-3] -0.000030 1.000000 0.000076 -0.000019 [component_container_isolated-3] 0.000066 -0.000076 1.000000 -0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.167376256] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.148,0.058,-0.048} [component_container_isolated-3] [DEBUG] [1762964975.167426683] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.167469354] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.167506355] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879405 0.000046 0.476075 -0.001153 [component_container_isolated-3] -0.004787 0.999950 0.008745 0.060306 [component_container_isolated-3] -0.476051 -0.009970 0.879361 0.018260 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.167528858] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.650,28.428,-0.312} [component_container_isolated-3] [DEBUG] [1762964975.167558575] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.001} {-0.475,28.370,-0.257} [component_container_isolated-3] [DEBUG] [1762964975.167608961] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.178999474] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.179058036] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.179100176] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.179147517] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000101 -0.000149 -0.000616 [component_container_isolated-3] 0.000101 1.000000 -0.000066 -0.000923 [component_container_isolated-3] 0.000149 0.000066 1.000000 -0.000869 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.179173987] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.010,0.012} {-0.103,0.158,-0.153} [component_container_isolated-3] [DEBUG] [1762964975.179222460] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.179265863] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.179301912] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982748 -0.000107 0.184951 -0.007298 [component_container_isolated-3] 0.000013 1.000000 0.000511 0.059532 [component_container_isolated-3] -0.184951 -0.000499 0.982748 0.016913 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.179325767] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.029,10.658,0.001} [component_container_isolated-3] [DEBUG] [1762964975.179358650] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.011,-0.012} {0.102,10.500,0.156} [component_container_isolated-3] [DEBUG] [1762964975.179413124] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.184910753] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.184998320] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.185037806] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.185080648] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000030 -0.000066 0.000043 [component_container_isolated-3] -0.000030 1.000000 0.000076 -0.000019 [component_container_isolated-3] 0.000066 -0.000076 1.000000 -0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.185105525] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.001} {-0.153,0.054,-0.049} [component_container_isolated-3] [DEBUG] [1762964975.185154879] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.185197280] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.185237457] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879405 0.000046 0.476075 -0.001153 [component_container_isolated-3] -0.004787 0.999950 0.008745 0.060306 [component_container_isolated-3] -0.476051 -0.009970 0.879361 0.018260 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.185260732] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.650,28.428,-0.312} [component_container_isolated-3] [DEBUG] [1762964975.185292873] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.470,28.374,-0.255} [component_container_isolated-3] [DEBUG] [1762964975.185347106] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.206080592] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.206143863] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.206182928] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.206226511] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000027 -0.000119 0.000304 [component_container_isolated-3] -0.000027 1.000000 -0.000096 0.000324 [component_container_isolated-3] 0.000119 0.000096 1.000000 -0.000672 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.206251769] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.015,0.003} {-0.028,0.050,-0.118} [component_container_isolated-3] [DEBUG] [1762964975.206299400] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.206345809] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.206386086] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000019 0.191300 -0.006827 [component_container_isolated-3] -0.001728 0.999960 0.008769 0.059944 [component_container_isolated-3] -0.191292 -0.008938 0.981493 0.017331 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.206410693] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.522,11.028,-0.101} [component_container_isolated-3] [DEBUG] [1762964975.206444177] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.016,-0.004} {-0.470,10.979,0.019} [component_container_isolated-3] [DEBUG] [1762964975.206494413] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.212234064] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.212294660] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.212333434] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.212377628] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000081 -0.000036 0.000407 [component_container_isolated-3] 0.000081 1.000000 -0.000094 -0.000305 [component_container_isolated-3] 0.000036 0.000094 1.000000 -0.000128 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.212402305] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.010,0.012} {-0.098,0.156,-0.148} [component_container_isolated-3] [DEBUG] [1762964975.212449205] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.212492407] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.212531843] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982755 -0.000170 0.184915 -0.007305 [component_container_isolated-3] 0.000095 1.000000 0.000417 0.059419 [component_container_isolated-3] -0.184915 -0.000392 0.982754 0.016851 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.212555438] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.023,10.656,0.006} [component_container_isolated-3] [DEBUG] [1762964975.212586537] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.011,-0.012} {0.102,10.500,0.156} [component_container_isolated-3] [DEBUG] [1762964975.212636452] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.234869172] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.234964113] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.235004470] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.235047101] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000027 -0.000119 0.000304 [component_container_isolated-3] -0.000027 1.000000 -0.000096 0.000324 [component_container_isolated-3] 0.000119 0.000096 1.000000 -0.000672 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.235071478] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.016,0.003} {-0.023,0.043,-0.119} [component_container_isolated-3] [DEBUG] [1762964975.235120722] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.235162351] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.235201506] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000019 0.191300 -0.006827 [component_container_isolated-3] -0.001728 0.999960 0.008769 0.059944 [component_container_isolated-3] -0.191292 -0.008938 0.981493 0.017331 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.235225672] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.522,11.028,-0.101} [component_container_isolated-3] [DEBUG] [1762964975.235258776] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.016,-0.003} {-0.476,10.986,0.021} [component_container_isolated-3] [DEBUG] [1762964975.235309442] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.238814426] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.238878148] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.238951738] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.238999459] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000082 -0.000040 0.000293 [component_container_isolated-3] 0.000082 1.000000 -0.000037 -0.000041 [component_container_isolated-3] 0.000040 0.000037 1.000000 0.000481 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.239026451] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.012,0.002} {0.068,0.100,0.178} [component_container_isolated-3] [DEBUG] [1762964975.239076827] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.239120130] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.239159134] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979102 -0.000064 0.203372 -0.006887 [component_container_isolated-3] 0.002475 0.999930 -0.011597 0.059334 [component_container_isolated-3] -0.203357 0.011858 0.979033 0.018593 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.239183020] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.733,0.145} [component_container_isolated-3] [DEBUG] [1762964975.239219209] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.012,-0.001} {0.589,11.635,-0.038} [component_container_isolated-3] [DEBUG] [1762964975.239276018] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.241144235] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.241195974] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.241236201] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.241279814] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000017 0.000016 0.000187 [component_container_isolated-3] 0.000017 1.000000 0.000049 -0.000007 [component_container_isolated-3] -0.000016 -0.000049 1.000000 -0.000093 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.241305002] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.156,0.055,-0.048} [component_container_isolated-3] [DEBUG] [1762964975.241353184] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.241396267] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.241432275] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879397 0.000008 0.476089 -0.001145 [component_container_isolated-3] -0.004770 0.999950 0.008794 0.060308 [component_container_isolated-3] -0.476065 -0.010005 0.879353 0.018246 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.241453897] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.652,28.429,-0.311} [component_container_isolated-3] [DEBUG] [1762964975.241487441] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.470,28.374,-0.255} [component_container_isolated-3] [DEBUG] [1762964975.241539530] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.242083609] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.242133715] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.242174122] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.242244887] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000081 -0.000036 0.000407 [component_container_isolated-3] 0.000081 1.000000 -0.000094 -0.000305 [component_container_isolated-3] 0.000036 0.000094 1.000000 -0.000128 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.242275155] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.010,0.012} {-0.092,0.154,-0.143} [component_container_isolated-3] [DEBUG] [1762964975.242328557] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.242374234] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.242412287] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982755 -0.000170 0.184915 -0.007305 [component_container_isolated-3] 0.000095 1.000000 0.000417 0.059419 [component_container_isolated-3] -0.184915 -0.000392 0.982754 0.016851 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.242435011] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.023,10.656,0.006} [component_container_isolated-3] [DEBUG] [1762964975.242472141] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.010,-0.012} {0.096,10.502,0.151} [component_container_isolated-3] [DEBUG] [1762964975.242566251] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.256077194] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.256130896] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.256169921] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.256213294] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000082 -0.000040 0.000293 [component_container_isolated-3] 0.000082 1.000000 -0.000037 -0.000041 [component_container_isolated-3] 0.000040 0.000037 1.000000 0.000481 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.256237751] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.012,0.002} {0.070,0.097,0.183} [component_container_isolated-3] [DEBUG] [1762964975.256286343] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.256328023] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.256363691] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979102 -0.000064 0.203372 -0.006887 [component_container_isolated-3] 0.002475 0.999930 -0.011597 0.059334 [component_container_isolated-3] -0.203357 0.011858 0.979033 0.018593 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.256386955] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.733,0.145} [component_container_isolated-3] [DEBUG] [1762964975.256419447] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.012,-0.002} {0.586,11.638,-0.043} [component_container_isolated-3] [DEBUG] [1762964975.256473310] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.262971490] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.263032026] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.263070539] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.263113061] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000017 0.000016 0.000187 [component_container_isolated-3] 0.000017 1.000000 0.000049 -0.000007 [component_container_isolated-3] -0.000016 -0.000049 1.000000 -0.000093 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.263138539] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.158,0.056,-0.048} [component_container_isolated-3] [DEBUG] [1762964975.263186250] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.263232759] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.263272305] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879397 0.000008 0.476089 -0.001145 [component_container_isolated-3] -0.004770 0.999950 0.008794 0.060308 [component_container_isolated-3] -0.476065 -0.010005 0.879353 0.018246 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.263295940] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.652,28.429,-0.311} [component_container_isolated-3] [DEBUG] [1762964975.263331338] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.468,28.373,-0.256} [component_container_isolated-3] [DEBUG] [1762964975.263383026] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.270155079] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.270208942] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.270252295] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.270297892] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000027 -0.000119 0.000304 [component_container_isolated-3] -0.000027 1.000000 -0.000096 0.000324 [component_container_isolated-3] 0.000119 0.000096 1.000000 -0.000672 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.270323691] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.016,0.002} {-0.017,0.036,-0.121} [component_container_isolated-3] [DEBUG] [1762964975.270371983] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.270415186] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.270451064] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000019 0.191300 -0.006827 [component_container_isolated-3] -0.001728 0.999960 0.008769 0.059944 [component_container_isolated-3] -0.191292 -0.008938 0.981493 0.017331 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.270473888] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.522,11.028,-0.101} [component_container_isolated-3] [DEBUG] [1762964975.270507262] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.016,-0.002} {-0.481,10.993,0.022} [component_container_isolated-3] [DEBUG] [1762964975.270558971] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.284903355] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.284997444] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.285036930] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.285079211] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000082 -0.000040 0.000293 [component_container_isolated-3] 0.000082 1.000000 -0.000037 -0.000041 [component_container_isolated-3] 0.000040 0.000037 1.000000 0.000481 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.285104028] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.012,0.003} {0.073,0.095,0.188} [component_container_isolated-3] [DEBUG] [1762964975.285152901] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.285195663] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.285234938] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979102 -0.000064 0.203372 -0.006887 [component_container_isolated-3] 0.002475 0.999930 -0.011597 0.059334 [component_container_isolated-3] -0.203357 0.011858 0.979033 0.018593 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.285258453] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.733,0.145} [component_container_isolated-3] [DEBUG] [1762964975.285290905] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.012,-0.002} {0.582,11.640,-0.048} [component_container_isolated-3] [DEBUG] [1762964975.285342824] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.296820754] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.296883444] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.296945462] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.296989436] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000017 0.000016 0.000187 [component_container_isolated-3] 0.000017 1.000000 0.000049 -0.000007 [component_container_isolated-3] -0.000016 -0.000049 1.000000 -0.000093 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.297013743] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.002,0.001} {-0.161,0.057,-0.047} [component_container_isolated-3] [DEBUG] [1762964975.297062376] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.297105438] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.297140715] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879397 0.000008 0.476089 -0.001145 [component_container_isolated-3] -0.004770 0.999950 0.008794 0.060308 [component_container_isolated-3] -0.476065 -0.010005 0.879353 0.018246 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.297164350] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.652,28.429,-0.311} [component_container_isolated-3] [DEBUG] [1762964975.297195329] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.465,28.372,-0.257} [component_container_isolated-3] [DEBUG] [1762964975.297245686] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.306726261] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.306812145] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.306859907] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.306911936] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000300 0.000062 0.000157 [component_container_isolated-3] -0.000300 1.000000 0.000311 0.001287 [component_container_isolated-3] -0.000061 -0.000311 1.000000 0.000996 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.306980226] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.011,0.013} {-0.110,0.157,-0.161} [component_container_isolated-3] [DEBUG] [1762964975.307033087] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.307083243] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.307127498] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982743 0.000067 0.184975 -0.007228 [component_container_isolated-3] -0.000205 1.000000 0.000728 0.059699 [component_container_isolated-3] -0.184975 -0.000753 0.982743 0.017013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.307158807] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.044,10.660,-0.012} [component_container_isolated-3] [DEBUG] [1762964975.307197912] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.011,-0.012} {0.096,10.502,0.151} [component_container_isolated-3] [DEBUG] [1762964975.307269268] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.308656558] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.308707876] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.308747071] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.308790323] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000012 -0.000080 0.000279 [component_container_isolated-3] -0.000012 1.000000 -0.000030 -0.000096 [component_container_isolated-3] 0.000080 0.000030 1.000000 -0.000499 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.308815060] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.016,0.001} {-0.016,0.032,-0.121} [component_container_isolated-3] [DEBUG] [1762964975.308863383] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.308905313] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.308971068] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 0.000037 0.191221 -0.006811 [component_container_isolated-3] -0.001740 0.999960 0.008738 0.059976 [component_container_isolated-3] -0.191213 -0.008910 0.981508 0.017185 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.308997028] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.520,11.024,-0.102} [component_container_isolated-3] [DEBUG] [1762964975.309030893] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.016,-0.002} {-0.481,10.993,0.022} [component_container_isolated-3] [DEBUG] [1762964975.309086579] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.316294925] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.316357966] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.316377393] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.316453889] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.316498354] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.316549802] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000300 0.000062 0.000157 [component_container_isolated-3] -0.000300 1.000000 0.000311 0.001287 [component_container_isolated-3] -0.000061 -0.000311 1.000000 0.000996 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.316578206] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.012,0.014} {-0.128,0.161,-0.178} [component_container_isolated-3] [DEBUG] [1762964975.316632239] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.316678548] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.316717743] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982743 0.000067 0.184975 -0.007228 [component_container_isolated-3] -0.000205 1.000000 0.000728 0.059699 [component_container_isolated-3] -0.184975 -0.000753 0.982743 0.017013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.316740887] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.044,10.660,-0.012} [component_container_isolated-3] [DEBUG] [1762964975.316775613] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.013,-0.013} {0.117,10.498,0.169} [component_container_isolated-3] [DEBUG] [1762964975.316395798] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.316829686] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.316941249] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000017 0.000016 0.000187 [component_container_isolated-3] 0.000017 1.000000 0.000049 -0.000007 [component_container_isolated-3] -0.000016 -0.000049 1.000000 -0.000093 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.317023987] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.002,0.001} {-0.164,0.058,-0.046} [component_container_isolated-3] [DEBUG] [1762964975.317101856] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.317168133] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.317200174] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879397 0.000008 0.476089 -0.001145 [component_container_isolated-3] -0.004770 0.999950 0.008794 0.060308 [component_container_isolated-3] -0.476065 -0.010005 0.879353 0.018246 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.317218689] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.652,28.429,-0.311} [component_container_isolated-3] [DEBUG] [1762964975.317241312] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.001,-0.000} {-0.463,28.371,-0.258} [component_container_isolated-3] [DEBUG] [1762964975.317280878] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.324319139] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.324385256] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.324426334] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.324470238] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000025 0.000185 -0.000240 [component_container_isolated-3] 0.000025 1.000000 -0.000129 -0.000072 [component_container_isolated-3] -0.000185 0.000129 1.000000 0.000486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.324494464] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.012,0.003} {0.080,0.106,0.189} [component_container_isolated-3] [DEBUG] [1762964975.324542165] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.324583925] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.324620355] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979064 -0.000062 0.203554 -0.006850 [component_container_isolated-3] 0.002501 0.999928 -0.011725 0.059330 [component_container_isolated-3] -0.203538 0.011989 0.978994 0.018649 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.324644661] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.702,11.744,0.146} [component_container_isolated-3] [DEBUG] [1762964975.324676251] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.012,-0.003} {0.582,11.640,-0.048} [component_container_isolated-3] [DEBUG] [1762964975.324726347] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.332889817] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.332979839] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.333021769] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.333066845] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000023 0.000111 -0.000228 [component_container_isolated-3] -0.000023 1.000000 0.000074 0.000331 [component_container_isolated-3] -0.000111 -0.000074 1.000000 0.000623 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.333091513] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.016,0.002} {-0.020,0.038,-0.123} [component_container_isolated-3] [DEBUG] [1762964975.333140927] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.333183558] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.333219888] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981526 0.000045 0.191330 -0.006806 [component_container_isolated-3] -0.001764 0.999960 0.008813 0.060084 [component_container_isolated-3] -0.191322 -0.008987 0.981486 0.017214 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.333242892] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.525,11.030,-0.103} [component_container_isolated-3] [DEBUG] [1762964975.333273350] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.016,-0.002} {-0.481,10.993,0.022} [component_container_isolated-3] [DEBUG] [1762964975.333321662] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.339865740] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.339966843] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.340009735] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.340053939] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000004 0.000078 0.000185 [component_container_isolated-3] -0.000004 1.000000 -0.000068 -0.000224 [component_container_isolated-3] -0.000078 0.000068 1.000000 -0.000084 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.340082083] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.124,0.165,-0.178} [component_container_isolated-3] [DEBUG] [1762964975.340137829] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.340184418] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.340223914] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982686 -0.000145 0.185277 -0.007189 [component_container_isolated-3] -0.000041 0.999999 0.001001 0.059912 [component_container_isolated-3] -0.185277 -0.000992 0.982686 0.017261 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.340247268] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.058,10.677,-0.002} [component_container_isolated-3] [DEBUG] [1762964975.340277716] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.012,-0.013} {0.099,10.512,0.178} [component_container_isolated-3] [DEBUG] [1762964975.340327411] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.370662915] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.370719232] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.370760942] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.370806439] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000032 -0.000024 -0.000154 [component_container_isolated-3] 0.000032 1.000000 -0.000129 0.000023 [component_container_isolated-3] 0.000024 0.000129 1.000000 0.000021 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.370832939] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.002,0.001} {-0.156,0.057,-0.044} [component_container_isolated-3] [DEBUG] [1762964975.370887173] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.370964020] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.371005329] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 0.000042 0.476068 -0.001153 [component_container_isolated-3] -0.004738 0.999951 0.008665 0.060310 [component_container_isolated-3] -0.476044 -0.009876 0.879366 0.018255 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.371028353] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,0.000} {-0.643,28.427,-0.309} [component_container_isolated-3] [DEBUG] [1762964975.371058570] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.463,28.371,-0.258} [component_container_isolated-3] [DEBUG] [1762964975.371111401] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.373597970] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.373662052] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.373705115] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.373749429] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000059 -0.000109 -0.000221 [component_container_isolated-3] -0.000059 1.000000 0.000100 0.000041 [component_container_isolated-3] 0.000109 -0.000100 1.000000 -0.000288 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.373774858] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.012,0.003} {0.074,0.099,0.186} [component_container_isolated-3] [DEBUG] [1762964975.373824473] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.373868547] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.373904786] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979206 0.000337 0.202867 -0.006619 [component_container_isolated-3] 0.002033 0.999932 -0.011478 0.060508 [component_container_isolated-3] -0.202857 0.011652 0.979139 0.017621 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.373964931] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.001} {0.682,11.704,0.119} [component_container_isolated-3] [DEBUG] [1762964975.373999267] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.003} {0.569,11.606,-0.072} [component_container_isolated-3] [DEBUG] [1762964975.374054332] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.375496646] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.375552493] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.375610995] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.375656672] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000045 0.000047 0.000084 [component_container_isolated-3] -0.000045 1.000000 -0.000101 -0.000023 [component_container_isolated-3] -0.000047 0.000101 1.000000 -0.000016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.375681670] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.118,0.168,-0.181} [component_container_isolated-3] [DEBUG] [1762964975.375731905] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.375775388] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.375810826] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982678 -0.000082 0.185322 -0.007162 [component_container_isolated-3] -0.000086 1.000000 0.000900 0.059988 [component_container_isolated-3] -0.185322 -0.000901 0.982677 0.017351 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.375833670] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.053,10.680,-0.005} [component_container_isolated-3] [DEBUG] [1762964975.375864709] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.012,-0.013} {0.099,10.512,0.178} [component_container_isolated-3] [DEBUG] [1762964975.375913943] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.386301972] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.386362137] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.386405018] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.386450876] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000232 0.000146 -0.000140 [component_container_isolated-3] 0.000232 1.000000 -0.000095 -0.001010 [component_container_isolated-3] -0.000146 0.000095 1.000000 0.000301 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.386476966] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.015,0.002} {-0.014,0.046,-0.110} [component_container_isolated-3] [DEBUG] [1762964975.386526771] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.386572388] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.386609569] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 -0.000002 0.191336 -0.006621 [component_container_isolated-3] -0.001791 0.999956 0.009200 0.060322 [component_container_isolated-3] -0.191328 -0.009373 0.981481 0.017009 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.386633645] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,-0.000} {-0.547,11.030,-0.105} [component_container_isolated-3] [DEBUG] [1762964975.386665336] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.015,-0.003} {-0.511,10.985,0.007} [component_container_isolated-3] [DEBUG] [1762964975.386714349] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.392247817] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.392310747] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.392352487] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.392397062] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000059 -0.000109 -0.000221 [component_container_isolated-3] -0.000059 1.000000 0.000100 0.000041 [component_container_isolated-3] 0.000109 -0.000100 1.000000 -0.000288 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.392422130] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.012,0.002} {0.069,0.093,0.182} [component_container_isolated-3] [DEBUG] [1762964975.392470733] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.392512863] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.392552008] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979206 0.000337 0.202867 -0.006619 [component_container_isolated-3] 0.002033 0.999932 -0.011478 0.060508 [component_container_isolated-3] -0.202857 0.011652 0.979139 0.017621 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.392575823] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.001} {0.682,11.704,0.119} [component_container_isolated-3] [DEBUG] [1762964975.392607103] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.003} {0.576,11.613,-0.068} [component_container_isolated-3] [DEBUG] [1762964975.392666496] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.394018418] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.394068824] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.394108851] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.394152474] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000259 0.000041 0.000095 [component_container_isolated-3] 0.000259 1.000000 -0.000340 -0.000639 [component_container_isolated-3] -0.000041 0.000340 1.000000 0.000185 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.394177362] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.001,0.001} {-0.137,0.059,-0.029} [component_container_isolated-3] [DEBUG] [1762964975.394226996] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.394273856] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.394313402] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 -0.000024 0.476104 -0.001142 [component_container_isolated-3] -0.004480 0.999955 0.008325 0.060163 [component_container_isolated-3] -0.476083 -0.009454 0.879349 0.018295 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.394338209] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,0.000} {-0.616,28.430,-0.292} [component_container_isolated-3] [DEBUG] [1762964975.394370661] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.001,-0.001} {-0.463,28.371,-0.258} [component_container_isolated-3] [DEBUG] [1762964975.394427710] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.415336641] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.415405492] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.415447152] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.415490304] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000161 -0.000018 0.001085 [component_container_isolated-3] -0.000161 1.000000 -0.000122 0.000684 [component_container_isolated-3] 0.000018 0.000122 1.000000 -0.000614 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.415515372] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.016,0.002} {-0.007,0.045,-0.119} [component_container_isolated-3] [DEBUG] [1762964975.415563324] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.415607127] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.415643186] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981528 0.000179 0.191319 -0.006122 [component_container_isolated-3] -0.001952 0.999957 0.009078 0.060705 [component_container_isolated-3] -0.191309 -0.009284 0.981486 0.016642 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.415666020] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.542,11.029,-0.114} [component_container_isolated-3] [DEBUG] [1762964975.415696338] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.015,-0.002} {-0.511,10.985,0.007} [component_container_isolated-3] [DEBUG] [1762964975.415745692] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.415954781] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.416005729] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.416045495] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.416093797] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000034 0.000044 0.000205 [component_container_isolated-3] 0.000034 1.000000 0.000016 -0.000165 [component_container_isolated-3] -0.000044 -0.000016 1.000000 -0.000008 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.416119726] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.119,0.171,-0.179} [component_container_isolated-3] [DEBUG] [1762964975.416167698] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.416210600] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.416247651] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982670 -0.000119 0.185366 -0.007113 [component_container_isolated-3] -0.000052 1.000000 0.000917 0.060051 [component_container_isolated-3] -0.185366 -0.000911 0.982669 0.017405 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.416269643] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.053,10.682,-0.003} [component_container_isolated-3] [DEBUG] [1762964975.416300391] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.012,-0.013} {0.099,10.512,0.178} [component_container_isolated-3] [DEBUG] [1762964975.416349375] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.434581734] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.434645426] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.434684050] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.434726781] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000067 -0.000090 -0.000301 [component_container_isolated-3] -0.000067 1.000000 0.000036 -0.000101 [component_container_isolated-3] 0.000090 -0.000036 1.000000 -0.000038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.434751358] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.013,0.002} {0.066,0.088,0.178} [component_container_isolated-3] [DEBUG] [1762964975.434798047] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.434838905] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.434878441] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979225 0.000396 0.202778 -0.006585 [component_container_isolated-3] 0.001965 0.999933 -0.011442 0.060693 [component_container_isolated-3] -0.202769 0.011603 0.979158 0.017398 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.434902006] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.001} {0.679,11.699,0.115} [component_container_isolated-3] [DEBUG] [1762964975.434968603] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.004} {0.576,11.613,-0.068} [component_container_isolated-3] [DEBUG] [1762964975.435024239] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.442078161] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.442144147] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.442183131] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.442226855] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000159 -0.000029 -0.000408 [component_container_isolated-3] 0.000159 1.000000 0.000110 -0.000739 [component_container_isolated-3] 0.000029 -0.000110 1.000000 -0.000002 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.442251792] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.015,0.002} {-0.014,0.044,-0.110} [component_container_isolated-3] [DEBUG] [1762964975.442301668] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.442349319] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.442389736] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 0.000003 0.191290 -0.006043 [component_container_isolated-3] -0.001793 0.999956 0.009187 0.060790 [component_container_isolated-3] -0.191282 -0.009361 0.981491 0.016522 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.442414934] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.546,11.028,-0.105} [component_container_isolated-3] [DEBUG] [1762964975.442448378] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.015,-0.003} {-0.511,10.985,0.007} [component_container_isolated-3] [DEBUG] [1762964975.442499175] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.447031560] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.447090964] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.447133024] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.447178361] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000017 -0.000042 -0.000037 [component_container_isolated-3] -0.000017 1.000000 0.000064 -0.000026 [component_container_isolated-3] 0.000042 -0.000064 1.000000 0.000032 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.447206665] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.123,0.168,-0.180} [component_container_isolated-3] [DEBUG] [1762964975.447257572] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.447302378] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.447339148] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982677 -0.000114 0.185325 -0.007084 [component_container_isolated-3] -0.000069 1.000000 0.000981 0.060092 [component_container_isolated-3] -0.185325 -0.000976 0.982677 0.017463 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.447366099] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.057,10.680,-0.004} [component_container_isolated-3] [DEBUG] [1762964975.447400405] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.012,-0.013} {0.099,10.512,0.178} [component_container_isolated-3] [DEBUG] [1762964975.447453977] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.453142761] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.453202075] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.453247251] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.453292828] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000106 -0.000038 -0.000174 [component_container_isolated-3] -0.000106 1.000000 0.000115 0.000381 [component_container_isolated-3] 0.000038 -0.000115 1.000000 0.000053 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.453318747] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.001,0.001} {-0.144,0.057,-0.035} [component_container_isolated-3] [DEBUG] [1762964975.453368382] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.453416684] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.453453996] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879449 -0.000162 0.475993 -0.001157 [component_container_isolated-3] -0.004459 0.999953 0.008578 0.060121 [component_container_isolated-3] -0.475972 -0.009667 0.879407 0.018254 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.453477400] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,0.000} {-0.630,28.423,-0.291} [component_container_isolated-3] [DEBUG] [1762964975.453512507] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.001,-0.001} {-0.467,28.366,-0.250} [component_container_isolated-3] [DEBUG] [1762964975.453565499] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.472385320] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.472449923] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.472490220] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.472533864] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000136 0.000153 -0.000056 [component_container_isolated-3] 0.000136 1.000000 -0.000173 -0.000450 [component_container_isolated-3] -0.000153 0.000173 1.000000 0.000395 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.472562148] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.013,0.003} {0.076,0.097,0.186} [component_container_isolated-3] [DEBUG] [1762964975.472612444] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.472656648] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.472695833] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979194 0.000298 0.202928 -0.006559 [component_container_isolated-3] 0.002103 0.999930 -0.011615 0.060798 [component_container_isolated-3] -0.202917 0.011800 0.979125 0.017299 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.472719879] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.001} {0.690,11.708,0.123} [component_container_isolated-3] [DEBUG] [1762964975.472753944] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.004} {0.576,11.613,-0.068} [component_container_isolated-3] [DEBUG] [1762964975.472803168] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.479005022] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.479063283] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.479104522] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.479149378] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000051 -0.000037 -0.001147 [component_container_isolated-3] 0.000051 1.000000 0.000029 -0.000159 [component_container_isolated-3] 0.000037 -0.000029 1.000000 0.000177 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.479174736] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.015,0.002} {-0.015,0.042,-0.107} [component_container_isolated-3] [DEBUG] [1762964975.479223670] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.479267293] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.479306398] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 -0.000053 0.191254 -0.006231 [component_container_isolated-3] -0.001742 0.999956 0.009216 0.060807 [component_container_isolated-3] -0.191246 -0.009379 0.981497 0.016483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.479330403] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.548,11.026,-0.102} [component_container_isolated-3] [DEBUG] [1762964975.479364088] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.014,-0.003} {-0.511,10.985,0.007} [component_container_isolated-3] [DEBUG] [1762964975.479417790] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.482510096] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.482562476] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.482604657] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.482648600] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000136 0.000153 -0.000056 [component_container_isolated-3] 0.000136 1.000000 -0.000173 -0.000450 [component_container_isolated-3] -0.000153 0.000173 1.000000 0.000395 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.482674300] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.013,0.003} {0.086,0.106,0.194} [component_container_isolated-3] [DEBUG] [1762964975.482721880] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.482764502] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.482803116] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979194 0.000298 0.202928 -0.006559 [component_container_isolated-3] 0.002103 0.999930 -0.011615 0.060798 [component_container_isolated-3] -0.202917 0.011800 0.979125 0.017299 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.482826671] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.001} {0.690,11.708,0.123} [component_container_isolated-3] [DEBUG] [1762964975.482860134] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.004} {0.564,11.604,-0.076} [component_container_isolated-3] [DEBUG] [1762964975.482908437] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.483555693] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.483603885] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.483642669] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.483687615] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000085 0.000027 0.000076 [component_container_isolated-3] -0.000085 1.000000 0.000072 0.000110 [component_container_isolated-3] -0.000027 -0.000072 1.000000 0.000007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.483711961] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.001,0.001} {-0.148,0.058,-0.040} [component_container_isolated-3] [DEBUG] [1762964975.483760514] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.483807624] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.483848742] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879436 -0.000121 0.476017 -0.001145 [component_container_isolated-3] -0.004544 0.999952 0.008650 0.060090 [component_container_isolated-3] -0.475995 -0.009771 0.879394 0.018228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.483872929] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.424,-0.296} [component_container_isolated-3] [DEBUG] [1762964975.483911091] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.467,28.366,-0.250} [component_container_isolated-3] [DEBUG] [1762964975.483994591] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.492128825] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.492186686] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.492228295] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.492272880] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000124 0.000037 0.000237 [component_container_isolated-3] 0.000124 1.000000 0.000027 -0.000196 [component_container_isolated-3] -0.000037 -0.000027 1.000000 -0.000075 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.492298810] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.125,0.170,-0.172} [component_container_isolated-3] [DEBUG] [1762964975.492347934] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.492395124] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.492436042] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982671 -0.000241 0.185361 -0.007017 [component_container_isolated-3] 0.000055 1.000000 0.001008 0.060112 [component_container_isolated-3] -0.185361 -0.000980 0.982670 0.017506 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.492459587] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.057,10.682,0.003} [component_container_isolated-3] [DEBUG] [1762964975.492490366] [zed_multi.front]: +++ Diff [map -> odom] - {-0.009,-0.012,-0.013} {0.099,10.512,0.178} [component_container_isolated-3] [DEBUG] [1762964975.492539610] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.498177537] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.498226571] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.498265475] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.498310922] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000051 -0.000037 -0.001147 [component_container_isolated-3] 0.000051 1.000000 0.000029 -0.000159 [component_container_isolated-3] 0.000037 -0.000029 1.000000 0.000177 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.498335819] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.015,0.002} {-0.017,0.039,-0.104} [component_container_isolated-3] [DEBUG] [1762964975.498383220] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.498426132] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.498467601] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 -0.000053 0.191254 -0.006231 [component_container_isolated-3] -0.001742 0.999956 0.009216 0.060807 [component_container_isolated-3] -0.191246 -0.009379 0.981497 0.016483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.498492388] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.548,11.026,-0.102} [component_container_isolated-3] [DEBUG] [1762964975.498527135] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.014,-0.003} {-0.510,10.987,0.004} [component_container_isolated-3] [DEBUG] [1762964975.498584614] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.504250665] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.504304187] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.504345226] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.504390112] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000028 -0.000066 0.000141 [component_container_isolated-3] -0.000028 1.000000 0.000066 -0.000013 [component_container_isolated-3] 0.000066 -0.000066 1.000000 -0.000071 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.504414729] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.001,0.001} {-0.152,0.055,-0.041} [component_container_isolated-3] [DEBUG] [1762964975.504462450] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.504504330] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.504539958] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879468 -0.000128 0.475959 -0.001124 [component_container_isolated-3] -0.004572 0.999952 0.008717 0.060067 [component_container_isolated-3] -0.475937 -0.009842 0.879425 0.018188 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.504561349] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.641,28.420,-0.298} [component_container_isolated-3] [DEBUG] [1762964975.504591366] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.002,-0.001} {-0.467,28.366,-0.250} [component_container_isolated-3] [DEBUG] [1762964975.504639598] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.520257134] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.520311708] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.520351564] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.520396350] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000080 -0.000080 -0.000105 [component_container_isolated-3] -0.000080 1.000000 -0.000076 0.000103 [component_container_isolated-3] 0.000080 0.000076 1.000000 0.000037 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.520421948] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.120,0.166,-0.177} [component_container_isolated-3] [DEBUG] [1762964975.520471112] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.520513684] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.520550484] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982685 -0.000148 0.185282 -0.006978 [component_container_isolated-3] -0.000025 1.000000 0.000931 0.060137 [component_container_isolated-3] -0.185282 -0.000920 0.982685 0.017550 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.520574179] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,0.000} {-0.054,10.678,-0.001} [component_container_isolated-3] [DEBUG] [1762964975.520607783] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.012,-0.013} {0.099,10.512,0.178} [component_container_isolated-3] [DEBUG] [1762964975.520661195] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.535285604] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.535337403] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.535380185] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.535426724] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000051 -0.000037 -0.001147 [component_container_isolated-3] 0.000051 1.000000 0.000029 -0.000159 [component_container_isolated-3] 0.000037 -0.000029 1.000000 0.000177 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.535453064] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.002} {-0.019,0.037,-0.101} [component_container_isolated-3] [DEBUG] [1762964975.535501948] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.535544799] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.535579576] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 -0.000053 0.191254 -0.006231 [component_container_isolated-3] -0.001742 0.999956 0.009216 0.060807 [component_container_isolated-3] -0.191246 -0.009379 0.981497 0.016483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.535602149] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.548,11.026,-0.102} [component_container_isolated-3] [DEBUG] [1762964975.535632727] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.014,-0.004} {-0.509,10.989,0.001} [component_container_isolated-3] [DEBUG] [1762964975.535682352] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.539014145] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.539078287] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.539119206] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.539164803] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000028 0.000459 -0.000513 [component_container_isolated-3] 0.000028 1.000000 0.000148 -0.000166 [component_container_isolated-3] -0.000459 -0.000148 1.000000 0.001499 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.539190852] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.005} {0.078,0.132,0.196} [component_container_isolated-3] [DEBUG] [1762964975.539243373] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.539290102] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.539328135] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979101 0.000240 0.203377 -0.006501 [component_container_isolated-3] 0.002136 0.999932 -0.011467 0.060838 [component_container_isolated-3] -0.203366 0.011662 0.979033 0.017676 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.539350608] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.001} {0.682,11.734,0.125} [component_container_isolated-3] [DEBUG] [1762964975.539381176] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.006} {0.564,11.604,-0.076} [component_container_isolated-3] [DEBUG] [1762964975.539430039] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.540882192] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.540971052] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.541011930] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.541055293] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000018 -0.000092 0.000012 [component_container_isolated-3] -0.000018 1.000000 -0.000038 0.000132 [component_container_isolated-3] 0.000092 0.000038 1.000000 -0.000155 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.541080010] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.002,0.001} {-0.149,0.049,-0.042} [component_container_isolated-3] [DEBUG] [1762964975.541128573] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.541175382] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.541214677] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879512 -0.000094 0.475878 -0.001122 [component_container_isolated-3] -0.004589 0.999952 0.008679 0.060054 [component_container_isolated-3] -0.475855 -0.009817 0.879469 0.018138 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.541238623] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.415,-0.299} [component_container_isolated-3] [DEBUG] [1762964975.541271646] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.467,28.366,-0.250} [component_container_isolated-3] [DEBUG] [1762964975.541322493] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.558108661] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.558167734] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.558206979] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.558252035] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 -0.000006 0.000004 [component_container_isolated-3] 0.000003 1.000000 -0.000031 0.000011 [component_container_isolated-3] 0.000006 0.000031 1.000000 -0.000088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.558277724] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.118,0.165,-0.177} [component_container_isolated-3] [DEBUG] [1762964975.558325235] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.558370822] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.558411399] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982687 -0.000145 0.185275 -0.006950 [component_container_isolated-3] -0.000022 1.000000 0.000900 0.060158 [component_container_isolated-3] -0.185275 -0.000889 0.982686 0.017587 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.558435575] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,0.000} {-0.052,10.677,-0.001} [component_container_isolated-3] [DEBUG] [1762964975.558469009] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.012,-0.012} {0.099,10.512,0.178} [component_container_isolated-3] [DEBUG] [1762964975.558530847] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.571635855] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.571695198] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.571734834] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.571781533] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000047 0.000076 -0.000009 [component_container_isolated-3] 0.000047 1.000000 -0.000045 -0.000208 [component_container_isolated-3] -0.000076 0.000045 1.000000 0.000142 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.571808234] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.001,0.001} {-0.147,0.054,-0.040} [component_container_isolated-3] [DEBUG] [1762964975.571858901] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.571903115] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.571978178] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879475 -0.000115 0.475944 -0.001111 [component_container_isolated-3] -0.004542 0.999952 0.008634 0.060012 [component_container_isolated-3] -0.475923 -0.009755 0.879433 0.018117 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.572005330] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.636,28.419,-0.296} [component_container_isolated-3] [DEBUG] [1762964975.572038474] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.002,-0.001} {-0.467,28.366,-0.250} [component_container_isolated-3] [DEBUG] [1762964975.572092657] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.581087134] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.581149974] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.581189911] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.581234345] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000072 -0.000227 0.000062 [component_container_isolated-3] 0.000072 1.000000 -0.000123 -0.000222 [component_container_isolated-3] 0.000227 0.000123 1.000000 -0.000706 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.581259824] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.004} {0.085,0.119,0.200} [component_container_isolated-3] [DEBUG] [1762964975.581312134] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.581358733] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.581397527] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979147 0.000195 0.203154 -0.006513 [component_container_isolated-3] 0.002205 0.999931 -0.011590 0.060839 [component_container_isolated-3] -0.203142 0.011797 0.979078 0.017666 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.581421723] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.001} {0.690,11.721,0.129} [component_container_isolated-3] [DEBUG] [1762964975.581455207] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.005} {0.564,11.604,-0.076} [component_container_isolated-3] [DEBUG] [1762964975.581504802] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.587184449] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.587236498] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.587273409] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.587316280] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000072 -0.000227 0.000062 [component_container_isolated-3] 0.000072 1.000000 -0.000123 -0.000222 [component_container_isolated-3] 0.000227 0.000123 1.000000 -0.000706 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.587341128] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.003} {0.092,0.106,0.204} [component_container_isolated-3] [DEBUG] [1762964975.587392005] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.587437752] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.587476577] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979147 0.000195 0.203154 -0.006513 [component_container_isolated-3] 0.002205 0.999931 -0.011590 0.060839 [component_container_isolated-3] -0.203142 0.011797 0.979078 0.017666 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.587499621] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.001} {0.690,11.721,0.129} [component_container_isolated-3] [DEBUG] [1762964975.587531632] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.004} {0.556,11.617,-0.080} [component_container_isolated-3] [DEBUG] [1762964975.587583721] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.589069459] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.589118412] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.589158549] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.589201511] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000047 0.000076 -0.000009 [component_container_isolated-3] 0.000047 1.000000 -0.000045 -0.000208 [component_container_isolated-3] -0.000076 0.000045 1.000000 0.000142 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.589226418] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.001,0.001} {-0.144,0.058,-0.037} [component_container_isolated-3] [DEBUG] [1762964975.589274099] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.589316590] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.589351287] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879475 -0.000115 0.475944 -0.001111 [component_container_isolated-3] -0.004542 0.999952 0.008634 0.060012 [component_container_isolated-3] -0.475923 -0.009755 0.879433 0.018117 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.589377747] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.636,28.419,-0.296} [component_container_isolated-3] [DEBUG] [1762964975.589412243] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.001,-0.001} {-0.471,28.362,-0.253} [component_container_isolated-3] [DEBUG] [1762964975.589469322] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.589352890] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.589560797] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.589604220] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.589652201] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000065 0.000013 0.000472 [component_container_isolated-3] -0.000065 1.000000 0.000040 0.000441 [component_container_isolated-3] -0.000013 -0.000040 1.000000 0.000027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.589677760] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.002} {-0.021,0.038,-0.105} [component_container_isolated-3] [DEBUG] [1762964975.589726413] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.589769475] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.589805975] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 0.000003 0.191267 -0.006218 [component_container_isolated-3] -0.001807 0.999956 0.009257 0.060911 [component_container_isolated-3] -0.191258 -0.009432 0.981494 0.016431 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.589829460] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.551,11.026,-0.105} [component_container_isolated-3] [DEBUG] [1762964975.589859838] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.014,-0.004} {-0.509,10.989,0.001} [component_container_isolated-3] [DEBUG] [1762964975.589909012] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.596668150] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.596731140] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.596770185] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.596813828] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000037 0.000119 0.000118 [component_container_isolated-3] 0.000037 1.000000 -0.000021 -0.000142 [component_container_isolated-3] -0.000119 0.000021 1.000000 0.000003 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.596838886] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.117,0.172,-0.175} [component_container_isolated-3] [DEBUG] [1762964975.596885575] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.596955299] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.596998180] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982665 -0.000178 0.185393 -0.006906 [component_container_isolated-3] 0.000015 1.000000 0.000879 0.060163 [component_container_isolated-3] -0.185393 -0.000861 0.982664 0.017610 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.597023048] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,0.000} {-0.050,10.684,0.001} [component_container_isolated-3] [DEBUG] [1762964975.597056512] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.011,-0.012} {0.099,10.512,0.178} [component_container_isolated-3] [DEBUG] [1762964975.597107048] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.611414743] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.611482322] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.611523540] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.611568316] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000093 -0.000015 0.000008 [component_container_isolated-3] -0.000093 1.000000 -0.000059 -0.000024 [component_container_isolated-3] 0.000015 0.000059 1.000000 -0.000130 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.611594396] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.002} {-0.018,0.037,-0.110} [component_container_isolated-3] [DEBUG] [1762964975.611642588] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.611686752] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.611726528] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 0.000106 0.191251 -0.006215 [component_container_isolated-3] -0.001900 0.999956 0.009198 0.060952 [component_container_isolated-3] -0.191242 -0.009392 0.981498 0.016367 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.611751726] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.548,11.025,-0.111} [component_container_isolated-3] [DEBUG] [1762964975.611785771] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.014,-0.004} {-0.509,10.989,0.001} [component_container_isolated-3] [DEBUG] [1762964975.611845095] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.618056276] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.618120559] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.618162139] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.618209178] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000034 0.000094 0.000196 [component_container_isolated-3] -0.000034 1.000000 -0.000015 -0.000147 [component_container_isolated-3] -0.000094 0.000015 1.000000 -0.000008 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.618236551] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.011,0.014} {-0.116,0.178,-0.177} [component_container_isolated-3] [DEBUG] [1762964975.618285855] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.618332264] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.618370597] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982647 -0.000142 0.185485 -0.006830 [component_container_isolated-3] -0.000019 1.000000 0.000864 0.060148 [component_container_isolated-3] -0.185485 -0.000852 0.982647 0.017624 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.618394492] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.050,10.689,-0.001} [component_container_isolated-3] [DEBUG] [1762964975.618426193] [zed_multi.front]: +++ Diff [map -> odom] - {-0.009,-0.011,-0.012} {0.099,10.512,0.178} [component_container_isolated-3] [DEBUG] [1762964975.618479114] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.625219086] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.625283158] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.625322062] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.625365355] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000087 0.000296 -0.000313 [component_container_isolated-3] -0.000087 1.000000 0.000227 -0.000039 [component_container_isolated-3] -0.000296 -0.000227 1.000000 0.000960 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.625389060] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.004} {0.079,0.123,0.199} [component_container_isolated-3] [DEBUG] [1762964975.625436922] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.625479062] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.625516604] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 0.000235 0.203444 -0.006511 [component_container_isolated-3] 0.002122 0.999933 -0.011363 0.060837 [component_container_isolated-3] -0.203434 0.011557 0.979021 0.017919 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.625539878] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.676,11.738,0.124} [component_container_isolated-3] [DEBUG] [1762964975.625574254] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.005} {0.556,11.617,-0.080} [component_container_isolated-3] [DEBUG] [1762964975.625625291] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.627078877] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.627129975] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.627169110] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.627212182] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000033 -0.000024 0.000196 [component_container_isolated-3] -0.000033 1.000000 0.000116 0.000087 [component_container_isolated-3] 0.000024 -0.000116 1.000000 -0.000128 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.627237240] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.001,0.001} {-0.151,0.057,-0.039} [component_container_isolated-3] [DEBUG] [1762964975.627284961] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.627328484] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.627366336] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879487 -0.000140 0.475923 -0.001078 [component_container_isolated-3] -0.004575 0.999951 0.008749 0.059996 [component_container_isolated-3] -0.475901 -0.009872 0.879444 0.018058 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.627389981] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.643,28.418,-0.298} [component_container_isolated-3] [DEBUG] [1762964975.627422664] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.001,-0.001} {-0.471,28.362,-0.253} [component_container_isolated-3] [DEBUG] [1762964975.627472178] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.634654996] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.634719179] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.634759175] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.634802337] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000093 -0.000015 0.000008 [component_container_isolated-3] -0.000093 1.000000 -0.000059 -0.000024 [component_container_isolated-3] 0.000015 0.000059 1.000000 -0.000130 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.634827034] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.002} {-0.014,0.036,-0.115} [component_container_isolated-3] [DEBUG] [1762964975.634874405] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.634917387] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.634998352] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 0.000106 0.191251 -0.006215 [component_container_isolated-3] -0.001900 0.999956 0.009198 0.060952 [component_container_isolated-3] -0.191242 -0.009392 0.981498 0.016367 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.635023399] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.548,11.025,-0.111} [component_container_isolated-3] [DEBUG] [1762964975.635053537] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.014,-0.004} {-0.511,10.990,0.007} [component_container_isolated-3] [DEBUG] [1762964975.635105817] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.636340886] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.636412613] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.636451377] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.636499218] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000030 -0.000078 -0.000013 [component_container_isolated-3] 0.000030 1.000000 -0.000006 0.000011 [component_container_isolated-3] 0.000078 0.000006 1.000000 0.000009 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.636525608] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.011,0.014} {-0.116,0.173,-0.175} [component_container_isolated-3] [DEBUG] [1762964975.636577908] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.636625619] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.636663792] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982661 -0.000170 0.185409 -0.006791 [component_container_isolated-3] 0.000011 1.000000 0.000858 0.060140 [component_container_isolated-3] -0.185409 -0.000841 0.982661 0.017639 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.636687107] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.049,10.685,0.001} [component_container_isolated-3] [DEBUG] [1762964975.636718366] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.011,-0.012} {0.099,10.512,0.178} [component_container_isolated-3] [DEBUG] [1762964975.636767801] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.658060735] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.658112554] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.658146920] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.658183650] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000008 0.000032 -0.000194 [component_container_isolated-3] -0.000008 1.000000 -0.000222 0.000206 [component_container_isolated-3] -0.000032 0.000222 1.000000 0.000058 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.658203909] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.004} {0.092,0.125,0.198} [component_container_isolated-3] [DEBUG] [1762964975.658243454] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.658279232] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.658305813] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 0.000287 0.203475 -0.006560 [component_container_isolated-3] 0.002114 0.999931 -0.011584 0.060859 [component_container_isolated-3] -0.203465 0.011772 0.979012 0.018041 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.658322285] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.000} {0.689,11.740,0.124} [component_container_isolated-3] [DEBUG] [1762964975.658344116] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.005} {0.556,11.617,-0.080} [component_container_isolated-3] [DEBUG] [1762964975.658382570] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.683627602] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.683694820] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.683762660] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.683810852] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000097 -0.000052 -0.000326 [component_container_isolated-3] -0.000097 1.000000 -0.000010 0.000324 [component_container_isolated-3] 0.000052 0.000010 1.000000 0.000046 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.683837152] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.115,0.170,-0.181} [component_container_isolated-3] [DEBUG] [1762964975.683886717] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.683967852] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.684008569] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982671 -0.000072 0.185357 -0.006777 [component_container_isolated-3] -0.000086 1.000000 0.000848 0.060184 [component_container_isolated-3] -0.185357 -0.000850 0.982671 0.017666 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.684033727] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.050,10.682,-0.005} [component_container_isolated-3] [DEBUG] [1762964975.684066350] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.012,-0.012} {0.099,10.512,0.178} [component_container_isolated-3] [DEBUG] [1762964975.684118088] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.685072832] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.685123418] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.685163996] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.685208641] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000116 0.000012 -0.000100 [component_container_isolated-3] -0.000116 1.000000 0.000177 0.000167 [component_container_isolated-3] -0.000012 -0.000177 1.000000 0.000060 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.685236354] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.001,0.001} {-0.161,0.057,-0.046} [component_container_isolated-3] [DEBUG] [1762964975.685289506] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.685335724] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.685376311] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879481 -0.000123 0.475934 -0.001061 [component_container_isolated-3] -0.004691 0.999949 0.008926 0.060002 [component_container_isolated-3] -0.475911 -0.010083 0.879436 0.018019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.685400087] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.657,28.419,-0.306} [component_container_isolated-3] [DEBUG] [1762964975.685431777] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.002,-0.001} {-0.471,28.362,-0.253} [component_container_isolated-3] [DEBUG] [1762964975.685482234] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.691749613] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.691803997] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.691844624] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.691887126] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000116 0.000012 -0.000100 [component_container_isolated-3] -0.000116 1.000000 0.000177 0.000167 [component_container_isolated-3] -0.000012 -0.000177 1.000000 0.000060 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.691912835] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.002,0.001} {-0.171,0.058,-0.052} [component_container_isolated-3] [DEBUG] [1762964975.691995813] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.692040058] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.692076106] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879481 -0.000123 0.475934 -0.001061 [component_container_isolated-3] -0.004691 0.999949 0.008926 0.060002 [component_container_isolated-3] -0.475911 -0.010083 0.879436 0.018019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.692098199] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.657,28.419,-0.306} [component_container_isolated-3] [DEBUG] [1762964975.692131001] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.002,-0.001} {-0.457,28.361,-0.246} [component_container_isolated-3] [DEBUG] [1762964975.692182991] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.694857328] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.694962829] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.695004288] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.695048453] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000138 -0.000204 -0.000176 [component_container_isolated-3] 0.000138 1.000000 -0.000147 -0.000639 [component_container_isolated-3] 0.000204 0.000147 1.000000 -0.000603 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.695073891] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.001} {-0.006,0.025,-0.107} [component_container_isolated-3] [DEBUG] [1762964975.695124228] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.695171658] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.695211304] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981580 -0.000001 0.191051 -0.006283 [component_container_isolated-3] -0.001761 0.999958 0.009052 0.060883 [component_container_isolated-3] -0.191043 -0.009222 0.981538 0.016134 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.695235640] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.538,11.014,-0.103} [component_container_isolated-3] [DEBUG] [1762964975.695266209] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.014,-0.003} {-0.511,10.990,0.007} [component_container_isolated-3] [DEBUG] [1762964975.695318589] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.700631054] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.700693804] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.700734843] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.700781732] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000054 -0.000175 0.000492 [component_container_isolated-3] -0.000054 1.000000 0.000118 0.000269 [component_container_isolated-3] 0.000175 -0.000118 1.000000 -0.000365 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.700809004] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.004} {0.085,0.115,0.195} [component_container_isolated-3] [DEBUG] [1762964975.700858328] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.700906220] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.700973859] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979116 0.000316 0.203304 -0.006536 [component_container_isolated-3] 0.002058 0.999932 -0.011467 0.060932 [component_container_isolated-3] -0.203294 0.011646 0.979048 0.018071 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.700998606] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.000} {0.681,11.730,0.120} [component_container_isolated-3] [DEBUG] [1762964975.701029946] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.004} {0.556,11.617,-0.080} [component_container_isolated-3] [DEBUG] [1762964975.701083408] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.701802091] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.701849411] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.701886502] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.701981353] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000138 -0.000204 -0.000176 [component_container_isolated-3] 0.000138 1.000000 -0.000147 -0.000639 [component_container_isolated-3] 0.000204 0.000147 1.000000 -0.000603 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.702013575] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.014,0.001} {0.002,0.013,-0.100} [component_container_isolated-3] [DEBUG] [1762964975.702061055] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.702095912] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.702122663] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981580 -0.000001 0.191051 -0.006283 [component_container_isolated-3] -0.001761 0.999958 0.009052 0.060883 [component_container_isolated-3] -0.191043 -0.009222 0.981538 0.016134 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.702140106] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.538,11.014,-0.103} [component_container_isolated-3] [DEBUG] [1762964975.702161477] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,-0.003} {-0.521,11.002,-0.001} [component_container_isolated-3] [DEBUG] [1762964975.702199149] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.706716245] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.706776941] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.706817168] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.706862825] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000026 0.000014 0.000223 [component_container_isolated-3] 0.000026 1.000000 0.000074 -0.000180 [component_container_isolated-3] -0.000014 -0.000074 1.000000 0.000008 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.706889015] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.120,0.171,-0.179} [component_container_isolated-3] [DEBUG] [1762964975.706972034] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.707019475] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.707061936] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982669 -0.000111 0.185370 -0.006742 [component_container_isolated-3] -0.000061 1.000000 0.000922 0.060188 [component_container_isolated-3] -0.185370 -0.000917 0.982668 0.017680 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.707085691] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.053,10.683,-0.004} [component_container_isolated-3] [DEBUG] [1762964975.707116219] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.011,-0.012} {0.099,10.512,0.178} [component_container_isolated-3] [DEBUG] [1762964975.707176384] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.732989431] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.733051109] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.733024698] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.733149256] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.733093059] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.733248626] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000093 0.000156 -0.000134 [component_container_isolated-3] 0.000093 1.000000 -0.000065 -0.000102 [component_container_isolated-3] -0.000156 0.000065 1.000000 0.000532 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.733277220] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.004} {0.089,0.123,0.201} [component_container_isolated-3] [DEBUG] [1762964975.733331414] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.733196316] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.733378584] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.733400456] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000155 0.000052 -0.000137 [component_container_isolated-3] 0.000155 1.000000 -0.000410 -0.000213 [component_container_isolated-3] -0.000052 0.000410 1.000000 0.000107 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.733431014] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.001,0.001} {-0.148,0.061,-0.043} [component_container_isolated-3] [DEBUG] [1762964975.733417468] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 0.000238 0.203457 -0.006514 [component_container_isolated-3] 0.002153 0.999931 -0.011531 0.060956 [component_container_isolated-3] -0.203446 0.011728 0.979016 0.018225 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.733519613] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.686,11.739,0.126} [component_container_isolated-3] [DEBUG] [1762964975.733551494] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.005} {0.556,11.617,-0.080} [component_container_isolated-3] [DEBUG] [1762964975.733487302] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.733607481] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.733702843] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.733744042] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879457 -0.000064 0.475979 -0.001050 [component_container_isolated-3] -0.004536 0.999954 0.008516 0.059967 [component_container_isolated-3] -0.475958 -0.009648 0.879415 0.018036 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.733764601] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.629,28.422,-0.296} [component_container_isolated-3] [DEBUG] [1762964975.733787705] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.457,28.361,-0.246} [component_container_isolated-3] [DEBUG] [1762964975.733828584] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.740718462] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.740767796] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.740805117] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.740849352] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000093 0.000156 -0.000134 [component_container_isolated-3] 0.000093 1.000000 -0.000065 -0.000102 [component_container_isolated-3] -0.000156 0.000065 1.000000 0.000532 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.740873999] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.005} {0.092,0.132,0.206} [component_container_isolated-3] [DEBUG] [1762964975.740951446] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.740998446] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.741038924] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 0.000238 0.203457 -0.006514 [component_container_isolated-3] 0.002153 0.999931 -0.011531 0.060956 [component_container_isolated-3] -0.203446 0.011728 0.979016 0.018225 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.741063230] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.686,11.739,0.126} [component_container_isolated-3] [DEBUG] [1762964975.741095922] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.005} {0.551,11.608,-0.086} [component_container_isolated-3] [DEBUG] [1762964975.741146228] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.744427856] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.744482129] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.744523308] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.744569406] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000256 0.000240 0.000100 [component_container_isolated-3] -0.000256 1.000000 0.000228 0.001359 [component_container_isolated-3] -0.000240 -0.000228 1.000000 0.000738 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.744595305] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.002} {-0.011,0.027,-0.114} [component_container_isolated-3] [DEBUG] [1762964975.744644519] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.744687381] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.744727017] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 0.000206 0.191287 -0.006268 [component_container_isolated-3] -0.002018 0.999955 0.009280 0.061280 [component_container_isolated-3] -0.191276 -0.009494 0.981490 0.016102 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.744749340] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.554,11.027,-0.118} [component_container_isolated-3] [DEBUG] [1762964975.744780168] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.014,-0.003} {-0.521,11.002,-0.001} [component_container_isolated-3] [DEBUG] [1762964975.744833480] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.753559675] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.753615472] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.753654596] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.753699903] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000046 0.000039 -0.000111 [component_container_isolated-3] -0.000046 1.000000 -0.000020 0.000082 [component_container_isolated-3] -0.000039 0.000020 1.000000 -0.000018 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.753725943] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.119,0.173,-0.182} [component_container_isolated-3] [DEBUG] [1762964975.753774225] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.753821435] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.753862293] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982661 -0.000063 0.185409 -0.006724 [component_container_isolated-3] -0.000106 1.000000 0.000902 0.060200 [component_container_isolated-3] -0.185409 -0.000907 0.982661 0.017698 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.753885848] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.053,10.685,-0.006} [component_container_isolated-3] [DEBUG] [1762964975.753953688] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.011,-0.012} {0.099,10.512,0.178} [component_container_isolated-3] [DEBUG] [1762964975.754010877] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.776687714] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.776749993] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.776787064] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.776829816] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000098 -0.000086 0.000388 [component_container_isolated-3] 0.000098 1.000000 0.000026 -0.000439 [component_container_isolated-3] 0.000086 -0.000026 1.000000 -0.000183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.776855565] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.015,0.001} {-0.012,0.022,-0.109} [component_container_isolated-3] [DEBUG] [1762964975.776903917] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.776985733] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.777029066] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981551 0.000105 0.191203 -0.006204 [component_container_isolated-3] -0.001920 0.999955 0.009306 0.061330 [component_container_isolated-3] -0.191193 -0.009501 0.981506 0.016059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.777054094] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.555,11.022,-0.112} [component_container_isolated-3] [DEBUG] [1762964975.777087167] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.014,-0.003} {-0.521,11.002,-0.001} [component_container_isolated-3] [DEBUG] [1762964975.777140018] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.780030558] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.780081525] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.780123085] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.780167490] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000006 -0.000055 -0.000227 [component_container_isolated-3] -0.000006 1.000000 0.000227 -0.000090 [component_container_isolated-3] 0.000055 -0.000227 1.000000 -0.000160 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.780194511] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.001,0.001} {-0.161,0.058,-0.044} [component_container_isolated-3] [DEBUG] [1762964975.780242643] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.780285605] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.780320983] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879483 -0.000167 0.475931 -0.001091 [component_container_isolated-3] -0.004542 0.999951 0.008743 0.059938 [component_container_isolated-3] -0.475909 -0.009851 0.879439 0.018015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.780344087] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.419,-0.296} [component_container_isolated-3] [DEBUG] [1762964975.780373433] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.457,28.361,-0.246} [component_container_isolated-3] [DEBUG] [1762964975.780391938] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.780502509] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.780562213] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.780426234] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.780632428] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000093 0.000156 -0.000134 [component_container_isolated-3] 0.000093 1.000000 -0.000065 -0.000102 [component_container_isolated-3] -0.000156 0.000065 1.000000 0.000532 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.780740183] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.006} {0.096,0.141,0.211} [component_container_isolated-3] [DEBUG] [1762964975.780817912] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.780891502] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.780966425] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 0.000238 0.203457 -0.006514 [component_container_isolated-3] 0.002153 0.999931 -0.011531 0.060956 [component_container_isolated-3] -0.203446 0.011728 0.979016 0.018225 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.780999849] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.686,11.739,0.126} [component_container_isolated-3] [DEBUG] [1762964975.781043643] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.006} {0.547,11.599,-0.091} [component_container_isolated-3] [DEBUG] [1762964975.781123245] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.790055784] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.790118133] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.790159622] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.790210038] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000002 -0.000110 -0.000016 [component_container_isolated-3] -0.000002 1.000000 0.000003 0.000019 [component_container_isolated-3] 0.000110 -0.000003 1.000000 -0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.790236509] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.119,0.167,-0.182} [component_container_isolated-3] [DEBUG] [1762964975.790284811] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.790329547] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.790366137] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982682 -0.000061 0.185301 -0.006716 [component_container_isolated-3] -0.000108 1.000000 0.000905 0.060212 [component_container_isolated-3] -0.185301 -0.000910 0.982681 0.017712 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.790390764] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.053,10.679,-0.006} [component_container_isolated-3] [DEBUG] [1762964975.790421933] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.012,-0.012} {0.099,10.512,0.178} [component_container_isolated-3] [DEBUG] [1762964975.790480184] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.806896866] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.806987359] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.807028227] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.807074115] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000059 -0.000043 0.000313 [component_container_isolated-3] 0.000059 1.000000 0.000048 -0.000022 [component_container_isolated-3] 0.000043 -0.000048 1.000000 -0.000124 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.807099103] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.001,0.001} {-0.163,0.055,-0.040} [component_container_isolated-3] [DEBUG] [1762964975.807148166] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.807194695] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.807235213] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879503 -0.000241 0.475893 -0.001088 [component_container_isolated-3] -0.004482 0.999951 0.008791 0.059912 [component_container_isolated-3] -0.475872 -0.009865 0.879460 0.017968 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.807259048] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.643,28.416,-0.292} [component_container_isolated-3] [DEBUG] [1762964975.807292802] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.457,28.361,-0.246} [component_container_isolated-3] [DEBUG] [1762964975.807343610] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.818892485] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.818980603] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.819021301] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.819066147] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000030 0.000086 0.000164 [component_container_isolated-3] -0.000030 1.000000 -0.000055 0.000396 [component_container_isolated-3] -0.000086 0.000055 1.000000 0.000084 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.819090724] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.015,0.001} {-0.009,0.027,-0.110} [component_container_isolated-3] [DEBUG] [1762964975.819141461] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.819187158] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.819222716] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 0.000145 0.191287 -0.006132 [component_container_isolated-3] -0.001951 0.999955 0.009251 0.061450 [component_container_isolated-3] -0.191278 -0.009453 0.981490 0.016035 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.819247222] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.552,11.027,-0.114} [component_container_isolated-3] [DEBUG] [1762964975.819280676] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.014,-0.003} {-0.521,11.002,-0.001} [component_container_isolated-3] [DEBUG] [1762964975.819334359] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.839044661] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.839114654] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.839153569] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.839197402] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000047 0.000090 0.000042 [component_container_isolated-3] 0.000047 1.000000 -0.000067 -0.000066 [component_container_isolated-3] -0.000090 0.000067 1.000000 0.000032 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.839224143] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.115,0.172,-0.179} [component_container_isolated-3] [DEBUG] [1762964975.839275842] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.839322000] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.839362678] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982665 -0.000095 0.185389 -0.006703 [component_container_isolated-3] -0.000062 1.000000 0.000838 0.060214 [component_container_isolated-3] -0.185389 -0.000835 0.982665 0.017732 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.839386053] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.049,10.684,-0.004} [component_container_isolated-3] [DEBUG] [1762964975.839416551] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.011,-0.012} {0.099,10.512,0.178} [component_container_isolated-3] [DEBUG] [1762964975.839513606] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.848312640] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.848406059] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.848458228] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.848511560] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000064 -0.000134 0.000083 [component_container_isolated-3] -0.000064 1.000000 -0.000062 0.000027 [component_container_isolated-3] 0.000134 0.000062 1.000000 -0.000374 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.848542950] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.005} {0.100,0.134,0.208} [component_container_isolated-3] [DEBUG] [1762964975.848602173] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.848646879] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.848684370] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979111 0.000313 0.203326 -0.006502 [component_container_isolated-3] 0.002087 0.999931 -0.011593 0.060981 [component_container_isolated-3] -0.203315 0.011776 0.979042 0.018260 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.848708987] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.689,11.731,0.122} [component_container_isolated-3] [DEBUG] [1762964975.848741129] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.005} {0.547,11.599,-0.091} [component_container_isolated-3] [DEBUG] [1762964975.848791465] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.850307771] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.850354760] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.850392082] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.850434453] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000162 -0.000069 -0.000023 [component_container_isolated-3] -0.000162 1.000000 -0.000133 0.000279 [component_container_isolated-3] 0.000069 0.000133 1.000000 -0.000110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.850459170] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.002,0.001} {-0.156,0.051,-0.050} [component_container_isolated-3] [DEBUG] [1762964975.850505538] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.850549332] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.850589659] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879536 -0.000036 0.475832 -0.001090 [component_container_isolated-3] -0.004644 0.999952 0.008659 0.059921 [component_container_isolated-3] -0.475810 -0.009825 0.879493 0.017923 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.850614116] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.412,-0.302} [component_container_isolated-3] [DEBUG] [1762964975.850647820] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.457,28.361,-0.246} [component_container_isolated-3] [DEBUG] [1762964975.850703346] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.853704157] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.853768580] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.853808847] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.853854053] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000047 0.000090 0.000042 [component_container_isolated-3] 0.000047 1.000000 -0.000067 -0.000066 [component_container_isolated-3] -0.000090 0.000067 1.000000 0.000032 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.853882327] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.111,0.177,-0.176} [component_container_isolated-3] [DEBUG] [1762964975.853977609] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.854030139] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.854071298] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982665 -0.000095 0.185389 -0.006703 [component_container_isolated-3] -0.000062 1.000000 0.000838 0.060214 [component_container_isolated-3] -0.185389 -0.000835 0.982665 0.017732 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.854095194] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.049,10.684,-0.004} [component_container_isolated-3] [DEBUG] [1762964975.854126574] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.011,-0.012} {0.095,10.506,0.176} [component_container_isolated-3] [DEBUG] [1762964975.854185015] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.858913766] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.858998468] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.859037733] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.859081937] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000064 -0.000134 0.000083 [component_container_isolated-3] -0.000064 1.000000 -0.000062 0.000027 [component_container_isolated-3] 0.000134 0.000062 1.000000 -0.000374 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.859106975] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.005} {0.103,0.126,0.204} [component_container_isolated-3] [DEBUG] [1762964975.859155708] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.859197077] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.859232465] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979111 0.000313 0.203326 -0.006502 [component_container_isolated-3] 0.002087 0.999931 -0.011593 0.060981 [component_container_isolated-3] -0.203315 0.011776 0.979042 0.018260 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.859255228] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.689,11.731,0.122} [component_container_isolated-3] [DEBUG] [1762964975.859288411] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.005} {0.544,11.607,-0.087} [component_container_isolated-3] [DEBUG] [1762964975.859340100] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.863479265] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.863545451] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.863589045] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.863635062] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000005 -0.000081 0.000052 [component_container_isolated-3] -0.000005 1.000000 0.000049 -0.000068 [component_container_isolated-3] 0.000081 -0.000049 1.000000 -0.000175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.863661533] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.015,0.001} {-0.012,0.022,-0.111} [component_container_isolated-3] [DEBUG] [1762964975.863711148] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.863755252] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.863791922] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981550 0.000141 0.191208 -0.006087 [component_container_isolated-3] -0.001955 0.999955 0.009300 0.061498 [component_container_isolated-3] -0.191198 -0.009502 0.981506 0.015984 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.863815647] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.555,11.023,-0.114} [component_container_isolated-3] [DEBUG] [1762964975.863849392] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.014,-0.003} {-0.521,11.002,-0.001} [component_container_isolated-3] [DEBUG] [1762964975.863902653] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.870811908] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.870867946] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.870907170] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.870981703] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000005 -0.000081 0.000052 [component_container_isolated-3] -0.000005 1.000000 0.000049 -0.000068 [component_container_isolated-3] 0.000081 -0.000049 1.000000 -0.000175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.871008344] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.015,0.001} {-0.015,0.017,-0.111} [component_container_isolated-3] [DEBUG] [1762964975.871057658] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.871111290] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.871151347] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981550 0.000141 0.191208 -0.006087 [component_container_isolated-3] -0.001955 0.999955 0.009300 0.061498 [component_container_isolated-3] -0.191198 -0.009502 0.981506 0.015984 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.871176345] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.555,11.023,-0.114} [component_container_isolated-3] [DEBUG] [1762964975.871209738] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.014,-0.003} {-0.519,11.006,-0.001} [component_container_isolated-3] [DEBUG] [1762964975.871261708] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.872485284] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.872535640] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.872588511] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.872633477] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000047 0.000090 0.000042 [component_container_isolated-3] 0.000047 1.000000 -0.000067 -0.000066 [component_container_isolated-3] -0.000090 0.000067 1.000000 0.000032 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.872659467] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.107,0.182,-0.174} [component_container_isolated-3] [DEBUG] [1762964975.872710144] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.872759057] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.872800536] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982665 -0.000095 0.185389 -0.006703 [component_container_isolated-3] -0.000062 1.000000 0.000838 0.060214 [component_container_isolated-3] -0.185389 -0.000835 0.982665 0.017732 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.872823701] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.049,10.684,-0.004} [component_container_isolated-3] [DEBUG] [1762964975.872854650] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.011,-0.012} {0.091,10.501,0.173} [component_container_isolated-3] [DEBUG] [1762964975.872904685] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.877479272] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.877535399] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.877579794] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.877634678] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000064 -0.000134 0.000083 [component_container_isolated-3] -0.000064 1.000000 -0.000062 0.000027 [component_container_isolated-3] 0.000134 0.000062 1.000000 -0.000374 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.877667441] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.004} {0.107,0.118,0.200} [component_container_isolated-3] [DEBUG] [1762964975.877730401] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.877793652] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.877842555] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979111 0.000313 0.203326 -0.006502 [component_container_isolated-3] 0.002087 0.999931 -0.011593 0.060981 [component_container_isolated-3] -0.203315 0.011776 0.979042 0.018260 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.877869507] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.689,11.731,0.122} [component_container_isolated-3] [DEBUG] [1762964975.877907760] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.005} {0.541,11.615,-0.084} [component_container_isolated-3] [DEBUG] [1762964975.878021447] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.879304457] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.879357098] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.879399729] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.879449154] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000171 0.000078 -0.000074 [component_container_isolated-3] -0.000171 1.000000 0.000202 0.000430 [component_container_isolated-3] -0.000078 -0.000202 1.000000 0.000169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.879475093] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.002,0.001} {-0.167,0.056,-0.059} [component_container_isolated-3] [DEBUG] [1762964975.879525039] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.879567550] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.879603829] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879499 0.000018 0.475901 -0.001091 [component_container_isolated-3] -0.004815 0.999949 0.008861 0.060021 [component_container_isolated-3] -0.475877 -0.010084 0.879454 0.017890 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.879627715] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.657,28.416,-0.314} [component_container_isolated-3] [DEBUG] [1762964975.879660968] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.001} {-0.457,28.361,-0.246} [component_container_isolated-3] [DEBUG] [1762964975.879712086] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.890951801] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.891010062] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.891050920] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.891095465] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000171 0.000078 -0.000074 [component_container_isolated-3] -0.000171 1.000000 0.000202 0.000430 [component_container_isolated-3] -0.000078 -0.000202 1.000000 0.000169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.891120333] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.002,0.001} {-0.179,0.060,-0.069} [component_container_isolated-3] [DEBUG] [1762964975.891169226] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.891211647] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.891246293] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879499 0.000018 0.475901 -0.001091 [component_container_isolated-3] -0.004815 0.999949 0.008861 0.060021 [component_container_isolated-3] -0.475877 -0.010084 0.879454 0.017890 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.891269508] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.657,28.416,-0.314} [component_container_isolated-3] [DEBUG] [1762964975.891302080] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.001} {-0.440,28.357,-0.235} [component_container_isolated-3] [DEBUG] [1762964975.891354089] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.913235477] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.913300281] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.913340608] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.913384863] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000011 -0.000003 0.000007 [component_container_isolated-3] -0.000011 1.000000 -0.000050 -0.000031 [component_container_isolated-3] 0.000003 0.000050 1.000000 0.000006 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.913410291] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.011,0.014} {-0.104,0.182,-0.174} [component_container_isolated-3] [DEBUG] [1762964975.913466509] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.913511725] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.913550930] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982666 -0.000075 0.185386 -0.006689 [component_container_isolated-3] -0.000072 1.000000 0.000788 0.060214 [component_container_isolated-3] -0.185386 -0.000788 0.982665 0.017748 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.913573844] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.046,10.684,-0.004} [component_container_isolated-3] [DEBUG] [1762964975.913605073] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.011,-0.012} {0.091,10.501,0.173} [component_container_isolated-3] [DEBUG] [1762964975.913654217] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.921375362] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.921430628] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.921472668] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.921517163] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000045 -0.000041 0.000204 [component_container_isolated-3] 0.000045 1.000000 -0.000042 -0.000109 [component_container_isolated-3] 0.000041 0.000042 1.000000 -0.000373 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.921543083] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.015,0.001} {-0.012,0.015,-0.108} [component_container_isolated-3] [DEBUG] [1762964975.922135334] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.922281864] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.922330106] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981558 0.000104 0.191167 -0.006020 [component_container_isolated-3] -0.001909 0.999955 0.009258 0.061535 [component_container_isolated-3] -0.191158 -0.009452 0.981514 0.015855 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.922355023] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.552,11.020,-0.111} [component_container_isolated-3] [DEBUG] [1762964975.922380452] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.014,-0.003} {-0.519,11.006,-0.001} [component_container_isolated-3] [DEBUG] [1762964975.922423033] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.933413452] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.933480991] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.933521228] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.933566394] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000045 -0.000041 0.000204 [component_container_isolated-3] 0.000045 1.000000 -0.000042 -0.000109 [component_container_isolated-3] 0.000041 0.000042 1.000000 -0.000373 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.933592023] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.015,0.000} {-0.010,0.013,-0.106} [component_container_isolated-3] [DEBUG] [1762964975.933642219] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.933968723] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.934027806] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.934067181] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.934115072] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000171 0.000078 -0.000074 [component_container_isolated-3] -0.000171 1.000000 0.000202 0.000430 [component_container_isolated-3] -0.000078 -0.000202 1.000000 0.000169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.934142855] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.190,0.065,-0.079} [component_container_isolated-3] [DEBUG] [1762964975.934194604] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.934240572] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.934280578] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879499 0.000018 0.475901 -0.001091 [component_container_isolated-3] -0.004815 0.999949 0.008861 0.060021 [component_container_isolated-3] -0.475877 -0.010084 0.879454 0.017890 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.934304975] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.657,28.416,-0.314} [component_container_isolated-3] [DEBUG] [1762964975.934335253] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.001} {-0.424,28.352,-0.223} [component_container_isolated-3] [DEBUG] [1762964975.934422039] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.934433310] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.934523673] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981558 0.000104 0.191167 -0.006020 [component_container_isolated-3] -0.001909 0.999955 0.009258 0.061535 [component_container_isolated-3] -0.191158 -0.009452 0.981514 0.015855 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.934586823] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.552,11.020,-0.111} [component_container_isolated-3] [DEBUG] [1762964975.934622281] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.013,-0.002} {-0.521,11.009,-0.004} [component_container_isolated-3] [DEBUG] [1762964975.934735447] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.936912164] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.937003689] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.937044326] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.937090465] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000049 -0.000331 0.001175 [component_container_isolated-3] 0.000049 1.000000 0.000079 0.000518 [component_container_isolated-3] 0.000331 -0.000079 1.000000 -0.001669 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.937115462] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.013,0.003} {0.102,0.099,0.203} [component_container_isolated-3] [DEBUG] [1762964975.937164155] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.937233117] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.937274777] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979178 0.000250 0.203002 -0.006242 [component_container_isolated-3] 0.002132 0.999931 -0.011515 0.061149 [component_container_isolated-3] -0.202991 0.011708 0.979111 0.017593 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.937297660] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.001} {0.685,11.712,0.125} [component_container_isolated-3] [DEBUG] [1762964975.937328169] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.003} {0.541,11.615,-0.084} [component_container_isolated-3] [DEBUG] [1762964975.937379617] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.948192557] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.948247001] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.948291877] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.948337223] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000048 -0.000033 -0.000451 [component_container_isolated-3] 0.000048 1.000000 -0.000017 -0.000080 [component_container_isolated-3] 0.000033 0.000017 1.000000 0.000302 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.948363684] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.011,0.014} {-0.103,0.180,-0.172} [component_container_isolated-3] [DEBUG] [1762964975.948412848] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.948456431] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.948493211] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982672 -0.000119 0.185354 -0.006749 [component_container_isolated-3] -0.000025 1.000000 0.000771 0.060204 [component_container_isolated-3] -0.185354 -0.000762 0.982671 0.017836 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.948516025] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.044,10.682,-0.001} [component_container_isolated-3] [DEBUG] [1762964975.948547775] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.011,-0.013} {0.091,10.501,0.173} [component_container_isolated-3] [DEBUG] [1762964975.948597801] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.954111931] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.954167818] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.954207193] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.954249554] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000171 0.000078 -0.000074 [component_container_isolated-3] -0.000171 1.000000 0.000202 0.000430 [component_container_isolated-3] -0.000078 -0.000202 1.000000 0.000169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.954273891] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.202,0.069,-0.089} [component_container_isolated-3] [DEBUG] [1762964975.954321071] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.954361448] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.954396735] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879499 0.000018 0.475901 -0.001091 [component_container_isolated-3] -0.004815 0.999949 0.008861 0.060021 [component_container_isolated-3] -0.475877 -0.010084 0.879454 0.017890 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.954419479] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.657,28.416,-0.314} [component_container_isolated-3] [DEBUG] [1762964975.954452442] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.407,28.348,-0.212} [component_container_isolated-3] [DEBUG] [1762964975.954505483] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.959989967] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.960049741] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.960089878] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.960135214] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000026 0.000399 -0.001128 [component_container_isolated-3] -0.000026 1.000000 0.000025 -0.000462 [component_container_isolated-3] -0.000399 -0.000025 1.000000 0.001764 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.960160242] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.005} {0.101,0.122,0.202} [component_container_isolated-3] [DEBUG] [1762964975.960253140] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.960341869] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.960386665] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 0.000270 0.203392 -0.006264 [component_container_isolated-3] 0.002111 0.999932 -0.011490 0.061169 [component_container_isolated-3] -0.203382 0.011679 0.979030 0.017930 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.960411662] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.683,11.735,0.124} [component_container_isolated-3] [DEBUG] [1762964975.960452460] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.005} {0.541,11.615,-0.084} [component_container_isolated-3] [DEBUG] [1762964975.960503247] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.979058423] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.979117205] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.979157172] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.979199954] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000047 0.000032 0.000290 [component_container_isolated-3] -0.000047 1.000000 -0.000025 0.000016 [component_container_isolated-3] -0.000032 0.000025 1.000000 -0.000232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.979255379] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.011,0.014} {-0.102,0.182,-0.174} [component_container_isolated-3] [DEBUG] [1762964975.979304333] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.979350571] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.979390427] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982666 -0.000068 0.185386 -0.006742 [component_container_isolated-3] -0.000072 1.000000 0.000747 0.060199 [component_container_isolated-3] -0.185386 -0.000747 0.982666 0.017856 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.979414163] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.044,10.684,-0.004} [component_container_isolated-3] [DEBUG] [1762964975.979448067] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.011,-0.012} {0.091,10.501,0.173} [component_container_isolated-3] [DEBUG] [1762964975.979498634] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.980734274] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.980790201] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.980834355] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.980880693] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000113 0.000066 -0.000472 [component_container_isolated-3] 0.000113 1.000000 -0.000012 -0.000249 [component_container_isolated-3] -0.000066 0.000012 1.000000 0.000729 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.980909849] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.015,0.001} {-0.009,0.016,-0.099} [component_container_isolated-3] [DEBUG] [1762964975.981000602] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.981051149] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.981091947] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981545 -0.000004 0.191232 -0.006003 [component_container_isolated-3] -0.001797 0.999956 0.009245 0.061540 [component_container_isolated-3] -0.191224 -0.009419 0.981501 0.015910 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.981120672] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.550,11.024,-0.105} [component_container_isolated-3] [DEBUG] [1762964975.981156710] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,-0.003} {-0.521,11.009,-0.004} [component_container_isolated-3] [DEBUG] [1762964975.981200805] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.982638240] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.982700940] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.982754542] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.982817683] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000171 0.000078 -0.000074 [component_container_isolated-3] -0.000171 1.000000 0.000202 0.000430 [component_container_isolated-3] -0.000078 -0.000202 1.000000 0.000169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.982854693] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.002} {-0.214,0.074,-0.099} [component_container_isolated-3] [DEBUG] [1762964975.982956267] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.983032212] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.983082288] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879499 0.000018 0.475901 -0.001091 [component_container_isolated-3] -0.004815 0.999949 0.008861 0.060021 [component_container_isolated-3] -0.475877 -0.010084 0.879454 0.017890 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.983117134] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.657,28.416,-0.314} [component_container_isolated-3] [DEBUG] [1762964975.983160527] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.390,28.344,-0.201} [component_container_isolated-3] [DEBUG] [1762964975.983236021] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.986987105] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.987053913] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.987095532] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.987140839] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000023 0.000263 0.000305 [component_container_isolated-3] -0.000023 1.000000 0.000193 0.000379 [component_container_isolated-3] -0.000263 -0.000193 1.000000 0.000521 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.987166408] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.013,0.005} {0.090,0.137,0.200} [component_container_isolated-3] [DEBUG] [1762964975.987217876] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.987260918] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.987296696] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979044 0.000253 0.203650 -0.006195 [component_container_isolated-3] 0.002091 0.999934 -0.011296 0.061251 [component_container_isolated-3] -0.203639 0.011485 0.978979 0.018186 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.987320071] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.672,11.750,0.122} [component_container_isolated-3] [DEBUG] [1762964975.987350850] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.005} {0.541,11.615,-0.084} [component_container_isolated-3] [DEBUG] [1762964975.987400194] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964975.996435279] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964975.996498520] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964975.996540861] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964975.996587730] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000113 0.000066 -0.000472 [component_container_isolated-3] 0.000113 1.000000 -0.000012 -0.000249 [component_container_isolated-3] -0.000066 0.000012 1.000000 0.000729 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964975.996614972] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.014,0.002} {-0.008,0.020,-0.093} [component_container_isolated-3] [DEBUG] [1762964975.996665909] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964975.996709933] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964975.996750581] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981545 -0.000004 0.191232 -0.006003 [component_container_isolated-3] -0.001797 0.999956 0.009245 0.061540 [component_container_isolated-3] -0.191224 -0.009419 0.981501 0.015910 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964975.996775228] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.550,11.024,-0.105} [component_container_isolated-3] [DEBUG] [1762964975.996810355] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,-0.004} {-0.523,11.005,-0.010} [component_container_isolated-3] [DEBUG] [1762964975.996865761] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.004351036] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.004409397] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.004449284] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.004540347] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000006 -0.000072 -0.000092 [component_container_isolated-3] 0.000006 1.000000 0.000011 0.000313 [component_container_isolated-3] 0.000072 -0.000011 1.000000 -0.000043 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.004564784] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.103,0.178,-0.174} [component_container_isolated-3] [DEBUG] [1762964976.004616082] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.004662541] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.004702036] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982679 -0.000076 0.185316 -0.006752 [component_container_isolated-3] -0.000066 1.000000 0.000757 0.060245 [component_container_isolated-3] -0.185316 -0.000756 0.982679 0.017865 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.004725701] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.044,10.680,-0.004} [component_container_isolated-3] [DEBUG] [1762964976.004756470] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.011,-0.012} {0.091,10.501,0.173} [component_container_isolated-3] [DEBUG] [1762964976.004805855] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.025480077] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.025542146] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.025583295] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.025627539] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000171 0.000078 -0.000074 [component_container_isolated-3] -0.000171 1.000000 0.000202 0.000430 [component_container_isolated-3] -0.000078 -0.000202 1.000000 0.000169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.025652417] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.002} {-0.225,0.078,-0.108} [component_container_isolated-3] [DEBUG] [1762964976.025701100] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.025743070] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.025783277] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879499 0.000018 0.475901 -0.001091 [component_container_isolated-3] -0.004815 0.999949 0.008861 0.060021 [component_container_isolated-3] -0.475877 -0.010084 0.879454 0.017890 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.025807533] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.657,28.416,-0.314} [component_container_isolated-3] [DEBUG] [1762964976.025839885] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.373,28.339,-0.190} [component_container_isolated-3] [DEBUG] [1762964976.025889790] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.035794996] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.035865762] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.035906038] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.035984729] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000017 -0.000280 -0.000037 [component_container_isolated-3] 0.000017 1.000000 -0.000107 -0.000353 [component_container_isolated-3] 0.000280 0.000107 1.000000 -0.000593 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.036011370] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.004} {0.096,0.121,0.201} [component_container_isolated-3] [DEBUG] [1762964976.036061135] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.036105159] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.036144484] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979101 0.000258 0.203375 -0.006189 [component_container_isolated-3] 0.002105 0.999933 -0.011404 0.061256 [component_container_isolated-3] -0.203365 0.011594 0.979034 0.018231 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.036169271] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.678,11.734,0.123} [component_container_isolated-3] [DEBUG] [1762964976.036200461] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.005} {0.541,11.615,-0.084} [component_container_isolated-3] [DEBUG] [1762964976.036250085] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.049085668] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.049157035] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.049197652] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.049243901] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000028 0.000126 -0.000567 [component_container_isolated-3] -0.000028 1.000000 0.000002 0.000237 [component_container_isolated-3] -0.000126 -0.000002 1.000000 0.000463 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.049270151] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.002} {-0.008,0.027,-0.094} [component_container_isolated-3] [DEBUG] [1762964976.049320286] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.049367787] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.049408044] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981521 0.000024 0.191356 -0.006093 [component_container_isolated-3] -0.001827 0.999956 0.009247 0.061580 [component_container_isolated-3] -0.191347 -0.009426 0.981477 0.016072 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.049433192] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.550,11.031,-0.107} [component_container_isolated-3] [DEBUG] [1762964976.049466145] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,-0.004} {-0.523,11.005,-0.010} [component_container_isolated-3] [DEBUG] [1762964976.049515189] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.054389578] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.054445134] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.054485431] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.054530376] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000210 -0.000131 -0.000203 [component_container_isolated-3] 0.000210 1.000000 -0.000122 -0.001278 [component_container_isolated-3] 0.000131 0.000122 1.000000 -0.000934 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.054555765] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.010,0.013} {-0.096,0.170,-0.162} [component_container_isolated-3] [DEBUG] [1762964976.054603837] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.054646558] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.054681685] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 -0.000259 0.185187 -0.006851 [component_container_isolated-3] 0.000144 1.000000 0.000635 0.059887 [component_container_isolated-3] -0.185187 -0.000598 0.982703 0.017629 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.054704800] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,0.000} {-0.035,10.672,0.008} [component_container_isolated-3] [DEBUG] [1762964976.054737963] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.011,-0.012} {0.091,10.501,0.173} [component_container_isolated-3] [DEBUG] [1762964976.054790643] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.060525997] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.060589237] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.060629214] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.060673709] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000017 -0.000280 -0.000037 [component_container_isolated-3] 0.000017 1.000000 -0.000107 -0.000353 [component_container_isolated-3] 0.000280 0.000107 1.000000 -0.000593 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.060699558] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.004} {0.102,0.105,0.202} [component_container_isolated-3] [DEBUG] [1762964976.060748552] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.060791333] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.060828334] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979101 0.000258 0.203375 -0.006189 [component_container_isolated-3] 0.002105 0.999933 -0.011404 0.061256 [component_container_isolated-3] -0.203365 0.011594 0.979034 0.018231 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.060853212] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.678,11.734,0.123} [component_container_isolated-3] [DEBUG] [1762964976.060886706] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.016,-0.004} {0.535,11.631,-0.084} [component_container_isolated-3] [DEBUG] [1762964976.060976257] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.078655480] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.078722478] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.078764368] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.078809023] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000235 0.000090 -0.000085 [component_container_isolated-3] 0.000235 1.000000 -0.000129 -0.000440 [component_container_isolated-3] -0.000090 0.000129 1.000000 0.000096 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.078834662] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.002} {-0.218,0.083,-0.095} [component_container_isolated-3] [DEBUG] [1762964976.078883545] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.078962386] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.079005428] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879456 -0.000127 0.475981 -0.001106 [component_container_isolated-3] -0.004581 0.999951 0.008731 0.060007 [component_container_isolated-3] -0.475959 -0.009859 0.879412 0.017903 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.079029594] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.422,-0.298} [component_container_isolated-3] [DEBUG] [1762964976.079062246] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.373,28.339,-0.190} [component_container_isolated-3] [DEBUG] [1762964976.079119095] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.090692648] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.090758754] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.090798450] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.090842484] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000097 0.000111 0.000714 [component_container_isolated-3] -0.000097 1.000000 0.000091 0.000171 [component_container_isolated-3] -0.000111 -0.000091 1.000000 0.000143 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.090867111] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.002} {-0.014,0.034,-0.100} [component_container_isolated-3] [DEBUG] [1762964976.090916054] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.090997089] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.091039039] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981500 0.000101 0.191465 -0.005997 [component_container_isolated-3] -0.001925 0.999955 0.009338 0.061639 [component_container_isolated-3] -0.191455 -0.009533 0.981455 0.016147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.091065229] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.557,11.038,-0.112} [component_container_isolated-3] [DEBUG] [1762964976.091097611] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,-0.004} {-0.523,11.005,-0.010} [component_container_isolated-3] [DEBUG] [1762964976.091147296] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.095760706] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.095820972] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.095859345] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.095902056] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000235 0.000090 -0.000085 [component_container_isolated-3] 0.000235 1.000000 -0.000129 -0.000440 [component_container_isolated-3] -0.000090 0.000129 1.000000 0.000096 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.095946682] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.210,0.089,-0.081} [component_container_isolated-3] [DEBUG] [1762964976.095997148] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.096040130] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.096080317] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879456 -0.000127 0.475981 -0.001106 [component_container_isolated-3] -0.004581 0.999951 0.008731 0.060007 [component_container_isolated-3] -0.475959 -0.009859 0.879412 0.017903 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.096104112] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.422,-0.298} [component_container_isolated-3] [DEBUG] [1762964976.096135823] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.096185628] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.097604407] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.097656427] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.097697114] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.097742110] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000347 0.000169 0.000130 [component_container_isolated-3] -0.000347 1.000000 0.000167 0.001346 [component_container_isolated-3] -0.000169 -0.000168 1.000000 0.000939 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.097767890] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.105,0.180,-0.182} [component_container_isolated-3] [DEBUG] [1762964976.097816973] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.097861438] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.097902767] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982672 0.000051 0.185353 -0.006827 [component_container_isolated-3] -0.000203 1.000000 0.000803 0.060102 [component_container_isolated-3] -0.185353 -0.000827 0.982672 0.017706 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.097963764] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.048,10.682,-0.012} [component_container_isolated-3] [DEBUG] [1762964976.097999221] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.012,-0.012} {0.091,10.501,0.173} [component_container_isolated-3] [DEBUG] [1762964976.098054337] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.105775943] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.105834284] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.105875293] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.105953773] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000080 -0.000036 -0.000382 [component_container_isolated-3] -0.000080 1.000000 0.000080 0.000169 [component_container_isolated-3] 0.000036 -0.000080 1.000000 -0.000164 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.105982067] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.004} {0.097,0.103,0.198} [component_container_isolated-3] [DEBUG] [1762964976.106033285] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.106076888] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.106112325] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979108 0.000320 0.203340 -0.006252 [component_container_isolated-3] 0.002025 0.999934 -0.011324 0.061284 [component_container_isolated-3] -0.203330 0.011500 0.979043 0.018238 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.106134678] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.673,11.732,0.118} [component_container_isolated-3] [DEBUG] [1762964976.106164675] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.004} {0.535,11.631,-0.084} [component_container_isolated-3] [DEBUG] [1762964976.106214701] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.119711847] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.119775349] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.119815134] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.119861152] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000061 -0.000163 -0.000138 [component_container_isolated-3] -0.000061 1.000000 0.000007 0.000124 [component_container_isolated-3] 0.000163 -0.000007 1.000000 -0.000512 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.119886661] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.002} {-0.014,0.025,-0.103} [component_container_isolated-3] [DEBUG] [1762964976.119983256] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.120044152] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.120102333] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981531 0.000160 0.191305 -0.005984 [component_container_isolated-3] -0.001984 0.999954 0.009345 0.061701 [component_container_isolated-3] -0.191295 -0.009552 0.981486 0.016150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.120127351] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.002,-0.001} {-0.558,11.028,-0.116} [component_container_isolated-3] [DEBUG] [1762964976.120160063] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,-0.004} {-0.523,11.005,-0.010} [component_container_isolated-3] [DEBUG] [1762964976.120213365] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.130783261] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.130836753] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.130878152] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.130964908] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000075 -0.000069 0.000149 [component_container_isolated-3] 0.000075 1.000000 -0.000051 -0.000017 [component_container_isolated-3] 0.000069 0.000051 1.000000 -0.000104 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.130992370] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.004} {0.100,0.099,0.202} [component_container_isolated-3] [DEBUG] [1762964976.131042496] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.131085348] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.131120495] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979122 0.000257 0.203273 -0.006276 [component_container_isolated-3] 0.002099 0.999933 -0.011375 0.061297 [component_container_isolated-3] -0.203262 0.011565 0.979056 0.018232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.131142507] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.000} {0.677,11.728,0.123} [component_container_isolated-3] [DEBUG] [1762964976.131173717] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.004} {0.535,11.631,-0.084} [component_container_isolated-3] [DEBUG] [1762964976.131227199] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.134120735] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.134176301] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.134228220] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.134284508] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000026 -0.000071 0.000045 [component_container_isolated-3] -0.000026 1.000000 -0.000071 -0.000032 [component_container_isolated-3] 0.000071 0.000071 1.000000 -0.000053 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.134315637] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.206,0.085,-0.083} [component_container_isolated-3] [DEBUG] [1762964976.134360563] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.134413023] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.134443261] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879489 -0.000071 0.475919 -0.001108 [component_container_isolated-3] -0.004606 0.999952 0.008660 0.059996 [component_container_isolated-3] -0.475896 -0.009809 0.879447 0.017899 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.134461385] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.418,-0.300} [component_container_isolated-3] [DEBUG] [1762964976.134483197] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.134522382] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.143993359] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.144059546] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.144100133] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.144144638] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000065 0.000180 -0.000008 [component_container_isolated-3] 0.000065 1.000000 -0.000058 -0.000077 [component_container_isolated-3] -0.000180 0.000058 1.000000 0.000167 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.144170117] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.002} {-0.011,0.035,-0.100} [component_container_isolated-3] [DEBUG] [1762964976.144219210] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.144266350] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.144306888] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981496 0.000107 0.191481 -0.005972 [component_container_isolated-3] -0.001921 0.999955 0.009287 0.061735 [component_container_isolated-3] -0.191472 -0.009483 0.981452 0.016176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.144331565] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.002,-0.001} {-0.554,11.039,-0.112} [component_container_isolated-3] [DEBUG] [1762964976.144364718] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,-0.004} {-0.523,11.005,-0.010} [component_container_isolated-3] [DEBUG] [1762964976.144415606] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.149390486] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.149449008] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.149489876] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.149534291] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000166 0.000027 0.000119 [component_container_isolated-3] 0.000166 1.000000 -0.000016 -0.000115 [component_container_isolated-3] -0.000027 0.000016 1.000000 -0.000017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.149559609] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.104,0.182,-0.172} [component_container_isolated-3] [DEBUG] [1762964976.149607451] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.149649541] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.149685450] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982667 -0.000109 0.185380 -0.006828 [component_container_isolated-3] -0.000037 1.000000 0.000787 0.060134 [component_container_isolated-3] -0.185380 -0.000780 0.982667 0.017735 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.149706730] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.046,10.683,-0.002} [component_container_isolated-3] [DEBUG] [1762964976.149737078] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.012,-0.012} {0.091,10.501,0.173} [component_container_isolated-3] [DEBUG] [1762964976.149785240] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.157053290] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.157114678] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.157156137] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.157202906] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000166 0.000027 0.000119 [component_container_isolated-3] 0.000166 1.000000 -0.000016 -0.000115 [component_container_isolated-3] -0.000027 0.000016 1.000000 -0.000017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.157229767] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.103,0.183,-0.163} [component_container_isolated-3] [DEBUG] [1762964976.157278701] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.157325671] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.157365857] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982667 -0.000109 0.185380 -0.006828 [component_container_isolated-3] -0.000037 1.000000 0.000787 0.060134 [component_container_isolated-3] -0.185380 -0.000780 0.982667 0.017735 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.157391025] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.046,10.683,-0.002} [component_container_isolated-3] [DEBUG] [1762964976.157424910] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.011,-0.012} {0.088,10.500,0.163} [component_container_isolated-3] [DEBUG] [1762964976.157475607] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.159088988] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.159141498] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.159179301] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.159222333] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000134 0.000222 -0.000101 [component_container_isolated-3] 0.000134 1.000000 -0.000090 -0.000802 [component_container_isolated-3] -0.000222 0.000090 1.000000 0.000534 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.159247411] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.004} {0.106,0.112,0.210} [component_container_isolated-3] [DEBUG] [1762964976.159296354] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.159341110] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.159380856] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 0.000144 0.203490 -0.006285 [component_container_isolated-3] 0.002236 0.999932 -0.011465 0.061119 [component_container_isolated-3] -0.203478 0.011680 0.979010 0.018333 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.159404050] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.684,11.740,0.131} [component_container_isolated-3] [DEBUG] [1762964976.159437744] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.016,-0.004} {0.535,11.631,-0.084} [component_container_isolated-3] [DEBUG] [1762964976.159488421] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.167002441] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.167063908] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.167105919] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.167151936] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000065 0.000180 -0.000008 [component_container_isolated-3] 0.000065 1.000000 -0.000058 -0.000077 [component_container_isolated-3] -0.000180 0.000058 1.000000 0.000167 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.167177495] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.002} {-0.007,0.045,-0.096} [component_container_isolated-3] [DEBUG] [1762964976.167227290] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.167273268] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.167309377] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981496 0.000107 0.191481 -0.005972 [component_container_isolated-3] -0.001921 0.999955 0.009287 0.061735 [component_container_isolated-3] -0.191472 -0.009483 0.981452 0.016176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.167344464] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.002,-0.001} {-0.554,11.039,-0.112} [component_container_isolated-3] [DEBUG] [1762964976.167380974] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,-0.004} {-0.527,10.994,-0.014} [component_container_isolated-3] [DEBUG] [1762964976.167042548] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.167507145] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.167437933] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.167551810] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.167624118] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000112 0.000026 0.000118 [component_container_isolated-3] 0.000112 1.000000 -0.000092 -0.000047 [component_container_isolated-3] -0.000026 0.000092 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.167649527] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.201,0.086,-0.076} [component_container_isolated-3] [DEBUG] [1762964976.167708980] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.167753996] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.167794393] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879477 -0.000125 0.475942 -0.001098 [component_container_isolated-3] -0.004494 0.999953 0.008568 0.059981 [component_container_isolated-3] -0.475921 -0.009674 0.879435 0.017899 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.167813580] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.630,28.419,-0.293} [component_container_isolated-3] [DEBUG] [1762964976.167834780] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.167874807] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.179436848] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.179488136] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.179525697] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.179568599] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000017 -0.000024 0.000458 [component_container_isolated-3] -0.000017 1.000000 0.000229 -0.000452 [component_container_isolated-3] 0.000024 -0.000229 1.000000 -0.000072 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.179591824] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.011,0.014} {-0.116,0.182,-0.164} [component_container_isolated-3] [DEBUG] [1762964976.179637330] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.179679170] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.179714137] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982671 -0.000135 0.185357 -0.006731 [component_container_isolated-3] -0.000054 1.000000 0.001016 0.060103 [component_container_isolated-3] -0.185357 -0.001008 0.982671 0.017717 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.179737552] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.059,10.682,-0.003} [component_container_isolated-3] [DEBUG] [1762964976.179771236] [zed_multi.front]: +++ Diff [map -> odom] - {-0.009,-0.011,-0.012} {0.088,10.500,0.163} [component_container_isolated-3] [DEBUG] [1762964976.179824167] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.190811110] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.190873238] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.190912163] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.190979101] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000134 0.000222 -0.000101 [component_container_isolated-3] 0.000134 1.000000 -0.000090 -0.000802 [component_container_isolated-3] -0.000222 0.000090 1.000000 0.000534 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.191004098] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.016,0.005} {0.111,0.125,0.217} [component_container_isolated-3] [DEBUG] [1762964976.191053022] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.191096004] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.191132453] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 0.000144 0.203490 -0.006285 [component_container_isolated-3] 0.002236 0.999932 -0.011465 0.061119 [component_container_isolated-3] -0.203478 0.011680 0.979010 0.018333 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.191155618] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.684,11.740,0.131} [component_container_isolated-3] [DEBUG] [1762964976.191188621] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.005} {0.528,11.618,-0.092} [component_container_isolated-3] [DEBUG] [1762964976.191242824] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.200756623] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.200822339] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.200863577] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.200910747] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000127 0.000009 -0.000077 [component_container_isolated-3] -0.000127 1.000000 0.000169 0.000053 [component_container_isolated-3] -0.000009 -0.000169 1.000000 -0.000038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.200972115] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.211,0.087,-0.084} [component_container_isolated-3] [DEBUG] [1762964976.201023092] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.201071234] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.201112763] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879473 -0.000094 0.475949 -0.001096 [component_container_isolated-3] -0.004622 0.999951 0.008737 0.059980 [component_container_isolated-3] -0.475927 -0.009883 0.879429 0.017882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.201137130] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.644,28.420,-0.301} [component_container_isolated-3] [DEBUG] [1762964976.201170383] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.201230077] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.206733337] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.206792641] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.206833549] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.206878815] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000134 0.000222 -0.000101 [component_container_isolated-3] 0.000134 1.000000 -0.000090 -0.000802 [component_container_isolated-3] -0.000222 0.000090 1.000000 0.000534 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.206905386] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.016,0.005} {0.116,0.137,0.225} [component_container_isolated-3] [DEBUG] [1762964976.206977524] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.207024273] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.207064189] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 0.000144 0.203490 -0.006285 [component_container_isolated-3] 0.002236 0.999932 -0.011465 0.061119 [component_container_isolated-3] -0.203478 0.011680 0.979010 0.018333 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.207088045] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.684,11.740,0.131} [component_container_isolated-3] [DEBUG] [1762964976.207119334] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.005} {0.521,11.605,-0.100} [component_container_isolated-3] [DEBUG] [1762964976.207168849] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.209630951] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.209696897] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.209738747] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.209784925] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000070 -0.000160 -0.000241 [component_container_isolated-3] -0.000070 1.000000 -0.000093 0.000102 [component_container_isolated-3] 0.000160 0.000093 1.000000 -0.000090 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.209810945] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.002} {-0.002,0.036,-0.100} [component_container_isolated-3] [DEBUG] [1762964976.209860559] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.209907669] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.209984416] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981527 0.000194 0.191324 -0.005994 [component_container_isolated-3] -0.001990 0.999956 0.009194 0.061781 [component_container_isolated-3] -0.191314 -0.009405 0.981484 0.016193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.210011207] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.002,-0.001} {-0.549,11.029,-0.116} [component_container_isolated-3] [DEBUG] [1762964976.210043499] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,-0.004} {-0.527,10.994,-0.014} [component_container_isolated-3] [DEBUG] [1762964976.210096360] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.219009842] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.219070649] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.219113350] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.219160079] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000035 -0.000014 -0.000359 [component_container_isolated-3] 0.000035 1.000000 -0.000228 0.000327 [component_container_isolated-3] 0.000014 0.000228 1.000000 0.000056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.219186830] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.011,0.014} {-0.103,0.181,-0.162} [component_container_isolated-3] [DEBUG] [1762964976.219234792] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.219282383] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.219323181] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982674 -0.000128 0.185343 -0.006725 [component_container_isolated-3] -0.000019 1.000000 0.000788 0.060130 [component_container_isolated-3] -0.185343 -0.000778 0.982674 0.017747 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.219348369] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.045,10.681,-0.001} [component_container_isolated-3] [DEBUG] [1762964976.219382093] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.011,-0.012} {0.088,10.500,0.163} [component_container_isolated-3] [DEBUG] [1762964976.219433622] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.235343396] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.235396397] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.235435522] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.235479526] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000070 -0.000160 -0.000241 [component_container_isolated-3] -0.000070 1.000000 -0.000093 0.000102 [component_container_isolated-3] 0.000160 0.000093 1.000000 -0.000090 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.235505114] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.002} {0.003,0.027,-0.104} [component_container_isolated-3] [DEBUG] [1762964976.235552224] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.235595437] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.235630965] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981527 0.000194 0.191324 -0.005994 [component_container_isolated-3] -0.001990 0.999956 0.009194 0.061781 [component_container_isolated-3] -0.191314 -0.009405 0.981484 0.016193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.235654891] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.002,-0.001} {-0.549,11.029,-0.116} [component_container_isolated-3] [DEBUG] [1762964976.235689126] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,-0.004} {-0.532,11.004,-0.010} [component_container_isolated-3] [DEBUG] [1762964976.235753058] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.238565790] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.238618270] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.238660040] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.238705036] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000038 -0.000108 0.000128 [component_container_isolated-3] 0.000038 1.000000 -0.000094 0.000005 [component_container_isolated-3] 0.000108 0.000094 1.000000 -0.000139 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.238731416] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.205,0.080,-0.082} [component_container_isolated-3] [DEBUG] [1762964976.238779378] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.238823011] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.238863538] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879524 -0.000083 0.475854 -0.001091 [component_container_isolated-3] -0.004582 0.999952 0.008643 0.059974 [component_container_isolated-3] -0.475832 -0.009782 0.879482 0.017858 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.238887634] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.414,-0.299} [component_container_isolated-3] [DEBUG] [1762964976.238938692] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.238991312] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.249677220] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.249730822] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.249770588] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.249814722] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000035 -0.000014 -0.000359 [component_container_isolated-3] 0.000035 1.000000 -0.000228 0.000327 [component_container_isolated-3] 0.000014 0.000228 1.000000 0.000056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.249840001] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.012,0.014} {-0.090,0.180,-0.160} [component_container_isolated-3] [DEBUG] [1762964976.249887261] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.249954509] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.249997231] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982674 -0.000128 0.185343 -0.006725 [component_container_isolated-3] -0.000019 1.000000 0.000788 0.060130 [component_container_isolated-3] -0.185343 -0.000778 0.982674 0.017747 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.250021247] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.045,10.681,-0.001} [component_container_isolated-3] [DEBUG] [1762964976.250053298] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.012,-0.012} {0.075,10.501,0.161} [component_container_isolated-3] [DEBUG] [1762964976.250139172] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.255891988] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.255972853] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.256016386] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.256062444] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000134 0.000222 -0.000101 [component_container_isolated-3] 0.000134 1.000000 -0.000090 -0.000802 [component_container_isolated-3] -0.000222 0.000090 1.000000 0.000534 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.256087812] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.017,0.006} {0.121,0.150,0.233} [component_container_isolated-3] [DEBUG] [1762964976.256137076] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.256180770] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.256216678] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 0.000144 0.203490 -0.006285 [component_container_isolated-3] 0.002236 0.999932 -0.011465 0.061119 [component_container_isolated-3] -0.203478 0.011680 0.979010 0.018333 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.256240504] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.684,11.740,0.131} [component_container_isolated-3] [DEBUG] [1762964976.256273627] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.006} {0.514,11.593,-0.108} [component_container_isolated-3] [DEBUG] [1762964976.256335556] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.269638822] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.269691512] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.269730386] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.269775402] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000070 -0.000160 -0.000241 [component_container_isolated-3] -0.000070 1.000000 -0.000093 0.000102 [component_container_isolated-3] 0.000160 0.000093 1.000000 -0.000090 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.269801141] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.002} {0.009,0.018,-0.108} [component_container_isolated-3] [DEBUG] [1762964976.269850015] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.269897676] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.269962510] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981527 0.000194 0.191324 -0.005994 [component_container_isolated-3] -0.001990 0.999956 0.009194 0.061781 [component_container_isolated-3] -0.191314 -0.009405 0.981484 0.016193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.269989030] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.002,-0.001} {-0.549,11.029,-0.116} [component_container_isolated-3] [DEBUG] [1762964976.270021031] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.013,-0.004} {-0.537,11.013,-0.006} [component_container_isolated-3] [DEBUG] [1762964976.270073762] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.270150970] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.270213138] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.270269135] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.270318900] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000035 -0.000014 -0.000359 [component_container_isolated-3] 0.000035 1.000000 -0.000228 0.000327 [component_container_isolated-3] 0.000014 0.000228 1.000000 0.000056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.270347725] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.012,0.014} {-0.077,0.180,-0.158} [component_container_isolated-3] [DEBUG] [1762964976.270399845] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.270447536] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.270486731] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982674 -0.000128 0.185343 -0.006725 [component_container_isolated-3] -0.000019 1.000000 0.000788 0.060130 [component_container_isolated-3] -0.185343 -0.000778 0.982674 0.017747 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.270509314] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.045,10.681,-0.001} [component_container_isolated-3] [DEBUG] [1762964976.270540183] [zed_multi.front]: +++ Diff [map -> odom] - {-0.008,-0.012,-0.013} {0.061,10.501,0.159} [component_container_isolated-3] [DEBUG] [1762964976.270589337] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.274060125] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.274115050] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.274154515] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.274198630] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000055 0.000080 -0.000297 [component_container_isolated-3] -0.000055 1.000000 0.000182 0.000060 [component_container_isolated-3] -0.000080 -0.000182 1.000000 0.000159 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.274224369] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.216,0.085,-0.085} [component_container_isolated-3] [DEBUG] [1762964976.274276579] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.274321444] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.274361210] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879486 -0.000121 0.475925 -0.001116 [component_container_isolated-3] -0.004638 0.999950 0.008824 0.059979 [component_container_isolated-3] -0.475902 -0.009968 0.879442 0.017862 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.274385497] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.649,28.418,-0.302} [component_container_isolated-3] [DEBUG] [1762964976.274418940] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.274475488] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.275743520] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.275798415] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.275839313] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.275884780] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000134 0.000222 -0.000101 [component_container_isolated-3] 0.000134 1.000000 -0.000090 -0.000802 [component_container_isolated-3] -0.000222 0.000090 1.000000 0.000534 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.275910559] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.006} {0.126,0.163,0.241} [component_container_isolated-3] [DEBUG] [1762964976.275998397] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.276041710] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.276077999] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 0.000144 0.203490 -0.006285 [component_container_isolated-3] 0.002236 0.999932 -0.011465 0.061119 [component_container_isolated-3] -0.203478 0.011680 0.979010 0.018333 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.276101694] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.684,11.740,0.131} [component_container_isolated-3] [DEBUG] [1762964976.276133926] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.006} {0.508,11.580,-0.116} [component_container_isolated-3] [DEBUG] [1762964976.276194571] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.296988773] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.297044951] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.297084667] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.297128520] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000013 -0.000022 0.000030 [component_container_isolated-3] 0.000013 1.000000 -0.000033 0.000024 [component_container_isolated-3] 0.000022 0.000033 1.000000 -0.000044 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.297153478] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.214,0.084,-0.084} [component_container_isolated-3] [DEBUG] [1762964976.297200438] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.297245053] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.297284578] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879496 -0.000117 0.475905 -0.001127 [component_container_isolated-3] -0.004624 0.999951 0.008791 0.059983 [component_container_isolated-3] -0.475883 -0.009933 0.879453 0.017866 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.297308234] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.647,28.417,-0.301} [component_container_isolated-3] [DEBUG] [1762964976.297340645] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.297392785] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.299466886] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.299519937] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.299560344] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.299605230] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000035 -0.000014 -0.000359 [component_container_isolated-3] 0.000035 1.000000 -0.000228 0.000327 [component_container_isolated-3] 0.000014 0.000228 1.000000 0.000056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.299631711] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.012,0.014} {-0.064,0.179,-0.156} [component_container_isolated-3] [DEBUG] [1762964976.299679462] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.299723867] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.299762140] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982674 -0.000128 0.185343 -0.006725 [component_container_isolated-3] -0.000019 1.000000 0.000788 0.060130 [component_container_isolated-3] -0.185343 -0.000778 0.982674 0.017747 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.299786677] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.045,10.681,-0.001} [component_container_isolated-3] [DEBUG] [1762964976.299819349] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.012,-0.013} {0.048,10.502,0.157} [component_container_isolated-3] [DEBUG] [1762964976.299869685] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.313841989] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.313893898] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.313979552] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.314026882] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000035 -0.000058 0.000213 [component_container_isolated-3] 0.000035 1.000000 0.000038 -0.000248 [component_container_isolated-3] 0.000058 -0.000038 1.000000 -0.000165 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.314052661] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.002} {0.006,0.014,-0.106} [component_container_isolated-3] [DEBUG] [1762964976.314104170] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.314153053] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.314193400] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 0.000152 0.191267 -0.005990 [component_container_isolated-3] -0.001954 0.999956 0.009232 0.061796 [component_container_isolated-3] -0.191257 -0.009435 0.981495 0.016175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.314218869] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.002,-0.001} {-0.551,11.026,-0.114} [component_container_isolated-3] [DEBUG] [1762964976.314252583] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,-0.004} {-0.537,11.013,-0.006} [component_container_isolated-3] [DEBUG] [1762964976.314302719] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.320425221] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.320476750] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.320514592] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.320558656] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000134 -0.000157 -0.000009 [component_container_isolated-3] -0.000134 1.000000 -0.000041 0.000703 [component_container_isolated-3] 0.000157 0.000041 1.000000 -0.000329 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.320583654] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.017,0.006} {0.128,0.154,0.233} [component_container_isolated-3] [DEBUG] [1762964976.320632026] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.320677523] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.320717379] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979109 0.000283 0.203337 -0.006300 [component_container_isolated-3] 0.002100 0.999932 -0.011506 0.061170 [component_container_isolated-3] -0.203326 0.011692 0.979041 0.018339 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.320740504] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.684,11.732,0.123} [component_container_isolated-3] [DEBUG] [1762964976.320773677] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.006} {0.508,11.580,-0.116} [component_container_isolated-3] [DEBUG] [1762964976.320825025] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.335594170] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.335643234] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.335681547] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.335724169] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000134 -0.000157 -0.000009 [component_container_isolated-3] -0.000134 1.000000 -0.000041 0.000703 [component_container_isolated-3] 0.000157 0.000041 1.000000 -0.000329 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.335748505] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.017,0.006} {0.131,0.145,0.225} [component_container_isolated-3] [DEBUG] [1762964976.335795515] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.335837966] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.335874065] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979109 0.000283 0.203337 -0.006300 [component_container_isolated-3] 0.002100 0.999932 -0.011506 0.061170 [component_container_isolated-3] -0.203326 0.011692 0.979041 0.018339 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.335896868] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.684,11.732,0.123} [component_container_isolated-3] [DEBUG] [1762964976.335962394] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.006} {0.507,11.589,-0.108} [component_container_isolated-3] [DEBUG] [1762964976.336022098] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.337138490] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.337190028] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.337230916] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.337274459] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000074 0.000135 -0.000214 [component_container_isolated-3] -0.000074 1.000000 -0.000002 0.000347 [component_container_isolated-3] -0.000135 0.000002 1.000000 0.000363 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.337299237] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.015,0.002} {0.007,0.022,-0.110} [component_container_isolated-3] [DEBUG] [1762964976.337348030] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.337391212] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.337426860] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981512 0.000226 0.191399 -0.005996 [component_container_isolated-3] -0.002030 0.999955 0.009229 0.061871 [component_container_isolated-3] -0.191389 -0.009447 0.981469 0.016227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.337449283] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.002,-0.001} {-0.551,11.034,-0.118} [component_container_isolated-3] [DEBUG] [1762964976.337483599] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.013,-0.004} {-0.537,11.013,-0.006} [component_container_isolated-3] [DEBUG] [1762964976.337538624] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.338167785] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.338223722] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.338263298] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.338307162] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000007 0.000035 -0.000097 [component_container_isolated-3] -0.000007 1.000000 0.000199 -0.000044 [component_container_isolated-3] -0.000035 -0.000199 1.000000 0.000065 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.338334033] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.225,0.086,-0.084} [component_container_isolated-3] [DEBUG] [1762964976.338385221] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.338490241] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.338532191] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879480 -0.000205 0.475936 -0.001150 [component_container_isolated-3] -0.004632 0.999949 0.008990 0.059986 [component_container_isolated-3] -0.475914 -0.010111 0.879434 0.017871 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.338554955] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.659,28.419,-0.302} [component_container_isolated-3] [DEBUG] [1762964976.338584541] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.338633585] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.348593456] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.348648301] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.348687676] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.348732371] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000160 -0.000155 -0.000161 [component_container_isolated-3] 0.000160 1.000000 -0.000019 -0.001287 [component_container_isolated-3] 0.000155 0.000019 1.000000 -0.001067 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.348758351] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.011,0.013} {-0.063,0.170,-0.147} [component_container_isolated-3] [DEBUG] [1762964976.348810160] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.348858422] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.348898448] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 -0.000281 0.185191 -0.006808 [component_container_isolated-3] 0.000141 1.000000 0.000769 0.059748 [component_container_isolated-3] -0.185191 -0.000730 0.982702 0.017472 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.348968031] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.043,10.672,0.008} [component_container_isolated-3] [DEBUG] [1762964976.349001475] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.011,-0.012} {0.048,10.502,0.157} [component_container_isolated-3] [DEBUG] [1762964976.349058745] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.358765302] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.358818193] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.358858950] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.358901041] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000074 0.000135 -0.000214 [component_container_isolated-3] -0.000074 1.000000 -0.000002 0.000347 [component_container_isolated-3] -0.000135 0.000002 1.000000 0.000363 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.358968740] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.007,0.015,0.003} {0.007,0.030,-0.115} [component_container_isolated-3] [DEBUG] [1762964976.359019898] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.359066517] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.359105892] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981512 0.000226 0.191399 -0.005996 [component_container_isolated-3] -0.002030 0.999955 0.009229 0.061871 [component_container_isolated-3] -0.191389 -0.009447 0.981469 0.016227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.359130990] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.002,-0.001} {-0.551,11.034,-0.118} [component_container_isolated-3] [DEBUG] [1762964976.359163632] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.014,-0.004} {-0.536,11.005,-0.001} [component_container_isolated-3] [DEBUG] [1762964976.359212255] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.364379864] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.364439117] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.364520643] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.364576810] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.364637797] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000209 -0.000021 0.000309 [component_container_isolated-3] 0.000209 1.000000 -0.000290 -0.000386 [component_container_isolated-3] 0.000021 0.000290 1.000000 -0.000087 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.364674787] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.209,0.084,-0.072} [component_container_isolated-3] [DEBUG] [1762964976.364747216] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.364815636] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.364440420] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.364868307] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879490 -0.000250 0.475918 -0.001135 [component_container_isolated-3] -0.004423 0.999952 0.008699 0.059907 [component_container_isolated-3] -0.475897 -0.009756 0.879447 0.017875 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.364973788] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.636,28.418,-0.288} [component_container_isolated-3] [DEBUG] [1762964976.364999808] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.364954381] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.365048501] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.365092605] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000160 -0.000155 -0.000161 [component_container_isolated-3] 0.000160 1.000000 -0.000019 -0.001287 [component_container_isolated-3] 0.000155 0.000019 1.000000 -0.001067 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.365154774] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.010,0.012} {-0.062,0.161,-0.137} [component_container_isolated-3] [DEBUG] [1762964976.365217273] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.365257360] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.365285704] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 -0.000281 0.185191 -0.006808 [component_container_isolated-3] 0.000141 1.000000 0.000769 0.059748 [component_container_isolated-3] -0.185191 -0.000730 0.982702 0.017472 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.365303799] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.043,10.672,0.008} [component_container_isolated-3] [DEBUG] [1762964976.365326722] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.010,-0.011} {0.045,10.511,0.148} [component_container_isolated-3] [DEBUG] [1762964976.365366228] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.385320205] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.385376523] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.385416549] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.385463930] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000030 -0.000019 0.000183 [component_container_isolated-3] 0.000030 1.000000 -0.000073 -0.000127 [component_container_isolated-3] 0.000019 0.000073 1.000000 -0.000048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.385492234] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.017,0.005} {0.135,0.144,0.227} [component_container_isolated-3] [DEBUG] [1762964976.385544013] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.385588237] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.385628354] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979113 0.000269 0.203319 -0.006302 [component_container_isolated-3] 0.002130 0.999931 -0.011578 0.061174 [component_container_isolated-3] -0.203308 0.011769 0.979044 0.018339 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.385652941] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.689,11.730,0.125} [component_container_isolated-3] [DEBUG] [1762964976.385693688] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.006} {0.507,11.589,-0.108} [component_container_isolated-3] [DEBUG] [1762964976.385753242] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.400388602] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.400443908] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.400482531] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.400524752] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000074 0.000135 -0.000214 [component_container_isolated-3] -0.000074 1.000000 -0.000002 0.000347 [component_container_isolated-3] -0.000135 0.000002 1.000000 0.000363 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.400549910] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.007,0.016,0.003} {0.007,0.037,-0.119} [component_container_isolated-3] [DEBUG] [1762964976.400596369] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.400642347] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.400681582] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981512 0.000226 0.191399 -0.005996 [component_container_isolated-3] -0.002030 0.999955 0.009229 0.061871 [component_container_isolated-3] -0.191389 -0.009447 0.981469 0.016227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.400704846] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.002,-0.001} {-0.551,11.034,-0.118} [component_container_isolated-3] [DEBUG] [1762964976.400735254] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.014,-0.005} {-0.535,10.998,0.003} [component_container_isolated-3] [DEBUG] [1762964976.400784779] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.404824023] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.404876563] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.404955915] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.404999317] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000125 -0.000161 0.000130 [component_container_isolated-3] -0.000125 1.000000 -0.000018 0.000160 [component_container_isolated-3] 0.000161 0.000018 1.000000 -0.000214 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.405020468] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.208,0.075,-0.080} [component_container_isolated-3] [DEBUG] [1762964976.405064672] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.405125869] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.405175895] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879567 -0.000132 0.475776 -0.001120 [component_container_isolated-3] -0.004547 0.999952 0.008682 0.059888 [component_container_isolated-3] -0.475754 -0.009800 0.879524 0.017821 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.405202085] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.408,-0.296} [component_container_isolated-3] [DEBUG] [1762964976.405238695] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.405308187] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.411536782] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.411596797] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.411640430] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.411687380] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000160 -0.000155 -0.000161 [component_container_isolated-3] 0.000160 1.000000 -0.000019 -0.001287 [component_container_isolated-3] 0.000155 0.000019 1.000000 -0.001067 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.411714181] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.009,0.011} {-0.061,0.152,-0.128} [component_container_isolated-3] [DEBUG] [1762964976.411761712] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.411805966] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.411842126] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 -0.000281 0.185191 -0.006808 [component_container_isolated-3] 0.000141 1.000000 0.000769 0.059748 [component_container_isolated-3] -0.185191 -0.000730 0.982702 0.017472 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.411865851] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.043,10.672,0.008} [component_container_isolated-3] [DEBUG] [1762964976.411898653] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.009,-0.010} {0.042,10.520,0.139} [component_container_isolated-3] [DEBUG] [1762964976.411984848] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.442031790] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.442093418] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.442134096] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.442180044] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000160 -0.000155 -0.000161 [component_container_isolated-3] 0.000160 1.000000 -0.000019 -0.001287 [component_container_isolated-3] 0.000155 0.000019 1.000000 -0.001067 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.442207516] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.007,0.010} {-0.060,0.143,-0.119} [component_container_isolated-3] [DEBUG] [1762964976.442258874] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.442306876] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.442348115] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 -0.000281 0.185191 -0.006808 [component_container_isolated-3] 0.000141 1.000000 0.000769 0.059748 [component_container_isolated-3] -0.185191 -0.000730 0.982702 0.017472 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.442372601] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.043,10.672,0.008} [component_container_isolated-3] [DEBUG] [1762964976.442404061] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.008,-0.009} {0.039,10.529,0.129} [component_container_isolated-3] [DEBUG] [1762964976.442453536] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.443399452] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.443461831] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.443505244] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.443551453] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000080 0.000125 0.000259 [component_container_isolated-3] 0.000080 1.000000 -0.000003 -0.000118 [component_container_isolated-3] -0.000125 0.000003 1.000000 0.000127 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.443577001] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.017,0.006} {0.135,0.151,0.232} [component_container_isolated-3] [DEBUG] [1762964976.443625314] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.443667264] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.443706589] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 0.000190 0.203441 -0.006261 [component_container_isolated-3] 0.002212 0.999931 -0.011581 0.061163 [component_container_isolated-3] -0.203429 0.011789 0.979019 0.018342 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.443731667] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.690,11.738,0.129} [component_container_isolated-3] [DEBUG] [1762964976.443764750] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.006} {0.507,11.589,-0.108} [component_container_isolated-3] [DEBUG] [1762964976.443814084] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.449132070] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.449196834] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.449239656] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.449289030] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000007 0.000258 -0.000082 [component_container_isolated-3] 0.000007 1.000000 0.000140 0.000096 [component_container_isolated-3] -0.000258 -0.000140 1.000000 0.000401 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.449315551] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.216,0.090,-0.079} [component_container_isolated-3] [DEBUG] [1762964976.449366999] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.449412376] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.449460558] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879443 -0.000204 0.476003 -0.001092 [component_container_isolated-3] -0.004542 0.999951 0.008821 0.059885 [component_container_isolated-3] -0.475982 -0.009920 0.879399 0.017836 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.449490615] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.646,28.423,-0.296} [component_container_isolated-3] [DEBUG] [1762964976.449525191] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.449584194] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.456656390] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.456716515] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.456757343] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.456801157] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000080 0.000125 0.000259 [component_container_isolated-3] 0.000080 1.000000 -0.000003 -0.000118 [component_container_isolated-3] -0.000125 0.000003 1.000000 0.000127 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.456826264] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.017,0.006} {0.135,0.158,0.236} [component_container_isolated-3] [DEBUG] [1762964976.456874837] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.456916567] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.456991560] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 0.000190 0.203441 -0.006261 [component_container_isolated-3] 0.002212 0.999931 -0.011581 0.061163 [component_container_isolated-3] -0.203429 0.011789 0.979019 0.018342 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.457013913] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.690,11.738,0.129} [component_container_isolated-3] [DEBUG] [1762964976.457044080] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.006} {0.506,11.582,-0.113} [component_container_isolated-3] [DEBUG] [1762964976.457099096] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.464800102] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.464854657] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.464894493] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.464974906] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000097 -0.000300 -0.000220 [component_container_isolated-3] 0.000097 1.000000 -0.000070 -0.001182 [component_container_isolated-3] 0.000300 0.000070 1.000000 -0.000615 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.465001297] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.007,0.015,0.002} {0.011,0.020,-0.113} [component_container_isolated-3] [DEBUG] [1762964976.465050010] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.465097420] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.465135713] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981570 0.000144 0.191105 -0.006075 [component_container_isolated-3] -0.001930 0.999956 0.009160 0.061602 [component_container_isolated-3] -0.191095 -0.009360 0.981527 0.016158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.465158807] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.546,11.017,-0.113} [component_container_isolated-3] [DEBUG] [1762964976.465189266] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.013,-0.004} {-0.535,10.998,0.003} [component_container_isolated-3] [DEBUG] [1762964976.465238430] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.473725027] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.473779792] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.473817644] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.473860866] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000097 -0.000300 -0.000220 [component_container_isolated-3] 0.000097 1.000000 -0.000070 -0.001182 [component_container_isolated-3] 0.000300 0.000070 1.000000 -0.000615 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.473885784] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.007,0.013,0.002} {0.015,0.003,-0.108} [component_container_isolated-3] [DEBUG] [1762964976.473957371] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.474007486] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.474048014] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981570 0.000144 0.191105 -0.006075 [component_container_isolated-3] -0.001930 0.999956 0.009160 0.061602 [component_container_isolated-3] -0.191095 -0.009360 0.981527 0.016158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.474073522] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.546,11.017,-0.113} [component_container_isolated-3] [DEBUG] [1762964976.474105784] [zed_multi.right]: +++ Diff [map -> odom] - {0.008,-0.012,-0.004} {-0.540,11.015,-0.003} [component_container_isolated-3] [DEBUG] [1762964976.474155489] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.474976317] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.475020892] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.475053223] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.475087559] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000035 -0.000020 0.000019 [component_container_isolated-3] 0.000035 1.000000 -0.000001 -0.000051 [component_container_isolated-3] 0.000020 0.000001 1.000000 -0.000108 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.475106665] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.216,0.089,-0.077} [component_container_isolated-3] [DEBUG] [1762964976.475144999] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.475177711] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.475204082] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879453 -0.000235 0.475985 -0.001080 [component_container_isolated-3] -0.004507 0.999951 0.008820 0.059875 [component_container_isolated-3] -0.475964 -0.009902 0.879409 0.017835 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.475220613] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.422,-0.294} [component_container_isolated-3] [DEBUG] [1762964976.475242685] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.475279726] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.487350158] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.487407026] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.487446742] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.487491768] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000004 -0.000083 -0.000216 [component_container_isolated-3] -0.000004 1.000000 -0.000125 0.000131 [component_container_isolated-3] 0.000083 0.000125 1.000000 0.000100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.487518760] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.007,0.010} {-0.053,0.139,-0.119} [component_container_isolated-3] [DEBUG] [1762964976.487568605] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.487612128] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.487652004] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 -0.000254 0.185109 -0.006868 [component_container_isolated-3] 0.000138 1.000000 0.000644 0.059682 [component_container_isolated-3] -0.185109 -0.000608 0.982718 0.017431 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.487676230] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.667,0.008} [component_container_isolated-3] [DEBUG] [1762964976.487710255] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.008,-0.009} {0.039,10.529,0.129} [component_container_isolated-3] [DEBUG] [1762964976.487760211] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.492412255] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.492473272] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.492518177] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.492563303] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000054 -0.000174 -0.000176 [component_container_isolated-3] -0.000054 1.000000 0.000066 0.000100 [component_container_isolated-3] 0.000174 -0.000066 1.000000 -0.000293 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.492588802] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.017,0.005} {0.132,0.148,0.233} [component_container_isolated-3] [DEBUG] [1762964976.492638647] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.492680898] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.492716306] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979123 0.000230 0.203271 -0.006263 [component_container_isolated-3] 0.002156 0.999931 -0.011515 0.061169 [component_container_isolated-3] -0.203259 0.011713 0.979055 0.018302 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.492740281] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.685,11.728,0.126} [component_container_isolated-3] [DEBUG] [1762964976.492774176] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.006} {0.506,11.582,-0.113} [component_container_isolated-3] [DEBUG] [1762964976.492827428] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.497487037] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.497535690] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.497569975] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.497617816] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000048 -0.000013 -0.000058 [component_container_isolated-3] -0.000048 1.000000 -0.000119 0.000004 [component_container_isolated-3] 0.000013 0.000119 1.000000 0.000052 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.497651801] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.209,0.088,-0.080} [component_container_isolated-3] [DEBUG] [1762964976.497702829] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.497740701] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.497768985] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879459 -0.000135 0.475974 -0.001065 [component_container_isolated-3] -0.004555 0.999952 0.008701 0.059867 [component_container_isolated-3] -0.475952 -0.009820 0.879416 0.017844 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.497786679] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.421,-0.297} [component_container_isolated-3] [DEBUG] [1762964976.497808110] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.497850891] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.503506653] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.503559353] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.503597316] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.503640118] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000004 -0.000083 -0.000216 [component_container_isolated-3] -0.000004 1.000000 -0.000125 0.000131 [component_container_isolated-3] 0.000083 0.000125 1.000000 0.000100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.503664584] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.008,0.010} {-0.045,0.134,-0.120} [component_container_isolated-3] [DEBUG] [1762964976.503711614] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.503754215] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.503790184] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 -0.000254 0.185109 -0.006868 [component_container_isolated-3] 0.000138 1.000000 0.000644 0.059682 [component_container_isolated-3] -0.185109 -0.000608 0.982718 0.017431 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.503814220] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.667,0.008} [component_container_isolated-3] [DEBUG] [1762964976.503847433] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.008,-0.009} {0.032,10.534,0.130} [component_container_isolated-3] [DEBUG] [1762964976.503900184] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.517969533] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.518025330] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.518067841] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.518116324] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000014 0.000122 -0.000237 [component_container_isolated-3] 0.000014 1.000000 -0.000152 0.000287 [component_container_isolated-3] -0.000122 0.000152 1.000000 0.000067 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.518146682] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.007,0.014,0.002} {0.024,0.010,-0.107} [component_container_isolated-3] [DEBUG] [1762964976.518198370] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.518242515] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.518280517] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 0.000159 0.191225 -0.006161 [component_container_isolated-3] -0.001917 0.999958 0.009008 0.061565 [component_container_isolated-3] -0.191215 -0.009208 0.981505 0.016161 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.518304062] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.538,11.024,-0.112} [component_container_isolated-3] [DEBUG] [1762964976.518336334] [zed_multi.right]: +++ Diff [map -> odom] - {0.008,-0.012,-0.004} {-0.540,11.015,-0.003} [component_container_isolated-3] [DEBUG] [1762964976.518386099] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.534093907] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.534155575] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.534201372] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.534249404] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000001 -0.000004 -0.000051 [component_container_isolated-3] -0.000001 1.000000 -0.000020 0.000053 [component_container_isolated-3] 0.000004 0.000020 1.000000 0.000006 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.534276275] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.208,0.088,-0.080} [component_container_isolated-3] [DEBUG] [1762964976.534332733] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.534378250] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.534417655] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879461 -0.000125 0.475971 -0.001060 [component_container_isolated-3] -0.004557 0.999952 0.008682 0.059865 [component_container_isolated-3] -0.475949 -0.009804 0.879418 0.017851 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.534442142] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.421,-0.297} [component_container_isolated-3] [DEBUG] [1762964976.534472951] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.534523076] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.535256948] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.535304268] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.535338163] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.535373971] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000137 -0.000417 0.000342 [component_container_isolated-3] -0.000137 1.000000 -0.000046 0.000568 [component_container_isolated-3] 0.000417 0.000046 1.000000 -0.001688 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.535392848] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.016,0.004} {0.134,0.124,0.225} [component_container_isolated-3] [DEBUG] [1762964976.535431712] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.535464785] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.535491456] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979207 0.000373 0.202862 -0.006349 [component_container_isolated-3] 0.002015 0.999931 -0.011562 0.061313 [component_container_isolated-3] -0.202853 0.011730 0.979139 0.017560 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.535508378] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.686,11.704,0.118} [component_container_isolated-3] [DEBUG] [1762964976.535530150] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.005} {0.506,11.582,-0.113} [component_container_isolated-3] [DEBUG] [1762964976.535567491] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.543576306] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.543630550] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.543671057] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.543715622] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000034 0.000018 0.001034 [component_container_isolated-3] -0.000034 1.000000 0.000337 0.000497 [component_container_isolated-3] -0.000018 -0.000337 1.000000 -0.000081 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.543740640] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.014,0.002} {0.004,0.011,-0.109} [component_container_isolated-3] [DEBUG] [1762964976.543788922] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.543832836] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.543868043] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 0.000128 0.191242 -0.005996 [component_container_isolated-3] -0.001951 0.999954 0.009344 0.061624 [component_container_isolated-3] -0.191232 -0.009545 0.981498 0.016076 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.543890706] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.557,11.025,-0.114} [component_container_isolated-3] [DEBUG] [1762964976.543952254] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.013,-0.004} {-0.540,11.015,-0.003} [component_container_isolated-3] [DEBUG] [1762964976.544010205] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.548532671] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.548596062] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.548637171] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.548683008] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000212 0.000194 0.000322 [component_container_isolated-3] -0.000212 1.000000 0.000293 0.001202 [component_container_isolated-3] -0.000194 -0.000293 1.000000 0.000922 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.548708928] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.009,0.011} {-0.062,0.145,-0.132} [component_container_isolated-3] [DEBUG] [1762964976.548757441] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.548800904] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.548837984] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982682 -0.000100 0.185299 -0.006827 [component_container_isolated-3] -0.000075 0.999999 0.000937 0.059903 [component_container_isolated-3] -0.185299 -0.000935 0.982682 0.017541 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.548860828] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,0.000} {-0.054,10.679,-0.004} [component_container_isolated-3] [DEBUG] [1762964976.548898560] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.009,-0.010} {0.032,10.534,0.130} [component_container_isolated-3] [DEBUG] [1762964976.548972321] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.553498605] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.553562056] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.553599378] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.553644394] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000137 -0.000417 0.000342 [component_container_isolated-3] -0.000137 1.000000 -0.000046 0.000568 [component_container_isolated-3] 0.000417 0.000046 1.000000 -0.001688 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.553669922] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.016,0.002} {0.137,0.100,0.217} [component_container_isolated-3] [DEBUG] [1762964976.553720369] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.553765204] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.553805101] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979207 0.000373 0.202862 -0.006349 [component_container_isolated-3] 0.002015 0.999931 -0.011562 0.061313 [component_container_isolated-3] -0.202853 0.011730 0.979139 0.017560 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.553829307] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.686,11.704,0.118} [component_container_isolated-3] [DEBUG] [1762964976.553862370] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.003} {0.505,11.606,-0.105} [component_container_isolated-3] [DEBUG] [1762964976.553958684] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.565669208] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.565728561] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.565766083] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.565808464] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000137 -0.000417 0.000342 [component_container_isolated-3] -0.000137 1.000000 -0.000046 0.000568 [component_container_isolated-3] 0.000417 0.000046 1.000000 -0.001688 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.565833572] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.000} {0.139,0.076,0.209} [component_container_isolated-3] [DEBUG] [1762964976.565880061] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.565958010] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.566000862] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979207 0.000373 0.202862 -0.006349 [component_container_isolated-3] 0.002015 0.999931 -0.011562 0.061313 [component_container_isolated-3] -0.202853 0.011730 0.979139 0.017560 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.566024467] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.686,11.704,0.118} [component_container_isolated-3] [DEBUG] [1762964976.566057460] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.001} {0.504,11.629,-0.097} [component_container_isolated-3] [DEBUG] [1762964976.566107625] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.567017263] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.567069031] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.567110791] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.567156258] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000006 0.000045 0.000114 [component_container_isolated-3] 0.000006 1.000000 0.000054 -0.000053 [component_container_isolated-3] -0.000045 -0.000054 1.000000 0.000002 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.567181907] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.211,0.090,-0.080} [component_container_isolated-3] [DEBUG] [1762964976.567230450] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.567273802] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.567309561] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879440 -0.000155 0.476010 -0.001045 [component_container_isolated-3] -0.004551 0.999952 0.008735 0.059859 [component_container_isolated-3] -0.475988 -0.009848 0.879396 0.017848 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.567332404] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.424,-0.297} [component_container_isolated-3] [DEBUG] [1762964976.567364816] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.567417086] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.577379552] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.577438044] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.577477409] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.577519910] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000206 -0.000089 -0.000160 [component_container_isolated-3] 0.000206 1.000000 -0.000328 -0.000972 [component_container_isolated-3] 0.000089 0.000328 1.000000 -0.000121 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.577545168] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.007,0.013,0.001} {0.023,0.006,-0.097} [component_container_isolated-3] [DEBUG] [1762964976.577593400] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.577686468] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.577730923] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981560 -0.000011 0.191155 -0.005990 [component_container_isolated-3] -0.001745 0.999958 0.009017 0.061400 [component_container_isolated-3] -0.191147 -0.009184 0.981519 0.016044 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.577756712] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.536,11.020,-0.102} [component_container_isolated-3] [DEBUG] [1762964976.577788172] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.012,-0.004} {-0.540,11.015,-0.003} [component_container_isolated-3] [DEBUG] [1762964976.577839260] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.585877291] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.585960470] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.586013090] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.586057695] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000067 -0.000029 0.000382 [component_container_isolated-3] 0.000067 1.000000 0.000035 -0.000324 [component_container_isolated-3] 0.000029 -0.000035 1.000000 -0.000042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.586082823] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.064,0.143,-0.128} [component_container_isolated-3] [DEBUG] [1762964976.586131276] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.586174589] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.586213122] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982688 -0.000172 0.185270 -0.006747 [component_container_isolated-3] -0.000008 1.000000 0.000972 0.059918 [component_container_isolated-3] -0.185270 -0.000957 0.982687 0.017558 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.586241096] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,0.000} {-0.056,10.677,-0.000} [component_container_isolated-3] [DEBUG] [1762964976.586273568] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.009,-0.010} {0.032,10.534,0.130} [component_container_isolated-3] [DEBUG] [1762964976.586316159] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.597971898] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.598027595] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.598068263] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.598112577] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000048 -0.000077 -0.000231 [component_container_isolated-3] -0.000048 1.000000 -0.000223 0.000187 [component_container_isolated-3] 0.000077 0.000223 1.000000 -0.000035 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.598138066] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.198,0.086,-0.082} [component_container_isolated-3] [DEBUG] [1762964976.598188322] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.598231554] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.598267052] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879476 -0.000007 0.475942 -0.001054 [component_container_isolated-3] -0.004598 0.999953 0.008512 0.059875 [component_container_isolated-3] -0.475920 -0.009675 0.879435 0.017869 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.598289766] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.630,28.419,-0.300} [component_container_isolated-3] [DEBUG] [1762964976.598322127] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.598375439] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.599741638] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.599791303] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.599828825] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.599872278] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000067 -0.000029 0.000382 [component_container_isolated-3] 0.000067 1.000000 0.000035 -0.000324 [component_container_isolated-3] 0.000029 -0.000035 1.000000 -0.000042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.599898147] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.066,0.141,-0.124} [component_container_isolated-3] [DEBUG] [1762964976.599969473] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.600018166] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.600058694] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982688 -0.000172 0.185270 -0.006747 [component_container_isolated-3] -0.000008 1.000000 0.000972 0.059918 [component_container_isolated-3] -0.185270 -0.000957 0.982687 0.017558 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.600082750] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,0.000} {-0.056,10.677,-0.000} [component_container_isolated-3] [DEBUG] [1762964976.600116224] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.008,-0.010} {0.034,10.535,0.126} [component_container_isolated-3] [DEBUG] [1762964976.600172772] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.608727709] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.608785640] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.608826278] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.608868999] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000064 0.000292 -0.001028 [component_container_isolated-3] -0.000064 1.000000 0.000118 0.000750 [component_container_isolated-3] -0.000292 -0.000118 1.000000 0.000622 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.608893416] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.008,0.014,0.002} {0.016,0.023,-0.101} [component_container_isolated-3] [DEBUG] [1762964976.608981073] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.609060625] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.609103036] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981504 0.000029 0.191442 -0.006210 [component_container_isolated-3] -0.001811 0.999957 0.009134 0.061451 [component_container_isolated-3] -0.191433 -0.009312 0.981462 0.016150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.609129316] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.544,11.036,-0.106} [component_container_isolated-3] [DEBUG] [1762964976.609163942] [zed_multi.right]: +++ Diff [map -> odom] - {0.008,-0.013,-0.004} {-0.540,11.015,-0.003} [component_container_isolated-3] [DEBUG] [1762964976.609223246] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.621139673] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.621199357] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.621241458] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.621287876] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000091 0.000397 -0.000799 [component_container_isolated-3] 0.000091 1.000000 0.000360 -0.000282 [component_container_isolated-3] -0.000397 -0.000360 1.000000 0.001765 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.621312744] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.002} {0.119,0.099,0.215} [component_container_isolated-3] [DEBUG] [1762964976.621361507] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.621403617] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.621438915] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979127 0.000211 0.203251 -0.006426 [component_container_isolated-3] 0.002110 0.999935 -0.011201 0.061341 [component_container_isolated-3] -0.203240 0.011396 0.979063 0.017813 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.621461568] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.667,11.727,0.123} [component_container_isolated-3] [DEBUG] [1762964976.621492237] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.003} {0.504,11.629,-0.097} [component_container_isolated-3] [DEBUG] [1762964976.621543785] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.635700200] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.635753693] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.635802736] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.635847722] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000000 0.000058 -0.000056 [component_container_isolated-3] -0.000000 1.000000 0.000285 -0.000030 [component_container_isolated-3] -0.000058 -0.000285 1.000000 0.000054 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.635874313] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.214,0.089,-0.082} [component_container_isolated-3] [DEBUG] [1762964976.635944296] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.635995524] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.636036873] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879449 -0.000142 0.475993 -0.001074 [component_container_isolated-3] -0.004599 0.999951 0.008796 0.059887 [component_container_isolated-3] -0.475971 -0.009925 0.879405 0.017872 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.636061390] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.647,28.423,-0.300} [component_container_isolated-3] [DEBUG] [1762964976.636094594] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.636144208] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.636752200] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.636799871] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.636838875] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.637024790] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000064 0.000292 -0.001028 [component_container_isolated-3] -0.000064 1.000000 0.000118 0.000750 [component_container_isolated-3] -0.000292 -0.000118 1.000000 0.000622 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.637051471] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.009,0.015,0.003} {0.010,0.039,-0.104} [component_container_isolated-3] [DEBUG] [1762964976.637101567] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.637145581] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.637182131] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981504 0.000029 0.191442 -0.006210 [component_container_isolated-3] -0.001811 0.999957 0.009134 0.061451 [component_container_isolated-3] -0.191433 -0.009312 0.981462 0.016150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.637206086] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.544,11.036,-0.106} [component_container_isolated-3] [DEBUG] [1762964976.637236474] [zed_multi.right]: +++ Diff [map -> odom] - {0.009,-0.014,-0.005} {-0.533,10.998,0.001} [component_container_isolated-3] [DEBUG] [1762964976.637287101] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.645628421] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.645688135] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.645729394] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.645774740] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000071 0.000092 -0.000533 [component_container_isolated-3] -0.000071 1.000000 -0.000006 0.000491 [component_container_isolated-3] -0.000092 0.000006 1.000000 0.000129 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.645801562] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.009,0.011} {-0.066,0.147,-0.128} [component_container_isolated-3] [DEBUG] [1762964976.645851357] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.645898316] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.645965996] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982671 -0.000102 0.185361 -0.006774 [component_container_isolated-3] -0.000079 1.000000 0.000966 0.060039 [component_container_isolated-3] -0.185361 -0.000964 0.982670 0.017614 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.645991304] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.056,10.682,-0.005} [component_container_isolated-3] [DEBUG] [1762964976.646022173] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.009,-0.010} {0.034,10.535,0.126} [component_container_isolated-3] [DEBUG] [1762964976.646074272] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.659387517] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.659446680] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.659487328] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.659532424] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000038 -0.000611 0.000458 [component_container_isolated-3] -0.000038 1.000000 -0.000148 -0.000134 [component_container_isolated-3] 0.000611 0.000148 1.000000 -0.002314 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.659560438] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,-0.000} {0.127,0.064,0.212} [component_container_isolated-3] [DEBUG] [1762964976.659612557] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.659658174] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.659695506] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979251 0.000278 0.202652 -0.006584 [component_container_isolated-3] 0.002065 0.999934 -0.011350 0.061350 [component_container_isolated-3] -0.202642 0.011533 0.979185 0.016992 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.659717959] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.002,-0.001} {0.675,11.692,0.121} [component_container_isolated-3] [DEBUG] [1762964976.659749228] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.001} {0.504,11.629,-0.097} [component_container_isolated-3] [DEBUG] [1762964976.659798903] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.667953276] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.668004895] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.668044250] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.668087763] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000011 -0.000026 -0.000024 [component_container_isolated-3] 0.000011 1.000000 -0.000057 0.000016 [component_container_isolated-3] 0.000026 0.000057 1.000000 0.000003 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.668113292] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.211,0.088,-0.082} [component_container_isolated-3] [DEBUG] [1762964976.668163147] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.668207922] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.668247839] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879461 -0.000125 0.475971 -0.001086 [component_container_isolated-3] -0.004588 0.999951 0.008739 0.059895 [component_container_isolated-3] -0.475949 -0.009869 0.879418 0.017891 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.668271564] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.643,28.421,-0.299} [component_container_isolated-3] [DEBUG] [1762964976.668304617] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.668355604] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.682242876] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.682307870] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.682348137] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.682395657] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000002 -0.000124 -0.000501 [component_container_isolated-3] -0.000002 1.000000 -0.000007 -0.000736 [component_container_isolated-3] 0.000124 0.000007 1.000000 0.000240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.682423260] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.009,0.014,0.003} {0.010,0.032,-0.104} [component_container_isolated-3] [DEBUG] [1762964976.682475700] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.682522961] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.682562536] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981528 0.000032 0.191320 -0.006443 [component_container_isolated-3] -0.001812 0.999957 0.009127 0.061312 [component_container_isolated-3] -0.191311 -0.009305 0.981485 0.016278 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.682585991] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.543,11.029,-0.106} [component_container_isolated-3] [DEBUG] [1762964976.682616078] [zed_multi.right]: +++ Diff [map -> odom] - {0.009,-0.013,-0.005} {-0.533,10.998,0.001} [component_container_isolated-3] [DEBUG] [1762964976.682665623] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.690533328] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.690593203] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.690634532] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.690680049] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000019 -0.000035 -0.000018 [component_container_isolated-3] 0.000019 1.000000 -0.000088 -0.000031 [component_container_isolated-3] 0.000035 0.000088 1.000000 -0.000006 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.690706319] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.009,0.011} {-0.061,0.145,-0.127} [component_container_isolated-3] [DEBUG] [1762964976.690756134] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.690803364] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.690844743] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982677 -0.000104 0.185327 -0.006790 [component_container_isolated-3] -0.000059 1.000000 0.000878 0.060082 [component_container_isolated-3] -0.185327 -0.000874 0.982676 0.017654 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.690869791] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.051,10.680,-0.003} [component_container_isolated-3] [DEBUG] [1762964976.690900429] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.009,-0.010} {0.034,10.535,0.126} [component_container_isolated-3] [DEBUG] [1762964976.690978919] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.703568112] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.703635991] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.703675226] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.703720162] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000081 0.000545 -0.000511 [component_container_isolated-3] -0.000081 1.000000 0.000030 0.000386 [component_container_isolated-3] -0.000545 -0.000030 1.000000 0.002078 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.703744899] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.002} {0.125,0.095,0.208} [component_container_isolated-3] [DEBUG] [1762964976.703792971] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.703834410] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.703870008] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979140 0.000351 0.203186 -0.006576 [component_container_isolated-3] 0.001991 0.999934 -0.011319 0.061419 [component_container_isolated-3] -0.203177 0.011488 0.979075 0.017414 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.703893032] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.002,-0.001} {0.672,11.723,0.116} [component_container_isolated-3] [DEBUG] [1762964976.703957606] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.003} {0.504,11.629,-0.097} [component_container_isolated-3] [DEBUG] [1762964976.704015396] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.707671107] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.707727164] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.707767471] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.707811285] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000033 -0.000007 -0.000068 [component_container_isolated-3] 0.000033 1.000000 -0.000056 -0.000045 [component_container_isolated-3] 0.000007 0.000056 1.000000 -0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.707837455] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.208,0.088,-0.080} [component_container_isolated-3] [DEBUG] [1762964976.707887731] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.707957865] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.708000757] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879464 -0.000127 0.475965 -0.001105 [component_container_isolated-3] -0.004554 0.999952 0.008683 0.059898 [component_container_isolated-3] -0.475943 -0.009804 0.879421 0.017911 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.708024432] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.421,-0.297} [component_container_isolated-3] [DEBUG] [1762964976.708054750] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.708103714] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.713399437] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.713457829] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.713498817] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.713544003] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000019 -0.000035 -0.000018 [component_container_isolated-3] 0.000019 1.000000 -0.000088 -0.000031 [component_container_isolated-3] 0.000035 0.000088 1.000000 -0.000006 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.713569452] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.009,0.011} {-0.056,0.143,-0.126} [component_container_isolated-3] [DEBUG] [1762964976.713617393] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.713661588] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.713702386] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982677 -0.000104 0.185327 -0.006790 [component_container_isolated-3] -0.000059 1.000000 0.000878 0.060082 [component_container_isolated-3] -0.185327 -0.000874 0.982676 0.017654 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.713727444] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.051,10.680,-0.003} [component_container_isolated-3] [DEBUG] [1762964976.713760787] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.008,-0.010} {0.028,10.537,0.125} [component_container_isolated-3] [DEBUG] [1762964976.713811284] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.719617011] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.719675413] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.719714918] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.719759624] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000010 -0.000307 0.000658 [component_container_isolated-3] 0.000010 1.000000 0.000053 0.000486 [component_container_isolated-3] 0.000307 -0.000053 1.000000 -0.001384 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.719784351] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.009,0.015,0.002} {0.007,0.015,-0.104} [component_container_isolated-3] [DEBUG] [1762964976.719836010] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.719883951] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.719950859] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981587 0.000012 0.191018 -0.006547 [component_container_isolated-3] -0.001799 0.999956 0.009181 0.061318 [component_container_isolated-3] -0.191010 -0.009356 0.981544 0.015937 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.719979243] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.546,11.012,-0.105} [component_container_isolated-3] [DEBUG] [1762964976.720012857] [zed_multi.right]: +++ Diff [map -> odom] - {0.008,-0.013,-0.004} {-0.533,10.998,0.001} [component_container_isolated-3] [DEBUG] [1762964976.720065778] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.729997646] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.730049164] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.730086886] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.730130700] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000010 -0.000307 0.000658 [component_container_isolated-3] 0.000010 1.000000 0.000053 0.000486 [component_container_isolated-3] 0.000307 -0.000053 1.000000 -0.001384 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.730155958] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.008,0.015,0.000} {0.004,-0.003,-0.103} [component_container_isolated-3] [DEBUG] [1762964976.730204210] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.730247222] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.730286958] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981587 0.000012 0.191018 -0.006547 [component_container_isolated-3] -0.001799 0.999956 0.009181 0.061318 [component_container_isolated-3] -0.191010 -0.009356 0.981544 0.015937 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.730311194] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.546,11.012,-0.105} [component_container_isolated-3] [DEBUG] [1762964976.730344819] [zed_multi.right]: +++ Diff [map -> odom] - {0.008,-0.014,-0.003} {-0.530,11.016,0.000} [component_container_isolated-3] [DEBUG] [1762964976.730397099] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.735219538] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.735285003] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.735330400] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.735383902] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000191 0.000119 0.000036 [component_container_isolated-3] 0.000191 1.000000 -0.000152 -0.000862 [component_container_isolated-3] -0.000119 0.000152 1.000000 0.000334 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.735415563] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.016,0.002} {0.134,0.102,0.219} [component_container_isolated-3] [DEBUG] [1762964976.735477020] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.735541243] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.735592040] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979116 0.000195 0.203303 -0.006572 [component_container_isolated-3] 0.002183 0.999932 -0.011472 0.061269 [component_container_isolated-3] -0.203291 0.011676 0.979049 0.017634 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.735621907] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.001} {0.683,11.729,0.128} [component_container_isolated-3] [DEBUG] [1762964976.735658968] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.003} {0.504,11.629,-0.097} [component_container_isolated-3] [DEBUG] [1762964976.735726236] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.736710676] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.736761052] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.736803563] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.736848870] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000061 -0.000006 0.000102 [component_container_isolated-3] -0.000061 1.000000 -0.000056 -0.000027 [component_container_isolated-3] 0.000006 0.000056 1.000000 0.000044 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.736875260] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.204,0.087,-0.083} [component_container_isolated-3] [DEBUG] [1762964976.736947017] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.736997113] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.737038442] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879467 -0.000047 0.475960 -0.001106 [component_container_isolated-3] -0.004616 0.999952 0.008627 0.059898 [component_container_isolated-3] -0.475938 -0.009784 0.879425 0.017926 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.737063370] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.420,-0.301} [component_container_isolated-3] [DEBUG] [1762964976.737095230] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.737144845] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.742274101] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.742329326] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.742377328] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.742439487] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000191 0.000119 0.000036 [component_container_isolated-3] 0.000191 1.000000 -0.000152 -0.000862 [component_container_isolated-3] -0.000119 0.000152 1.000000 0.000334 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.742476207] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.017,0.003} {0.143,0.109,0.230} [component_container_isolated-3] [DEBUG] [1762964976.742547553] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.742614661] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.742667522] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979116 0.000195 0.203303 -0.006572 [component_container_isolated-3] 0.002183 0.999932 -0.011472 0.061269 [component_container_isolated-3] -0.203291 0.011676 0.979049 0.017634 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.742701517] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.001} {0.683,11.729,0.128} [component_container_isolated-3] [DEBUG] [1762964976.742745812] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.003} {0.493,11.623,-0.108} [component_container_isolated-3] [DEBUG] [1762964976.742820013] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.753646078] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.753703308] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.753744577] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.753790284] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000016 -0.000004 0.000359 [component_container_isolated-3] 0.000016 1.000000 -0.000070 -0.000395 [component_container_isolated-3] 0.000004 0.000070 1.000000 -0.000094 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.753816534] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.052,0.143,-0.125} [component_container_isolated-3] [DEBUG] [1762964976.753866008] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.753908950] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.753989935] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982678 -0.000107 0.185323 -0.006751 [component_container_isolated-3] -0.000044 1.000000 0.000808 0.060081 [component_container_isolated-3] -0.185323 -0.000802 0.982677 0.017673 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.754014081] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.047,10.680,-0.003} [component_container_isolated-3] [DEBUG] [1762964976.754044509] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.008,-0.010} {0.028,10.537,0.125} [component_container_isolated-3] [DEBUG] [1762964976.754105516] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.760281521] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.760341154] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.760380680] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.760425746] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000010 -0.000307 0.000658 [component_container_isolated-3] 0.000010 1.000000 0.000053 0.000486 [component_container_isolated-3] 0.000307 -0.000053 1.000000 -0.001384 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.760450994] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.007,0.015,-0.001} {0.001,-0.020,-0.103} [component_container_isolated-3] [DEBUG] [1762964976.760499647] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.760546356] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.760586022] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981587 0.000012 0.191018 -0.006547 [component_container_isolated-3] -0.001799 0.999956 0.009181 0.061318 [component_container_isolated-3] -0.191010 -0.009356 0.981544 0.015937 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.760611110] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.546,11.012,-0.105} [component_container_isolated-3] [DEBUG] [1762964976.760644223] [zed_multi.right]: +++ Diff [map -> odom] - {0.008,-0.014,-0.001} {-0.527,11.033,-0.001} [component_container_isolated-3] [DEBUG] [1762964976.760695942] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.769140249] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.769201977] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.769242825] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.769286969] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000053 0.000098 0.000032 [component_container_isolated-3] 0.000053 1.000000 0.000237 -0.000081 [component_container_isolated-3] -0.000098 -0.000237 1.000000 0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.769312437] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.218,0.093,-0.080} [component_container_isolated-3] [DEBUG] [1762964976.769361631] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.769403782] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.769444510] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 -0.000206 0.476046 -0.001114 [component_container_isolated-3] -0.004564 0.999950 0.008863 0.059892 [component_container_isolated-3] -0.476024 -0.009967 0.879376 0.017926 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.769470119] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.649,28.426,-0.297} [component_container_isolated-3] [DEBUG] [1762964976.769500587] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.769549891] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.774700347] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.774755643] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.774795198] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.774840384] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000191 0.000119 0.000036 [component_container_isolated-3] 0.000191 1.000000 -0.000152 -0.000862 [component_container_isolated-3] -0.000119 0.000152 1.000000 0.000334 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.774867817] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.018,0.003} {0.152,0.116,0.241} [component_container_isolated-3] [DEBUG] [1762964976.774944193] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.774993497] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.775034886] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979116 0.000195 0.203303 -0.006572 [component_container_isolated-3] 0.002183 0.999932 -0.011472 0.061269 [component_container_isolated-3] -0.203291 0.011676 0.979049 0.017634 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.775059823] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.001} {0.683,11.729,0.128} [component_container_isolated-3] [DEBUG] [1762964976.775096343] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.004} {0.482,11.616,-0.119} [component_container_isolated-3] [DEBUG] [1762964976.775148813] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.780460017] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.780516054] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.780554076] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.780598521] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000005 -0.000041 -0.000094 [component_container_isolated-3] -0.000005 1.000000 0.000033 0.000211 [component_container_isolated-3] 0.000041 -0.000033 1.000000 0.000078 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.780623709] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.054,0.140,-0.125} [component_container_isolated-3] [DEBUG] [1762964976.780670789] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.780715645] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.780755130] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982685 -0.000108 0.185282 -0.006739 [component_container_isolated-3] -0.000049 1.000000 0.000841 0.060109 [component_container_isolated-3] -0.185282 -0.000835 0.982685 0.017697 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.780779487] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.049,10.678,-0.003} [component_container_isolated-3] [DEBUG] [1762964976.780813081] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.008,-0.010} {0.028,10.537,0.125} [component_container_isolated-3] [DEBUG] [1762964976.780862926] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.795426679] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.795478939] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.795518144] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.795563150] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000010 -0.000307 0.000658 [component_container_isolated-3] 0.000010 1.000000 0.000053 0.000486 [component_container_isolated-3] 0.000307 -0.000053 1.000000 -0.001384 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.795588248] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.007,0.016,-0.003} {-0.002,-0.038,-0.102} [component_container_isolated-3] [DEBUG] [1762964976.795636149] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.795680003] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.795715180] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981587 0.000012 0.191018 -0.006547 [component_container_isolated-3] -0.001799 0.999956 0.009181 0.061318 [component_container_isolated-3] -0.191010 -0.009356 0.981544 0.015937 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.795739507] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.546,11.012,-0.105} [component_container_isolated-3] [DEBUG] [1762964976.795772991] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.015,0.000} {-0.524,11.051,-0.001} [component_container_isolated-3] [DEBUG] [1762964976.795823888] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.797072953] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.797123891] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.797166071] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.797211788] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000030 -0.000029 -0.000002 [component_container_isolated-3] -0.000030 1.000000 -0.000038 0.000145 [component_container_isolated-3] 0.000029 0.000038 1.000000 0.000079 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.797237908] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.216,0.091,-0.082} [component_container_isolated-3] [DEBUG] [1762964976.797286020] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.797329684] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.797366294] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879434 -0.000162 0.476021 -0.001107 [component_container_isolated-3] -0.004593 0.999950 0.008826 0.059902 [component_container_isolated-3] -0.475998 -0.009948 0.879390 0.017946 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.797388165] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.648,28.424,-0.299} [component_container_isolated-3] [DEBUG] [1762964976.797418553] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.797469190] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.806874933] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.806959895] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.807005181] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.807056850] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000000 0.000190 -0.000015 [component_container_isolated-3] 0.000000 1.000000 0.000071 -0.000036 [component_container_isolated-3] -0.000190 -0.000071 1.000000 -0.000020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.807084814] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.058,0.151,-0.125} [component_container_isolated-3] [DEBUG] [1762964976.807135300] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.807178923] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.807215303] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982650 -0.000122 0.185469 -0.006729 [component_container_isolated-3] -0.000048 1.000000 0.000912 0.060125 [component_container_isolated-3] -0.185469 -0.000905 0.982650 0.017712 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.807237776] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.053,10.688,-0.003} [component_container_isolated-3] [DEBUG] [1762964976.807269266] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.008,-0.010} {0.028,10.537,0.125} [component_container_isolated-3] [DEBUG] [1762964976.807319983] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.814144025] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.814203448] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.814242774] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.814288862] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000191 0.000119 0.000036 [component_container_isolated-3] 0.000191 1.000000 -0.000152 -0.000862 [component_container_isolated-3] -0.000119 0.000152 1.000000 0.000334 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.814316063] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.003} {0.161,0.123,0.252} [component_container_isolated-3] [DEBUG] [1762964976.814368804] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.814424220] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.814468304] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979116 0.000195 0.203303 -0.006572 [component_container_isolated-3] 0.002183 0.999932 -0.011472 0.061269 [component_container_isolated-3] -0.203291 0.011676 0.979049 0.017634 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.814492671] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.001} {0.683,11.729,0.128} [component_container_isolated-3] [DEBUG] [1762964976.814523720] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.020,-0.004} {0.471,11.609,-0.130} [component_container_isolated-3] [DEBUG] [1762964976.814574146] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.830236287] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.830297795] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.830335617] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.830379150] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000010 -0.000307 0.000658 [component_container_isolated-3] 0.000010 1.000000 0.000053 0.000486 [component_container_isolated-3] 0.000307 -0.000053 1.000000 -0.001384 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.830403336] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.016,-0.004} {-0.005,-0.056,-0.102} [component_container_isolated-3] [DEBUG] [1762964976.830451268] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.830498147] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.830538244] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981587 0.000012 0.191018 -0.006547 [component_container_isolated-3] -0.001799 0.999956 0.009181 0.061318 [component_container_isolated-3] -0.191010 -0.009356 0.981544 0.015937 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.830562771] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.546,11.012,-0.105} [component_container_isolated-3] [DEBUG] [1762964976.830595533] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.015,0.002} {-0.521,11.068,-0.002} [component_container_isolated-3] [DEBUG] [1762964976.830649717] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.835643364] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.835700172] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.835741892] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.835787709] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000172 -0.000007 -0.000045 [component_container_isolated-3] 0.000172 1.000000 -0.000175 -0.000339 [component_container_isolated-3] 0.000007 0.000175 1.000000 -0.000038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.835814320] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.206,0.091,-0.072} [component_container_isolated-3] [DEBUG] [1762964976.835862863] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.835905725] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.835970779] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879437 -0.000230 0.476015 -0.001114 [component_container_isolated-3] -0.004421 0.999953 0.008650 0.059851 [component_container_isolated-3] -0.475994 -0.009712 0.879395 0.017973 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.835997169] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.633,28.424,-0.288} [component_container_isolated-3] [DEBUG] [1762964976.836029992] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.836080849] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.846072531] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.846141392] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.846186639] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.846239710] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000191 0.000119 0.000036 [component_container_isolated-3] 0.000191 1.000000 -0.000152 -0.000862 [component_container_isolated-3] -0.000119 0.000152 1.000000 0.000334 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.846268916] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.004} {0.169,0.129,0.263} [component_container_isolated-3] [DEBUG] [1762964976.846320825] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.846365440] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.846402361] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979116 0.000195 0.203303 -0.006572 [component_container_isolated-3] 0.002183 0.999932 -0.011472 0.061269 [component_container_isolated-3] -0.203291 0.011676 0.979049 0.017634 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.846424884] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.001} {0.683,11.729,0.128} [component_container_isolated-3] [DEBUG] [1762964976.846455803] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.021,-0.004} {0.460,11.602,-0.142} [component_container_isolated-3] [DEBUG] [1762964976.846505818] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.852093048] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.852151680] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.852194973] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.852240320] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000017 -0.000091 -0.000099 [component_container_isolated-3] -0.000017 1.000000 -0.000043 0.000143 [component_container_isolated-3] 0.000091 0.000043 1.000000 -0.000007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.852265287] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.055,0.146,-0.126} [component_container_isolated-3] [DEBUG] [1762964976.852313409] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.852355940] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.852393452] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982667 -0.000097 0.185379 -0.006733 [component_container_isolated-3] -0.000065 1.000000 0.000868 0.060160 [component_container_isolated-3] -0.185379 -0.000865 0.982667 0.017732 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.852416727] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.050,10.683,-0.004} [component_container_isolated-3] [DEBUG] [1762964976.852449299] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.008,-0.010} {0.028,10.537,0.125} [component_container_isolated-3] [DEBUG] [1762964976.852502039] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.859076014] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.859138213] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.859184041] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.859232323] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000010 -0.000307 0.000658 [component_container_isolated-3] 0.000010 1.000000 0.000053 0.000486 [component_container_isolated-3] 0.000307 -0.000053 1.000000 -0.001384 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.859258553] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.017,-0.005} {-0.008,-0.073,-0.101} [component_container_isolated-3] [DEBUG] [1762964976.859318107] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.859377981] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.859425311] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981587 0.000012 0.191018 -0.006547 [component_container_isolated-3] -0.001799 0.999956 0.009181 0.061318 [component_container_isolated-3] -0.191010 -0.009356 0.981544 0.015937 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.859454056] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.546,11.012,-0.105} [component_container_isolated-3] [DEBUG] [1762964976.859489243] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.016,0.003} {-0.518,11.086,-0.003} [component_container_isolated-3] [DEBUG] [1762964976.859546513] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.864974359] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.865027881] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.865064531] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.865106190] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000017 -0.000091 -0.000099 [component_container_isolated-3] -0.000017 1.000000 -0.000043 0.000143 [component_container_isolated-3] 0.000091 0.000043 1.000000 -0.000007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.865130557] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.009,0.011} {-0.053,0.141,-0.127} [component_container_isolated-3] [DEBUG] [1762964976.865176835] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.865232722] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.865274292] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982667 -0.000097 0.185379 -0.006733 [component_container_isolated-3] -0.000065 1.000000 0.000868 0.060160 [component_container_isolated-3] -0.185379 -0.000865 0.982667 0.017732 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.865298367] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.050,10.683,-0.004} [component_container_isolated-3] [DEBUG] [1762964976.865336260] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.008,-0.010} {0.026,10.543,0.126} [component_container_isolated-3] [DEBUG] [1762964976.865391766] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.866103114] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.866153470] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.866195170] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.866244875] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000064 -0.000058 0.000066 [component_container_isolated-3] -0.000064 1.000000 0.000093 0.000175 [component_container_isolated-3] 0.000058 -0.000093 1.000000 -0.000110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.866272027] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.211,0.087,-0.076} [component_container_isolated-3] [DEBUG] [1762964976.866327262] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.866367469] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.866396214] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879465 -0.000217 0.475964 -0.001116 [component_container_isolated-3] -0.004485 0.999952 0.008744 0.059847 [component_container_isolated-3] -0.475943 -0.009825 0.879421 0.017964 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.866414218] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.421,-0.292} [component_container_isolated-3] [DEBUG] [1762964976.866436581] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.866473812] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.888394956] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.888456243] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.888497111] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.888542238] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000110 -0.000440 0.000916 [component_container_isolated-3] -0.000110 1.000000 -0.000036 0.000809 [component_container_isolated-3] 0.000440 0.000036 1.000000 -0.002042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.888569109] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.019,0.002} {0.171,0.104,0.256} [component_container_isolated-3] [DEBUG] [1762964976.888621770] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.888667467] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.888707644] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979205 0.000310 0.202871 -0.006507 [component_container_isolated-3] 0.002068 0.999932 -0.011508 0.061381 [component_container_isolated-3] -0.202861 0.011688 0.979138 0.017043 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.888732761] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.684,11.704,0.121} [component_container_isolated-3] [DEBUG] [1762964976.888764312] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.003} {0.460,11.602,-0.142} [component_container_isolated-3] [DEBUG] [1762964976.888814117] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.893313439] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.893373524] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.893419883] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.893466442] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000017 -0.000091 -0.000099 [component_container_isolated-3] -0.000017 1.000000 -0.000043 0.000143 [component_container_isolated-3] 0.000091 0.000043 1.000000 -0.000007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.893493213] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.009,0.011} {-0.050,0.135,-0.128} [component_container_isolated-3] [DEBUG] [1762964976.893547116] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.893590819] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.893629092] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982667 -0.000097 0.185379 -0.006733 [component_container_isolated-3] -0.000065 1.000000 0.000868 0.060160 [component_container_isolated-3] -0.185379 -0.000865 0.982667 0.017732 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.893652437] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.050,10.683,-0.004} [component_container_isolated-3] [DEBUG] [1762964976.893683636] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.009,-0.010} {0.024,10.548,0.127} [component_container_isolated-3] [DEBUG] [1762964976.893734534] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.894349688] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.894399393] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.894439480] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.894483063] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000058 -0.000026 0.000057 [component_container_isolated-3] -0.000058 1.000000 -0.000106 0.000098 [component_container_isolated-3] 0.000026 0.000106 1.000000 -0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.894507991] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.205,0.086,-0.079} [component_container_isolated-3] [DEBUG] [1762964976.894555652] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.894596309] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.894632098] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879477 -0.000116 0.475941 -0.001108 [component_container_isolated-3] -0.004542 0.999952 0.008638 0.059853 [component_container_isolated-3] -0.475919 -0.009759 0.879435 0.017962 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.894654471] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.636,28.419,-0.296} [component_container_isolated-3] [DEBUG] [1762964976.894685049] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.894733371] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.904015979] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.904082596] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.904127692] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.904174491] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000031 0.000126 0.000352 [component_container_isolated-3] -0.000031 1.000000 0.000089 -0.000325 [component_container_isolated-3] -0.000126 -0.000089 1.000000 0.000824 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.904200581] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.017,-0.004} {-0.013,-0.066,-0.103} [component_container_isolated-3] [DEBUG] [1762964976.904250537] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.904294641] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.904331010] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981562 0.000026 0.191142 -0.006489 [component_container_isolated-3] -0.001832 0.999955 0.009270 0.061272 [component_container_isolated-3] -0.191134 -0.009449 0.981519 0.015966 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.904353974] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.552,11.019,-0.107} [component_container_isolated-3] [DEBUG] [1762964976.904385715] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.015,0.002} {-0.518,11.086,-0.003} [component_container_isolated-3] [DEBUG] [1762964976.904436482] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.916605081] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.916681978] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.916724258] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.916771799] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000043 0.000127 -0.000193 [component_container_isolated-3] -0.000043 1.000000 0.000012 0.000114 [component_container_isolated-3] -0.000127 -0.000012 1.000000 0.000260 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.916798360] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.018,0.002} {0.171,0.111,0.254} [component_container_isolated-3] [DEBUG] [1762964976.916849137] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.916892329] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.916948156] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979180 0.000350 0.202995 -0.006483 [component_container_isolated-3] 0.002026 0.999932 -0.011496 0.061446 [component_container_isolated-3] -0.202986 0.011668 0.979112 0.016990 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.916974657] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.683,11.712,0.119} [component_container_isolated-3] [DEBUG] [1762964976.917006137] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.003} {0.460,11.602,-0.142} [component_container_isolated-3] [DEBUG] [1762964976.917058557] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.929743262] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.929802755] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.929844325] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.929887477] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000045 0.000061 -0.000025 [component_container_isolated-3] 0.000045 1.000000 -0.000030 -0.000068 [component_container_isolated-3] -0.000061 0.000030 1.000000 0.000112 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.929913687] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.203,0.089,-0.077} [component_container_isolated-3] [DEBUG] [1762964976.930000252] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.930044377] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.930080085] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879449 -0.000141 0.475994 -0.001102 [component_container_isolated-3] -0.004498 0.999953 0.008607 0.059850 [component_container_isolated-3] -0.475973 -0.009711 0.879406 0.017971 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.930102888] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.633,28.423,-0.293} [component_container_isolated-3] [DEBUG] [1762964976.930135130] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.930186418] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.940117444] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.940178390] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.940220531] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.940265416] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000067 -0.000044 0.000339 [component_container_isolated-3] -0.000067 1.000000 0.000040 0.000598 [component_container_isolated-3] 0.000044 -0.000040 1.000000 -0.001098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.940290915] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.017,-0.006} {-0.016,-0.069,-0.107} [component_container_isolated-3] [DEBUG] [1762964976.940339889] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.940384364] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.940421835] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981571 0.000085 0.191099 -0.006443 [component_container_isolated-3] -0.001899 0.999955 0.009309 0.061349 [component_container_isolated-3] -0.191089 -0.009501 0.981527 0.015660 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.940447063] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.555,11.016,-0.111} [component_container_isolated-3] [DEBUG] [1762964976.940480728] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.016,0.003} {-0.518,11.086,-0.003} [component_container_isolated-3] [DEBUG] [1762964976.940532717] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.946610233] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.946678203] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.946718109] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.946763065] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000053 0.000008 0.000131 [component_container_isolated-3] 0.000053 1.000000 -0.000046 -0.000223 [component_container_isolated-3] -0.000008 0.000046 1.000000 0.000011 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.946788083] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.009,0.011} {-0.048,0.136,-0.125} [component_container_isolated-3] [DEBUG] [1762964976.946836015] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.946878125] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.946917550] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982666 -0.000141 0.185387 -0.006722 [component_container_isolated-3] -0.000012 1.000000 0.000822 0.060161 [component_container_isolated-3] -0.185387 -0.000810 0.982665 0.017749 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.946968608] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.047,10.684,-0.001} [component_container_isolated-3] [DEBUG] [1762964976.947001260] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.008,-0.010} {0.024,10.548,0.127} [component_container_isolated-3] [DEBUG] [1762964976.947062177] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.963451436] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.963526269] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.963568580] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.963617333] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000146 0.000465 -0.000407 [component_container_isolated-3] 0.000146 1.000000 0.000010 -0.000406 [component_container_isolated-3] -0.000465 -0.000010 1.000000 0.002127 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.963644645] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.004} {0.170,0.138,0.262} [component_container_isolated-3] [DEBUG] [1762964976.963695953] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.963741590] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.963779112] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979085 0.000204 0.203451 -0.006367 [component_container_isolated-3] 0.002178 0.999932 -0.011485 0.061428 [component_container_isolated-3] -0.203440 0.011688 0.979018 0.017726 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.963802587] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.684,11.738,0.127} [component_container_isolated-3] [DEBUG] [1762964976.963833265] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.021,-0.005} {0.460,11.602,-0.142} [component_container_isolated-3] [DEBUG] [1762964976.963887579] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.966077441] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.966128899] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.966169306] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.966213290] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000042 0.000049 -0.000246 [component_container_isolated-3] -0.000042 1.000000 0.000199 0.000035 [component_container_isolated-3] -0.000049 -0.000199 1.000000 0.000081 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.966238208] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.215,0.092,-0.079} [component_container_isolated-3] [DEBUG] [1762964976.966285909] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.966327338] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.966363247] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879425 -0.000199 0.476037 -0.001128 [component_container_isolated-3] -0.004540 0.999951 0.008806 0.059856 [component_container_isolated-3] -0.476016 -0.009906 0.879381 0.017994 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.966387593] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.426,-0.296} [component_container_isolated-3] [DEBUG] [1762964976.966420276] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.003} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964976.966472536] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.977042662] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.977095884] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.977138355] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.977188400] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000003 0.000062 -0.000117 [component_container_isolated-3] 0.000003 1.000000 0.000075 0.000079 [component_container_isolated-3] -0.000062 -0.000075 1.000000 0.000274 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.977215031] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.017,-0.005} {-0.020,-0.065,-0.107} [component_container_isolated-3] [DEBUG] [1762964976.977265678] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.977310904] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.977347404] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981559 0.000067 0.191160 -0.006419 [component_container_isolated-3] -0.001896 0.999954 0.009385 0.061397 [component_container_isolated-3] -0.191151 -0.009574 0.981514 0.015599 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.977370929] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.559,11.020,-0.111} [component_container_isolated-3] [DEBUG] [1762964976.977403281] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.016,0.003} {-0.518,11.086,-0.003} [component_container_isolated-3] [DEBUG] [1762964976.977454008] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964976.982032071] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964976.982098087] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964976.982137943] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964976.982186816] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000095 0.000011 -0.000172 [component_container_isolated-3] -0.000095 1.000000 0.000123 0.000253 [component_container_isolated-3] -0.000011 -0.000123 1.000000 0.000040 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964976.982214860] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.009,0.011} {-0.055,0.136,-0.130} [component_container_isolated-3] [DEBUG] [1762964976.982266448] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964976.982313458] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964976.982353044] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982664 -0.000071 0.185398 -0.006728 [component_container_isolated-3] -0.000107 1.000000 0.000946 0.060204 [component_container_isolated-3] -0.185398 -0.000949 0.982663 0.017764 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964976.982377210] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.055,10.684,-0.006} [component_container_isolated-3] [DEBUG] [1762964976.982416755] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.009,-0.010} {0.024,10.548,0.127} [component_container_isolated-3] [DEBUG] [1762964976.982463855] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.003196329] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.003259490] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.003302602] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.003349712] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000007 -0.000279 -0.000046 [component_container_isolated-3] 0.000007 1.000000 0.000089 -0.000180 [component_container_isolated-3] 0.000279 -0.000089 1.000000 -0.000710 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.003375511] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.003} {0.165,0.122,0.263} [component_container_isolated-3] [DEBUG] [1762964977.003424996] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.003503205] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.003541739] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979142 0.000179 0.203178 -0.006386 [component_container_isolated-3] 0.002182 0.999933 -0.011397 0.061397 [component_container_isolated-3] -0.203166 0.011602 0.979076 0.017766 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.003564993] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.679,11.722,0.128} [component_container_isolated-3] [DEBUG] [1762964977.003595982] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.021,-0.004} {0.460,11.602,-0.142} [component_container_isolated-3] [DEBUG] [1762964977.003647501] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.006462948] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.006528202] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.006566686] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.006608856] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000011 -0.000036 0.000082 [component_container_isolated-3] -0.000011 1.000000 -0.000140 0.000085 [component_container_isolated-3] 0.000036 0.000140 1.000000 -0.000016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.006634074] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.207,0.090,-0.080} [component_container_isolated-3] [DEBUG] [1762964977.006681756] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.006726160] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.006765876] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879442 -0.000122 0.476006 -0.001130 [component_container_isolated-3] -0.004551 0.999952 0.008666 0.059866 [component_container_isolated-3] -0.475984 -0.009788 0.879400 0.018016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.006790393] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.423,-0.297} [component_container_isolated-3] [DEBUG] [1762964977.006823576] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964977.006875626] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.016801953] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.016853882] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.016888037] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.016952159] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000093 0.000089 0.000040 [component_container_isolated-3] 0.000093 1.000000 -0.000164 -0.000754 [component_container_isolated-3] -0.000089 0.000164 1.000000 0.000651 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.016981115] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.017,-0.005} {-0.011,-0.060,-0.101} [component_container_isolated-3] [DEBUG] [1762964977.017045798] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.017101394] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.017132644] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 0.000008 0.191248 -0.006375 [component_container_isolated-3] -0.001804 0.999956 0.009221 0.061280 [component_container_isolated-3] -0.191239 -0.009396 0.981498 0.015676 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.017150979] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.548,11.025,-0.105} [component_container_isolated-3] [DEBUG] [1762964977.017173372] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.015,0.002} {-0.518,11.086,-0.003} [component_container_isolated-3] [DEBUG] [1762964977.017212086] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.022510144] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.022569898] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.022611888] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.022656674] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000071 -0.000037 0.000248 [component_container_isolated-3] 0.000071 1.000000 0.000047 -0.000295 [component_container_isolated-3] 0.000037 -0.000047 1.000000 -0.000067 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.022683164] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.057,0.134,-0.126} [component_container_isolated-3] [DEBUG] [1762964977.022732899] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.022776272] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.022816168] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982670 -0.000149 0.185362 -0.006707 [component_container_isolated-3] -0.000036 1.000000 0.000993 0.060192 [component_container_isolated-3] -0.185362 -0.000982 0.982670 0.017769 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.022841066] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.057,10.682,-0.002} [component_container_isolated-3] [DEBUG] [1762964977.022874179] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.008,-0.010} {0.024,10.548,0.127} [component_container_isolated-3] [DEBUG] [1762964977.022957007] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.042691536] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.042752612] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.042794683] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.042840380] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000112 -0.000072 0.000214 [component_container_isolated-3] 0.000112 1.000000 -0.000043 -0.000222 [component_container_isolated-3] 0.000072 0.000043 1.000000 -0.000153 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.042866800] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.204,0.086,-0.073} [component_container_isolated-3] [DEBUG] [1762964977.042917096] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.043005956] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.043045912] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879477 -0.000201 0.475942 -0.001123 [component_container_isolated-3] -0.004438 0.999953 0.008623 0.059844 [component_container_isolated-3] -0.475922 -0.009697 0.879434 0.018007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.043070609] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.632,28.419,-0.289} [component_container_isolated-3] [DEBUG] [1762964977.043103883] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964977.043156664] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.052220934] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.052289916] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.052330103] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.052342517] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.052430745] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.052470761] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.052517932] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000104 0.000004 0.000349 [component_container_isolated-3] -0.000104 1.000000 -0.000070 0.000127 [component_container_isolated-3] -0.000004 0.000070 1.000000 0.000103 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.052546306] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.003} {0.169,0.122,0.257} [component_container_isolated-3] [DEBUG] [1762964977.052598606] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.052650605] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.052687776] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979141 0.000295 0.203182 -0.006342 [component_container_isolated-3] 0.002078 0.999932 -0.011466 0.061390 [component_container_isolated-3] -0.203172 0.011649 0.979074 0.017792 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.052710690] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.682,11.723,0.122} [component_container_isolated-3] [DEBUG] [1762964977.052742050] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.021,-0.004} {0.460,11.602,-0.142} [component_container_isolated-3] [DEBUG] [1762964977.052790983] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.052378676] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000071 -0.000037 0.000248 [component_container_isolated-3] 0.000071 1.000000 0.000047 -0.000295 [component_container_isolated-3] 0.000037 -0.000047 1.000000 -0.000067 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.053039999] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.060,0.132,-0.122} [component_container_isolated-3] [DEBUG] [1762964977.053086197] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.053122506] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.053156812] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982670 -0.000149 0.185362 -0.006707 [component_container_isolated-3] -0.000036 1.000000 0.000993 0.060192 [component_container_isolated-3] -0.185362 -0.000982 0.982670 0.017769 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.053173884] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.057,10.682,-0.002} [component_container_isolated-3] [DEBUG] [1762964977.053195686] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.008,-0.009} {0.026,10.550,0.122} [component_container_isolated-3] [DEBUG] [1762964977.053233979] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.062977186] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.063036229] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.063075113] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.063122704] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000104 0.000004 0.000349 [component_container_isolated-3] -0.000104 1.000000 -0.000070 0.000127 [component_container_isolated-3] -0.000004 0.000070 1.000000 0.000103 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.063148413] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.019,0.003} {0.173,0.123,0.251} [component_container_isolated-3] [DEBUG] [1762964977.063349257] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.063438808] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.063493142] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979141 0.000295 0.203182 -0.006342 [component_container_isolated-3] 0.002078 0.999932 -0.011466 0.061390 [component_container_isolated-3] -0.203172 0.011649 0.979074 0.017792 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.063527066] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.682,11.723,0.122} [component_container_isolated-3] [DEBUG] [1762964977.063580929] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.020,-0.004} {0.457,11.602,-0.136} [component_container_isolated-3] [DEBUG] [1762964977.063659289] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.070372409] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.070434899] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.070476107] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.070521534] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000071 -0.000037 0.000248 [component_container_isolated-3] 0.000071 1.000000 0.000047 -0.000295 [component_container_isolated-3] 0.000037 -0.000047 1.000000 -0.000067 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.070548846] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.063,0.130,-0.118} [component_container_isolated-3] [DEBUG] [1762964977.070602238] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.070649378] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.070688763] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982670 -0.000149 0.185362 -0.006707 [component_container_isolated-3] -0.000036 1.000000 0.000993 0.060192 [component_container_isolated-3] -0.185362 -0.000982 0.982670 0.017769 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.070711296] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.057,10.682,-0.002} [component_container_isolated-3] [DEBUG] [1762964977.070742266] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.008,-0.009} {0.028,10.552,0.118} [component_container_isolated-3] [DEBUG] [1762964977.070792482] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.076405601] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.076506764] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.076553133] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.076605293] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000151 -0.000276 0.000178 [component_container_isolated-3] -0.000151 1.000000 -0.000039 0.000947 [component_container_isolated-3] 0.000276 0.000039 1.000000 -0.000121 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.076637043] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.017,-0.005} {-0.008,-0.076,-0.110} [component_container_isolated-3] [DEBUG] [1762964977.076690075] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.076743186] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.076783273] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981595 0.000163 0.190977 -0.006304 [component_container_isolated-3] -0.001952 0.999956 0.009183 0.061450 [component_container_isolated-3] -0.190967 -0.009386 0.981552 0.015672 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.076808521] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.548,11.009,-0.114} [component_container_isolated-3] [DEBUG] [1762964977.076841163] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.016,0.003} {-0.518,11.086,-0.003} [component_container_isolated-3] [DEBUG] [1762964977.076891058] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.077446820] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.077500402] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.077542883] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.077588641] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000016 0.000091 -0.000101 [component_container_isolated-3] -0.000016 1.000000 0.000059 -0.000083 [component_container_isolated-3] -0.000091 -0.000059 1.000000 0.000168 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.077614009] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.208,0.091,-0.074} [component_container_isolated-3] [DEBUG] [1762964977.077661720] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.077702759] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.077739499] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879433 -0.000215 0.476022 -0.001115 [component_container_isolated-3] -0.004455 0.999953 0.008682 0.059821 [component_container_isolated-3] -0.476001 -0.009756 0.879391 0.018018 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.077762442] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.636,28.425,-0.290} [component_container_isolated-3] [DEBUG] [1762964977.077797349] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964977.077857073] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.082190269] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.082256235] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.082294758] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.082340255] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000151 -0.000276 0.000178 [component_container_isolated-3] -0.000151 1.000000 -0.000039 0.000947 [component_container_isolated-3] 0.000276 0.000039 1.000000 -0.000121 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.082367387] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.018,-0.005} {-0.006,-0.091,-0.118} [component_container_isolated-3] [DEBUG] [1762964977.082418895] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.082465614] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.082505420] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981595 0.000163 0.190977 -0.006304 [component_container_isolated-3] -0.001952 0.999956 0.009183 0.061450 [component_container_isolated-3] -0.190967 -0.009386 0.981552 0.015672 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.082531230] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.548,11.009,-0.114} [component_container_isolated-3] [DEBUG] [1762964977.082565475] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.017,0.003} {-0.519,11.102,0.006} [component_container_isolated-3] [DEBUG] [1762964977.082617104] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.095451775] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.095512801] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.095554040] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.095603384] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000070 -0.000454 0.000254 [component_container_isolated-3] -0.000070 1.000000 0.000066 0.000483 [component_container_isolated-3] 0.000454 -0.000066 1.000000 -0.001827 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.095629995] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.018,0.002} {0.169,0.097,0.247} [component_container_isolated-3] [DEBUG] [1762964977.095679670] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.095726910] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.095767378] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979233 0.000350 0.202737 -0.006409 [component_container_isolated-3] 0.002003 0.999933 -0.011401 0.061490 [component_container_isolated-3] -0.202728 0.011571 0.979167 0.017144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.095792886] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.677,11.697,0.117} [component_container_isolated-3] [DEBUG] [1762964977.095826891] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.003} {0.457,11.602,-0.136} [component_container_isolated-3] [DEBUG] [1762964977.095877708] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.099378213] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.099447556] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.099492131] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.099539070] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000071 -0.000037 0.000248 [component_container_isolated-3] 0.000071 1.000000 0.000047 -0.000295 [component_container_isolated-3] 0.000037 -0.000047 1.000000 -0.000067 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.099565351] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.065,0.128,-0.114} [component_container_isolated-3] [DEBUG] [1762964977.099619945] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.099665332] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.099706270] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982670 -0.000149 0.185362 -0.006707 [component_container_isolated-3] -0.000036 1.000000 0.000993 0.060192 [component_container_isolated-3] -0.185362 -0.000982 0.982670 0.017769 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.099730646] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.057,10.682,-0.002} [component_container_isolated-3] [DEBUG] [1762964977.099763018] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.007,-0.009} {0.030,10.554,0.114} [component_container_isolated-3] [DEBUG] [1762964977.099814456] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.100406798] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.100450762] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.100491379] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.100540723] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000061 -0.000069 0.000064 [component_container_isolated-3] -0.000061 1.000000 -0.000010 0.000145 [component_container_isolated-3] 0.000069 0.000010 1.000000 -0.000125 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.100570340] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.207,0.087,-0.078} [component_container_isolated-3] [DEBUG] [1762964977.100621628] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.100664720] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.100703364] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879466 -0.000157 0.475962 -0.001108 [component_container_isolated-3] -0.004515 0.999952 0.008673 0.059818 [component_container_isolated-3] -0.475940 -0.009777 0.879423 0.018012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.100727260] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.421,-0.294} [component_container_isolated-3] [DEBUG] [1762964977.100759441] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964977.100809647] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.107717249] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.107772514] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.107814194] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.107862877] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000068 0.000073 -0.000668 [component_container_isolated-3] 0.000068 1.000000 -0.000302 -0.000755 [component_container_isolated-3] -0.000073 0.000302 1.000000 0.000121 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.107891672] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.018,-0.005} {0.011,-0.087,-0.115} [component_container_isolated-3] [DEBUG] [1762964977.107971685] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.108021931] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.108061166] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981581 0.000154 0.191048 -0.006362 [component_container_isolated-3] -0.001885 0.999959 0.008880 0.061373 [component_container_isolated-3] -0.191039 -0.009077 0.981541 0.015728 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.108084009] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.530,11.013,-0.110} [component_container_isolated-3] [DEBUG] [1762964977.108115249] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.016,0.003} {-0.519,11.102,0.006} [component_container_isolated-3] [DEBUG] [1762964977.108164613] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.119300410] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.119365063] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.119404749] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.119450497] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000070 -0.000454 0.000254 [component_container_isolated-3] -0.000070 1.000000 0.000066 0.000483 [component_container_isolated-3] 0.000454 -0.000066 1.000000 -0.001827 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.119476346] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.018,-0.000} {0.165,0.070,0.243} [component_container_isolated-3] [DEBUG] [1762964977.119523777] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.119565346] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.119600613] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979233 0.000350 0.202737 -0.006409 [component_container_isolated-3] 0.002003 0.999933 -0.011401 0.061490 [component_container_isolated-3] -0.202728 0.011571 0.979167 0.017144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.119623567] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.677,11.697,0.117} [component_container_isolated-3] [DEBUG] [1762964977.119658604] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.001} {0.462,11.628,-0.131} [component_container_isolated-3] [DEBUG] [1762964977.119711154] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.134830058] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.134969935] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.135017105] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.135068383] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000023 0.000121 0.000103 [component_container_isolated-3] 0.000023 1.000000 0.000006 -0.000154 [component_container_isolated-3] -0.000121 -0.000006 1.000000 0.000144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.135099142] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.207,0.094,-0.076} [component_container_isolated-3] [DEBUG] [1762964977.135151933] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.135195866] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.135232346] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 -0.000180 0.476068 -0.001082 [component_container_isolated-3] -0.004494 0.999952 0.008678 0.059795 [component_container_isolated-3] -0.476047 -0.009771 0.879366 0.018018 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.135255851] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.428,-0.293} [component_container_isolated-3] [DEBUG] [1762964977.135288053] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964977.135345061] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.142379145] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.142454158] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.142496599] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.142544320] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000019 -0.000125 -0.000399 [component_container_isolated-3] 0.000019 1.000000 0.000130 0.000139 [component_container_isolated-3] 0.000125 -0.000130 1.000000 -0.000121 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.142570811] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.018,-0.005} {0.004,-0.094,-0.114} [component_container_isolated-3] [DEBUG] [1762964977.142619824] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.142665882] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.142704105] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981605 0.000111 0.190926 -0.006488 [component_container_isolated-3] -0.001866 0.999958 0.009010 0.061365 [component_container_isolated-3] -0.190917 -0.009201 0.981563 0.015751 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.142728642] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.537,11.006,-0.109} [component_container_isolated-3] [DEBUG] [1762964977.142759862] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.017,0.003} {-0.519,11.102,0.006} [component_container_isolated-3] [DEBUG] [1762964977.142809998] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.148131560] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.148201674] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.148243995] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.148292398] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000070 0.000065 -0.000386 [component_container_isolated-3] -0.000070 1.000000 -0.000220 0.000402 [component_container_isolated-3] -0.000065 0.000220 1.000000 0.000065 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.148321804] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.053,0.132,-0.118} [component_container_isolated-3] [DEBUG] [1762964977.148375196] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.148423097] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.148461120] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982658 -0.000039 0.185426 -0.006741 [component_container_isolated-3] -0.000106 1.000000 0.000773 0.060253 [component_container_isolated-3] -0.185426 -0.000779 0.982658 0.017806 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.148485737] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.045,10.686,-0.006} [component_container_isolated-3] [DEBUG] [1762964977.148517337] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.008,-0.009} {0.030,10.554,0.114} [component_container_isolated-3] [DEBUG] [1762964977.148568695] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.157022710] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.157089508] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.157130827] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.157179269] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000065 0.000301 -0.000103 [component_container_isolated-3] 0.000065 1.000000 -0.000071 -0.000587 [component_container_isolated-3] -0.000301 0.000071 1.000000 0.000031 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.157206131] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.018,-0.000} {0.169,0.088,0.246} [component_container_isolated-3] [DEBUG] [1762964977.157255305] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.157301383] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.157342050] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979172 0.000301 0.203032 -0.006409 [component_container_isolated-3] 0.002071 0.999932 -0.011472 0.061438 [component_container_isolated-3] -0.203022 0.011653 0.979105 0.017012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.157366767] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.682,11.714,0.121} [component_container_isolated-3] [DEBUG] [1762964977.157398468] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.001} {0.462,11.628,-0.131} [component_container_isolated-3] [DEBUG] [1762964977.157448774] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.164008992] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.164068366] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.164113442] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.164160221] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000040 -0.000119 -0.000105 [component_container_isolated-3] -0.000040 1.000000 0.000019 0.000204 [component_container_isolated-3] 0.000119 -0.000019 1.000000 -0.000172 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.164186562] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.209,0.087,-0.079} [component_container_isolated-3] [DEBUG] [1762964977.164237709] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.164280782] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.164317692] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879465 -0.000154 0.475963 -0.001083 [component_container_isolated-3] -0.004533 0.999952 0.008698 0.059802 [component_container_isolated-3] -0.475942 -0.009807 0.879422 0.018007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.164342519] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.421,-0.295} [component_container_isolated-3] [DEBUG] [1762964977.164375663] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.388,28.334,-0.205} [component_container_isolated-3] [DEBUG] [1762964977.164426119] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.173811122] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.173861879] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.173901084] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.173982450] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000034 0.000305 0.000171 [component_container_isolated-3] 0.000034 1.000000 0.000051 -0.000120 [component_container_isolated-3] -0.000305 -0.000051 1.000000 0.001044 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.174010203] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.018,-0.004} {0.001,-0.077,-0.112} [component_container_isolated-3] [DEBUG] [1762964977.174059807] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.174109021] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.174149619] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 0.000068 0.191225 -0.006458 [component_container_isolated-3] -0.001834 0.999957 0.009061 0.061343 [component_container_isolated-3] -0.191216 -0.009244 0.981504 0.016087 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.174174376] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.540,11.024,-0.107} [component_container_isolated-3] [DEBUG] [1762964977.174208120] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.016,0.002} {-0.519,11.102,0.006} [component_container_isolated-3] [DEBUG] [1762964977.174259799] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.178961278] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.179029688] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.179070256] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.179114741] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000073 -0.000010 0.000295 [component_container_isolated-3] 0.000073 1.000000 0.000030 -0.000299 [component_container_isolated-3] 0.000010 -0.000030 1.000000 -0.000032 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.179140049] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.055,0.131,-0.114} [component_container_isolated-3] [DEBUG] [1762964977.179189093] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.179233408] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.179271781] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982660 -0.000116 0.185416 -0.006730 [component_container_isolated-3] -0.000033 1.000000 0.000803 0.060250 [component_container_isolated-3] -0.185416 -0.000795 0.982660 0.017812 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.179295386] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.046,10.685,-0.002} [component_container_isolated-3] [DEBUG] [1762964977.179326786] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.007,-0.009} {0.030,10.554,0.114} [component_container_isolated-3] [DEBUG] [1762964977.179380248] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.183787605] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.183863249] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.183908335] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.183987477] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000053 -0.000078 -0.000183 [component_container_isolated-3] 0.000053 1.000000 0.000200 -0.000107 [component_container_isolated-3] 0.000078 -0.000200 1.000000 0.000290 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.184017965] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.019,0.000} {0.158,0.083,0.249} [component_container_isolated-3] [DEBUG] [1762964977.184069052] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.184112836] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.184149526] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979188 0.000209 0.202956 -0.006427 [component_container_isolated-3] 0.002123 0.999934 -0.011272 0.061399 [component_container_isolated-3] -0.202945 0.011468 0.979123 0.016926 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.184172710] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.671,11.709,0.124} [component_container_isolated-3] [DEBUG] [1762964977.184203980] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.001} {0.462,11.628,-0.131} [component_container_isolated-3] [DEBUG] [1762964977.184252643] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.186410955] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.186465910] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.186505135] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.186549129] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000040 -0.000119 -0.000105 [component_container_isolated-3] -0.000040 1.000000 0.000019 0.000204 [component_container_isolated-3] 0.000119 -0.000019 1.000000 -0.000172 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.186575920] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.210,0.081,-0.081} [component_container_isolated-3] [DEBUG] [1762964977.186627518] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.186672324] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.186712972] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879465 -0.000154 0.475963 -0.001083 [component_container_isolated-3] -0.004533 0.999952 0.008698 0.059802 [component_container_isolated-3] -0.475942 -0.009807 0.879422 0.018007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.186737248] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.421,-0.295} [component_container_isolated-3] [DEBUG] [1762964977.186768928] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.385,28.341,-0.203} [component_container_isolated-3] [DEBUG] [1762964977.186828562] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.208140293] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.208192883] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.208233841] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.208280500] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000038 -0.000055 -0.000024 [component_container_isolated-3] 0.000038 1.000000 -0.000058 -0.000200 [component_container_isolated-3] 0.000055 0.000058 1.000000 -0.000359 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.208305568] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.017,-0.004} {0.004,-0.080,-0.109} [component_container_isolated-3] [DEBUG] [1762964977.208353550] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.208395410] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.208431900] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981557 0.000042 0.191171 -0.006477 [component_container_isolated-3] -0.001796 0.999958 0.009003 0.061286 [component_container_isolated-3] -0.191162 -0.009180 0.981516 0.016156 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.208453962] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.536,11.021,-0.105} [component_container_isolated-3] [DEBUG] [1762964977.208484791] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.016,0.002} {-0.519,11.102,0.006} [component_container_isolated-3] [DEBUG] [1762964977.208533233] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.213072051] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.213132356] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.213172623] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.213216737] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000007 0.000013 -0.000238 [component_container_isolated-3] -0.000007 1.000000 -0.000086 0.000233 [component_container_isolated-3] -0.000013 0.000086 1.000000 -0.000000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.213241915] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.050,0.132,-0.115} [component_container_isolated-3] [DEBUG] [1762964977.213290508] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.213337849] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.213378777] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982658 -0.000093 0.185429 -0.006751 [component_container_isolated-3] -0.000040 1.000000 0.000717 0.060280 [component_container_isolated-3] -0.185429 -0.000712 0.982657 0.017830 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.213403213] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.041,10.686,-0.002} [component_container_isolated-3] [DEBUG] [1762964977.213434403] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.008,-0.009} {0.030,10.554,0.114} [component_container_isolated-3] [DEBUG] [1762964977.213488276] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.219995012] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.220065517] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.220107848] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.220153756] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000057 0.000445 -0.000589 [component_container_isolated-3] -0.000057 1.000000 -0.000164 0.000018 [component_container_isolated-3] -0.000445 0.000164 1.000000 0.001786 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.220179475] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.002} {0.167,0.109,0.246} [component_container_isolated-3] [DEBUG] [1762964977.220229119] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.220271390] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.220310174] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 0.000298 0.203391 -0.006431 [component_container_isolated-3] 0.002071 0.999933 -0.011435 0.061368 [component_container_isolated-3] -0.203381 0.011617 0.979031 0.017520 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.220337316] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.680,11.735,0.121} [component_container_isolated-3] [DEBUG] [1762964977.220375950] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.020,-0.003} {0.462,11.628,-0.131} [component_container_isolated-3] [DEBUG] [1762964977.220437487] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.233301404] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.233382750] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.233436673] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.233494172] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000020 0.000115 -0.000142 [component_container_isolated-3] 0.000020 1.000000 0.000097 0.000013 [component_container_isolated-3] -0.000115 -0.000097 1.000000 0.000187 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.233531554] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.215,0.087,-0.080} [component_container_isolated-3] [DEBUG] [1762964977.233589474] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.233632747] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.233670730] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 -0.000217 0.476064 -0.001089 [component_container_isolated-3] -0.004514 0.999951 0.008795 0.059810 [component_container_isolated-3] -0.476043 -0.009883 0.879367 0.018026 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.233693954] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.644,28.427,-0.294} [component_container_isolated-3] [DEBUG] [1762964977.233724883] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.385,28.341,-0.203} [component_container_isolated-3] [DEBUG] [1762964977.233773636] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.241390062] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.241447201] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.241489441] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.241533716] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000009 -0.000010 0.000219 [component_container_isolated-3] 0.000009 1.000000 0.000116 -0.000179 [component_container_isolated-3] 0.000010 -0.000116 1.000000 0.000043 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.241558443] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.056,0.131,-0.114} [component_container_isolated-3] [DEBUG] [1762964977.241606866] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.241679534] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.241718369] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982660 -0.000124 0.185419 -0.006739 [component_container_isolated-3] -0.000031 1.000000 0.000833 0.060283 [component_container_isolated-3] -0.185419 -0.000824 0.982659 0.017835 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.241742124] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.048,10.686,-0.002} [component_container_isolated-3] [DEBUG] [1762964977.241772472] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.007,-0.009} {0.030,10.554,0.114} [component_container_isolated-3] [DEBUG] [1762964977.241822548] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.248810092] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.248873333] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.248913269] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.248987852] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000143 0.000212 -0.000162 [component_container_isolated-3] -0.000143 1.000000 0.000259 0.000264 [component_container_isolated-3] -0.000212 -0.000259 1.000000 0.000254 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.249013691] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.018,-0.004} {-0.011,-0.068,-0.118} [component_container_isolated-3] [DEBUG] [1762964977.249063226] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.249106268] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.249142547] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981516 0.000133 0.191379 -0.006510 [component_container_isolated-3] -0.001941 0.999955 0.009261 0.061282 [component_container_isolated-3] -0.191369 -0.009462 0.981473 0.016243 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.249167885] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.552,11.033,-0.113} [component_container_isolated-3] [DEBUG] [1762964977.249201319] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.017,0.002} {-0.519,11.102,0.006} [component_container_isolated-3] [DEBUG] [1762964977.249252717] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.254729266] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.254781937] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.254825340] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.254869284] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000005 -0.000054 -0.000193 [component_container_isolated-3] -0.000005 1.000000 0.000019 -0.000004 [component_container_isolated-3] 0.000054 -0.000019 1.000000 0.000004 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.254894542] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.002} {0.166,0.106,0.246} [component_container_isolated-3] [DEBUG] [1762964977.254980196] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.255025332] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.255062523] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979108 0.000300 0.203339 -0.006507 [component_container_isolated-3] 0.002065 0.999933 -0.011416 0.061345 [component_container_isolated-3] -0.203328 0.011597 0.979042 0.017667 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.255085427] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.679,11.732,0.121} [component_container_isolated-3] [DEBUG] [1762964977.255118289] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.020,-0.003} {0.462,11.628,-0.131} [component_container_isolated-3] [DEBUG] [1762964977.255174406] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.270679147] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.270732779] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.270772245] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.270816389] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000028 -0.000144 0.000060 [component_container_isolated-3] -0.000028 1.000000 -0.000079 0.000046 [component_container_isolated-3] 0.000144 0.000079 1.000000 -0.000245 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.270841577] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.211,0.079,-0.081} [component_container_isolated-3] [DEBUG] [1762964977.270890410] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.270963520] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.271006121] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879479 -0.000155 0.475937 -0.001101 [component_container_isolated-3] -0.004540 0.999952 0.008716 0.059819 [component_container_isolated-3] -0.475916 -0.009827 0.879436 0.018015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.271029676] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.419,-0.296} [component_container_isolated-3] [DEBUG] [1762964977.271060335] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.385,28.341,-0.203} [component_container_isolated-3] [DEBUG] [1762964977.271109378] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.280062817] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.280129765] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.280170603] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.280215609] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000193 -0.000128 0.000323 [component_container_isolated-3] 0.000193 1.000000 -0.000096 -0.000682 [component_container_isolated-3] 0.000128 0.000096 1.000000 -0.000243 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.280241589] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.017,-0.004} {-0.005,-0.075,-0.107} [component_container_isolated-3] [DEBUG] [1762964977.280290502] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.280334626] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.280370966] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 -0.000038 0.191253 -0.006521 [component_container_isolated-3] -0.001747 0.999956 0.009166 0.061103 [component_container_isolated-3] -0.191245 -0.009331 0.981498 0.016292 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.280396505] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.545,11.025,-0.102} [component_container_isolated-3] [DEBUG] [1762964977.280428916] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.016,0.003} {-0.519,11.102,0.006} [component_container_isolated-3] [DEBUG] [1762964977.280478962] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.287188506] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.287256536] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.287296352] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.287341157] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000009 -0.000010 0.000219 [component_container_isolated-3] 0.000009 1.000000 0.000116 -0.000179 [component_container_isolated-3] 0.000010 -0.000116 1.000000 0.000043 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.287367197] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.008,0.011} {-0.063,0.131,-0.113} [component_container_isolated-3] [DEBUG] [1762964977.287418345] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.287464693] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.287506473] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982660 -0.000124 0.185419 -0.006739 [component_container_isolated-3] -0.000031 1.000000 0.000833 0.060283 [component_container_isolated-3] -0.185419 -0.000824 0.982659 0.017835 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.287531010] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.048,10.686,-0.002} [component_container_isolated-3] [DEBUG] [1762964977.287565005] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.007,-0.009} {0.036,10.555,0.114} [component_container_isolated-3] [DEBUG] [1762964977.287615601] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.304117035] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.304170557] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.304205394] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.304252774] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000028 -0.000144 0.000060 [component_container_isolated-3] -0.000028 1.000000 -0.000079 0.000046 [component_container_isolated-3] 0.000144 0.000079 1.000000 -0.000245 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.304281199] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.206,0.071,-0.083} [component_container_isolated-3] [DEBUG] [1762964977.304331454] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.304375038] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.304412660] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879479 -0.000155 0.475937 -0.001101 [component_container_isolated-3] -0.004540 0.999952 0.008716 0.059819 [component_container_isolated-3] -0.475916 -0.009827 0.879436 0.018015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.304435333] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.419,-0.296} [component_container_isolated-3] [DEBUG] [1762964977.304465270] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.389,28.349,-0.201} [component_container_isolated-3] [DEBUG] [1762964977.304515446] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.308917553] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.308998237] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.309042361] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.309078590] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000061 0.000103 0.000073 [component_container_isolated-3] -0.000061 1.000000 0.000056 0.000247 [component_container_isolated-3] -0.000103 -0.000056 1.000000 0.000392 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.309097286] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.018,0.002} {0.163,0.112,0.242} [component_container_isolated-3] [DEBUG] [1762964977.309136832] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.309184122] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.309224609] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 0.000348 0.203440 -0.006505 [component_container_isolated-3] 0.002004 0.999934 -0.011360 0.061352 [component_container_isolated-3] -0.203430 0.011530 0.979022 0.017882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.309242443] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.675,11.738,0.117} [component_container_isolated-3] [DEBUG] [1762964977.309264435] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.020,-0.003} {0.462,11.628,-0.131} [component_container_isolated-3] [DEBUG] [1762964977.309360819] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.322454966] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.322521934] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.322562511] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.322606315] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000105 -0.000104 0.000303 [component_container_isolated-3] -0.000105 1.000000 -0.000062 0.000371 [component_container_isolated-3] 0.000104 0.000062 1.000000 -0.000390 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.322630872] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.017,-0.005} {-0.002,-0.081,-0.113} [component_container_isolated-3] [DEBUG] [1762964977.322679345] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.322722467] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.322758335] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981561 0.000077 0.191151 -0.006476 [component_container_isolated-3] -0.001851 0.999957 0.009104 0.061073 [component_container_isolated-3] -0.191142 -0.009290 0.981519 0.016254 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.322783233] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.542,11.019,-0.108} [component_container_isolated-3] [DEBUG] [1762964977.322818049] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.016,0.003} {-0.519,11.102,0.006} [component_container_isolated-3] [DEBUG] [1762964977.322870149] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.328123662] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.328182624] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.328221449] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.328264771] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000148 -0.000037 -0.000542 [component_container_isolated-3] -0.000148 1.000000 0.000016 0.000504 [component_container_isolated-3] 0.000037 -0.000016 1.000000 0.000045 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.328289769] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.008,0.011} {-0.064,0.129,-0.122} [component_container_isolated-3] [DEBUG] [1762964977.328337130] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.328383769] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.328421641] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982666 0.000018 0.185382 -0.006829 [component_container_isolated-3] -0.000178 1.000000 0.000849 0.060390 [component_container_isolated-3] -0.185382 -0.000867 0.982666 0.017868 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.328445116] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.051,10.683,-0.010} [component_container_isolated-3] [DEBUG] [1762964977.328476987] [zed_multi.front]: +++ Diff [map -> odom] - {-0.007,-0.008,-0.009} {0.036,10.555,0.114} [component_container_isolated-3] [DEBUG] [1762964977.328527032] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.334708658] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.334770476] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.334811183] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.334854386] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000148 -0.000037 -0.000542 [component_container_isolated-3] -0.000148 1.000000 0.000016 0.000504 [component_container_isolated-3] 0.000037 -0.000016 1.000000 0.000045 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.334879133] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.009,0.011} {-0.065,0.127,-0.130} [component_container_isolated-3] [DEBUG] [1762964977.334967462] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.335019661] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.335058696] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982666 0.000018 0.185382 -0.006829 [component_container_isolated-3] -0.000178 1.000000 0.000849 0.060390 [component_container_isolated-3] -0.185382 -0.000867 0.982666 0.017868 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.335082151] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.051,10.683,-0.010} [component_container_isolated-3] [DEBUG] [1762964977.335113010] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.008,-0.009} {0.039,10.557,0.122} [component_container_isolated-3] [DEBUG] [1762964977.335165921] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.337437890] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.337505950] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.337547980] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.337596914] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000039 -0.000046 0.000177 [component_container_isolated-3] 0.000039 1.000000 -0.000177 -0.000148 [component_container_isolated-3] 0.000046 0.000177 1.000000 -0.000134 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.337625418] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.018,0.002} {0.173,0.109,0.245} [component_container_isolated-3] [DEBUG] [1762964977.337684641] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.337743554] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.337794010] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 0.000346 0.203395 -0.006520 [component_container_isolated-3] 0.002043 0.999931 -0.011537 0.061335 [component_container_isolated-3] -0.203385 0.011711 0.979029 0.017983 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.337825420] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.002,-0.000} {0.685,11.735,0.120} [component_container_isolated-3] [DEBUG] [1762964977.337865597] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.002} {0.462,11.628,-0.131} [component_container_isolated-3] [DEBUG] [1762964977.337965958] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.340438540] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.340490109] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.340529264] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.340572506] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000028 -0.000144 0.000060 [component_container_isolated-3] -0.000028 1.000000 -0.000079 0.000046 [component_container_isolated-3] 0.000144 0.000079 1.000000 -0.000245 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.340597474] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.202,0.062,-0.085} [component_container_isolated-3] [DEBUG] [1762964977.340645956] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.340688087] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.340727763] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879479 -0.000155 0.475937 -0.001101 [component_container_isolated-3] -0.004540 0.999952 0.008716 0.059819 [component_container_isolated-3] -0.475916 -0.009827 0.879436 0.018015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.340753021] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.419,-0.296} [component_container_isolated-3] [DEBUG] [1762964977.340784581] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.393,28.357,-0.199} [component_container_isolated-3] [DEBUG] [1762964977.340834086] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.355184912] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.355248323] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.355289983] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.355337975] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000028 -0.000144 0.000060 [component_container_isolated-3] -0.000028 1.000000 -0.000079 0.000046 [component_container_isolated-3] 0.000144 0.000079 1.000000 -0.000245 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.355366088] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.197,0.054,-0.086} [component_container_isolated-3] [DEBUG] [1762964977.355420021] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.355465318] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.355504893] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879479 -0.000155 0.475937 -0.001101 [component_container_isolated-3] -0.004540 0.999952 0.008716 0.059819 [component_container_isolated-3] -0.475916 -0.009827 0.879436 0.018015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.355527877] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.419,-0.296} [component_container_isolated-3] [DEBUG] [1762964977.355558155] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.396,28.366,-0.197} [component_container_isolated-3] [DEBUG] [1762964977.355641444] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.362164802] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.362229997] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.362269472] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.362314137] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000008 0.000203 -0.000279 [component_container_isolated-3] 0.000008 1.000000 0.000152 0.000203 [component_container_isolated-3] -0.000203 -0.000152 1.000000 0.000826 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.362339356] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.018,-0.004} {-0.010,-0.070,-0.112} [component_container_isolated-3] [DEBUG] [1762964977.362388800] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.362432534] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.362472690] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981522 0.000040 0.191350 -0.006449 [component_container_isolated-3] -0.001845 0.999955 0.009256 0.061083 [component_container_isolated-3] -0.191341 -0.009438 0.981478 0.016428 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.362497217] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.551,11.031,-0.108} [component_container_isolated-3] [DEBUG] [1762964977.362531122] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.017,0.002} {-0.519,11.102,0.006} [component_container_isolated-3] [DEBUG] [1762964977.362583602] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.365191643] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.365255545] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.365295722] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.365340297] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000148 -0.000037 -0.000542 [component_container_isolated-3] -0.000148 1.000000 0.000016 0.000504 [component_container_isolated-3] 0.000037 -0.000016 1.000000 0.000045 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.365365044] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.009,0.011} {-0.066,0.124,-0.139} [component_container_isolated-3] [DEBUG] [1762964977.365413977] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.365458783] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.365494090] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982666 0.000018 0.185382 -0.006829 [component_container_isolated-3] -0.000178 1.000000 0.000849 0.060390 [component_container_isolated-3] -0.185382 -0.000867 0.982666 0.017868 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.365517245] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.051,10.683,-0.010} [component_container_isolated-3] [DEBUG] [1762964977.365551410] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.009,-0.010} {0.041,10.559,0.131} [component_container_isolated-3] [DEBUG] [1762964977.365607156] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.366610112] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.366660518] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.366703370] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.366750089] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000123 0.000128 -0.000143 [component_container_isolated-3] 0.000123 1.000000 0.000017 -0.000303 [component_container_isolated-3] -0.000128 -0.000017 1.000000 0.000171 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.366775157] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.002} {0.172,0.116,0.252} [component_container_isolated-3] [DEBUG] [1762964977.366823329] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.366865519] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.366901909] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 0.000223 0.203520 -0.006544 [component_container_isolated-3] 0.002167 0.999931 -0.011519 0.061265 [component_container_isolated-3] -0.203509 0.011719 0.979003 0.018100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.366955351] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.000} {0.686,11.742,0.127} [component_container_isolated-3] [DEBUG] [1762964977.366987913] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.003} {0.462,11.628,-0.131} [component_container_isolated-3] [DEBUG] [1762964977.367040854] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.367760358] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.367809051] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.367846733] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.367889585] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000008 0.000203 -0.000279 [component_container_isolated-3] 0.000008 1.000000 0.000152 0.000203 [component_container_isolated-3] -0.000203 -0.000152 1.000000 0.000826 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.367913781] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.018,-0.003} {-0.019,-0.058,-0.112} [component_container_isolated-3] [DEBUG] [1762964977.368002421] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.368045313] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.368081231] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981522 0.000040 0.191350 -0.006449 [component_container_isolated-3] -0.001845 0.999955 0.009256 0.061083 [component_container_isolated-3] -0.191341 -0.009438 0.981478 0.016428 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.368106730] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.551,11.031,-0.108} [component_container_isolated-3] [DEBUG] [1762964977.368140755] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.017,0.001} {-0.510,11.090,0.006} [component_container_isolated-3] [DEBUG] [1762964977.368223413] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.392477081] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.392528961] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.392566963] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.392610717] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000123 0.000128 -0.000143 [component_container_isolated-3] 0.000123 1.000000 0.000017 -0.000303 [component_container_isolated-3] -0.000128 -0.000017 1.000000 0.000171 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.392635654] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.002} {0.171,0.124,0.259} [component_container_isolated-3] [DEBUG] [1762964977.392682534] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.392727229] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.392766314] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 0.000223 0.203520 -0.006544 [component_container_isolated-3] 0.002167 0.999931 -0.011519 0.061265 [component_container_isolated-3] -0.203509 0.011719 0.979003 0.018100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.392789618] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.000} {0.686,11.742,0.127} [component_container_isolated-3] [DEBUG] [1762964977.392819796] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.021,-0.003} {0.461,11.621,-0.138} [component_container_isolated-3] [DEBUG] [1762964977.392868870] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.395180845] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.395236892] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.395274965] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.395316915] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000008 0.000203 -0.000279 [component_container_isolated-3] 0.000008 1.000000 0.000152 0.000203 [component_container_isolated-3] -0.000203 -0.000152 1.000000 0.000826 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.395340810] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.018,-0.002} {-0.028,-0.046,-0.111} [component_container_isolated-3] [DEBUG] [1762964977.395387670] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.395429209] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.395467883] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981522 0.000040 0.191350 -0.006449 [component_container_isolated-3] -0.001845 0.999955 0.009256 0.061083 [component_container_isolated-3] -0.191341 -0.009438 0.981478 0.016428 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.395491879] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.551,11.031,-0.108} [component_container_isolated-3] [DEBUG] [1762964977.395525062] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.017,0.000} {-0.501,11.078,0.005} [component_container_isolated-3] [DEBUG] [1762964977.395578053] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.400498180] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.400564356] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.400604543] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.400648537] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000148 -0.000037 -0.000542 [component_container_isolated-3] -0.000148 1.000000 0.000016 0.000504 [component_container_isolated-3] 0.000037 -0.000016 1.000000 0.000045 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.400673705] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.010,0.011} {-0.067,0.122,-0.147} [component_container_isolated-3] [DEBUG] [1762964977.400722548] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.400764939] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.400800407] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982666 0.000018 0.185382 -0.006829 [component_container_isolated-3] -0.000178 1.000000 0.000849 0.060390 [component_container_isolated-3] -0.185382 -0.000867 0.982666 0.017868 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.400823371] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.051,10.683,-0.010} [component_container_isolated-3] [DEBUG] [1762964977.400853969] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.009,-0.010} {0.044,10.561,0.139} [component_container_isolated-3] [DEBUG] [1762964977.400903223] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.401082576] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.401133383] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.401173359] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.401225659] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000034 0.000035 0.000111 [component_container_isolated-3] -0.000034 1.000000 0.000131 -0.000067 [component_container_isolated-3] -0.000035 -0.000131 1.000000 0.000006 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.401255296] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.205,0.056,-0.088} [component_container_isolated-3] [DEBUG] [1762964977.401308437] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.401356509] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.401399842] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879462 -0.000188 0.475968 -0.001099 [component_container_isolated-3] -0.004575 0.999950 0.008848 0.059823 [component_container_isolated-3] -0.475946 -0.009959 0.879418 0.017994 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.401423096] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.649,28.421,-0.298} [component_container_isolated-3] [DEBUG] [1762964977.401454476] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.001} {-0.396,28.366,-0.197} [component_container_isolated-3] [DEBUG] [1762964977.401504632] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.416476985] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.416532692] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.416570664] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.416613957] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000034 0.000035 0.000111 [component_container_isolated-3] -0.000034 1.000000 0.000131 -0.000067 [component_container_isolated-3] -0.000035 -0.000131 1.000000 0.000006 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.416638905] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.212,0.058,-0.090} [component_container_isolated-3] [DEBUG] [1762964977.416686425] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.416732784] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.416772610] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879462 -0.000188 0.475968 -0.001099 [component_container_isolated-3] -0.004575 0.999950 0.008848 0.059823 [component_container_isolated-3] -0.475946 -0.009959 0.879418 0.017994 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.416796045] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.649,28.421,-0.298} [component_container_isolated-3] [DEBUG] [1762964977.416828607] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.001} {-0.388,28.364,-0.195} [component_container_isolated-3] [DEBUG] [1762964977.416881037] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.421974494] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.422035741] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.422075758] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.422121174] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000008 0.000203 -0.000279 [component_container_isolated-3] 0.000008 1.000000 0.000152 0.000203 [component_container_isolated-3] -0.000203 -0.000152 1.000000 0.000826 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.422146643] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.018,-0.001} {-0.037,-0.035,-0.111} [component_container_isolated-3] [DEBUG] [1762964977.422197160] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.422244159] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.422284306] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981522 0.000040 0.191350 -0.006449 [component_container_isolated-3] -0.001845 0.999955 0.009256 0.061083 [component_container_isolated-3] -0.191341 -0.009438 0.981478 0.016428 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.422307971] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.551,11.031,-0.108} [component_container_isolated-3] [DEBUG] [1762964977.422339271] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.017,-0.000} {-0.493,11.067,0.005} [component_container_isolated-3] [DEBUG] [1762964977.422388665] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.427762749] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.427820339] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.427863361] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.427909419] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000117 -0.000609 0.000998 [component_container_isolated-3] -0.000117 1.000000 0.000072 0.000838 [component_container_isolated-3] 0.000609 -0.000072 1.000000 -0.002030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.427963612] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.018,0.000} {0.167,0.089,0.252} [component_container_isolated-3] [DEBUG] [1762964977.428015411] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.428057962] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.428093701] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979195 0.000323 0.202924 -0.006458 [component_container_isolated-3] 0.002043 0.999932 -0.011449 0.061410 [component_container_isolated-3] -0.202914 0.011625 0.979128 0.017496 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.428117155] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.680,11.707,0.120} [component_container_isolated-3] [DEBUG] [1762964977.428151781] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.001} {0.461,11.621,-0.138} [component_container_isolated-3] [DEBUG] [1762964977.428225051] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.444095540] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.444160013] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.444199459] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.444243423] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000006 -0.000089 0.000238 [component_container_isolated-3] -0.000006 1.000000 -0.000016 -0.000214 [component_container_isolated-3] 0.000089 0.000016 1.000000 -0.000040 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.444268400] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.009,0.011} {-0.066,0.117,-0.148} [component_container_isolated-3] [DEBUG] [1762964977.444316632] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.444375685] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.444417585] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982683 0.000027 0.185295 -0.006847 [component_container_isolated-3] -0.000185 1.000000 0.000833 0.060415 [component_container_isolated-3] -0.185295 -0.000853 0.982683 0.017882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.444442082] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.050,10.678,-0.011} [component_container_isolated-3] [DEBUG] [1762964977.444475947] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.009,-0.010} {0.044,10.561,0.139} [component_container_isolated-3] [DEBUG] [1762964977.444528858] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.449589102] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.449643976] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.449688281] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.449734469] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000081 0.000390 -0.000573 [component_container_isolated-3] 0.000081 1.000000 -0.000160 -0.000479 [component_container_isolated-3] -0.000390 0.000160 1.000000 0.001456 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.449759216] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.002} {0.176,0.111,0.257} [component_container_isolated-3] [DEBUG] [1762964977.449816255] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.449889796] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.449961863] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979115 0.000276 0.203306 -0.006424 [component_container_isolated-3] 0.002129 0.999930 -0.011608 0.061386 [component_container_isolated-3] -0.203295 0.011798 0.979046 0.017734 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.449990238] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.690,11.730,0.125} [component_container_isolated-3] [DEBUG] [1762964977.450021948] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.002} {0.461,11.621,-0.138} [component_container_isolated-3] [DEBUG] [1762964977.450077905] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.456771598] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.456860218] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.456903109] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.456981269] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000008 0.000203 -0.000279 [component_container_isolated-3] 0.000008 1.000000 0.000152 0.000203 [component_container_isolated-3] -0.000203 -0.000152 1.000000 0.000826 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.457011617] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.018,-0.000} {-0.045,-0.023,-0.110} [component_container_isolated-3] [DEBUG] [1762964977.457064267] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.457116868] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.457156994] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981522 0.000040 0.191350 -0.006449 [component_container_isolated-3] -0.001845 0.999955 0.009256 0.061083 [component_container_isolated-3] -0.191341 -0.009438 0.981478 0.016428 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.457181832] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.551,11.031,-0.108} [component_container_isolated-3] [DEBUG] [1762964977.457213372] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.018,-0.001} {-0.484,11.055,0.005} [component_container_isolated-3] [DEBUG] [1762964977.457263488] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.463309464] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.463374959] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.463415046] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.463460723] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000005 -0.000111 -0.000032 [component_container_isolated-3] 0.000005 1.000000 -0.000330 0.000027 [component_container_isolated-3] 0.000111 0.000330 1.000000 -0.000112 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.463486172] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.193,0.052,-0.090} [component_container_isolated-3] [DEBUG] [1762964977.463535466] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.463581764] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.463622362] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879515 -0.000035 0.475871 -0.001102 [component_container_isolated-3] -0.004569 0.999953 0.008518 0.059822 [component_container_isolated-3] -0.475849 -0.009666 0.879474 0.017985 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.463647189] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.630,28.415,-0.298} [component_container_isolated-3] [DEBUG] [1762964977.463681054] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.001} {-0.388,28.364,-0.195} [component_container_isolated-3] [DEBUG] [1762964977.463734416] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.479139085] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.479195573] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.479235399] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.479279743] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000183 -0.000182 -0.000200 [component_container_isolated-3] 0.000183 1.000000 -0.000067 -0.001267 [component_container_isolated-3] 0.000182 0.000067 1.000000 -0.000960 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.479305372] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.062,0.107,-0.137} [component_container_isolated-3] [DEBUG] [1762964977.479359436] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.479406776] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.479447103] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 -0.000140 0.185117 -0.006949 [component_container_isolated-3] -0.000001 1.000000 0.000766 0.060034 [component_container_isolated-3] -0.185117 -0.000753 0.982716 0.017643 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.479470227] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,0.000} {-0.044,10.668,-0.000} [component_container_isolated-3] [DEBUG] [1762964977.479500565] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.044,10.561,0.139} [component_container_isolated-3] [DEBUG] [1762964977.479551172] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.481853098] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.481909746] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.481994207] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.482039865] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000005 -0.000111 -0.000032 [component_container_isolated-3] 0.000005 1.000000 -0.000330 0.000027 [component_container_isolated-3] 0.000111 0.000330 1.000000 -0.000112 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.482064702] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.174,0.045,-0.089} [component_container_isolated-3] [DEBUG] [1762964977.482112213] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.482153742] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.482188438] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.482254635] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.482189921] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879515 -0.000035 0.475871 -0.001102 [component_container_isolated-3] -0.004569 0.999953 0.008518 0.059822 [component_container_isolated-3] -0.475849 -0.009666 0.879474 0.017985 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.482354916] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.630,28.415,-0.298} [component_container_isolated-3] [DEBUG] [1762964977.482401986] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.001} {-0.407,28.370,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.482299390] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.482479424] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.482494152] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000020 -0.000058 -0.000127 [component_container_isolated-3] -0.000020 1.000000 -0.000030 -0.000007 [component_container_isolated-3] 0.000058 0.000030 1.000000 -0.000154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.482542054] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.002} {0.178,0.108,0.255} [component_container_isolated-3] [DEBUG] [1762964977.482596327] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.482635342] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.482671461] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979127 0.000301 0.203249 -0.006444 [component_container_isolated-3] 0.002108 0.999930 -0.011638 0.061375 [component_container_isolated-3] -0.203239 0.011823 0.979058 0.017770 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.482693303] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.692,11.726,0.123} [component_container_isolated-3] [DEBUG] [1762964977.482723490] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.002} {0.461,11.621,-0.138} [component_container_isolated-3] [DEBUG] [1762964977.482774197] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.493881319] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.493979567] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.494021336] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.494066432] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000183 -0.000182 -0.000200 [component_container_isolated-3] 0.000183 1.000000 -0.000067 -0.001267 [component_container_isolated-3] 0.000182 0.000067 1.000000 -0.000960 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.494091801] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.007,0.009} {-0.058,0.096,-0.127} [component_container_isolated-3] [DEBUG] [1762964977.494141185] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.494186141] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.494226678] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 -0.000140 0.185117 -0.006949 [component_container_isolated-3] -0.000001 1.000000 0.000766 0.060034 [component_container_isolated-3] -0.185117 -0.000753 0.982716 0.017643 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.494252317] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,0.000} {-0.044,10.668,-0.000} [component_container_isolated-3] [DEBUG] [1762964977.494285100] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.007,-0.008} {0.038,10.571,0.129} [component_container_isolated-3] [DEBUG] [1762964977.494334705] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.504147305] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.504218721] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.504261092] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.504306629] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000018 0.000039 0.000127 [component_container_isolated-3] -0.000018 1.000000 -0.000079 0.000463 [component_container_isolated-3] -0.000039 0.000079 1.000000 0.000096 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.504333089] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.019,-0.000} {-0.041,-0.021,-0.111} [component_container_isolated-3] [DEBUG] [1762964977.504382995] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.504434303] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.504475531] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981514 0.000073 0.191388 -0.006422 [component_container_isolated-3] -0.001863 0.999956 0.009176 0.061189 [component_container_isolated-3] -0.191379 -0.009363 0.981471 0.016516 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.504499006] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.547,11.033,-0.109} [component_container_isolated-3] [DEBUG] [1762964977.504530086] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.018,-0.001} {-0.484,11.055,0.005} [component_container_isolated-3] [DEBUG] [1762964977.504581153] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.525352832] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.525417696] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.525457502] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.525502828] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000005 -0.000111 -0.000032 [component_container_isolated-3] 0.000005 1.000000 -0.000330 0.000027 [component_container_isolated-3] 0.000111 0.000330 1.000000 -0.000112 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.525528598] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.155,0.039,-0.089} [component_container_isolated-3] [DEBUG] [1762964977.525577140] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.525619641] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.525660259] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879515 -0.000035 0.475871 -0.001102 [component_container_isolated-3] -0.004569 0.999953 0.008518 0.059822 [component_container_isolated-3] -0.475849 -0.009666 0.879474 0.017985 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.525684776] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.630,28.415,-0.298} [component_container_isolated-3] [DEBUG] [1762964977.525717869] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.426,28.376,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.525773044] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.533873014] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.533962454] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.534003222] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.534048428] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000004 0.000009 0.000002 [component_container_isolated-3] 0.000004 1.000000 0.000045 -0.000060 [component_container_isolated-3] -0.000009 -0.000045 1.000000 0.000085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.534073807] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.002} {0.175,0.108,0.256} [component_container_isolated-3] [DEBUG] [1762964977.534122520] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.534164961] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.534204957] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979125 0.000288 0.203259 -0.006452 [component_container_isolated-3] 0.002113 0.999931 -0.011593 0.061360 [component_container_isolated-3] -0.203248 0.011780 0.979056 0.017813 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.534229003] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.689,11.727,0.124} [component_container_isolated-3] [DEBUG] [1762964977.534261275] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.002} {0.461,11.621,-0.138} [component_container_isolated-3] [DEBUG] [1762964977.534310248] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.543999633] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.544050760] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.544087761] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.544131875] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000004 0.000009 0.000002 [component_container_isolated-3] 0.000004 1.000000 0.000045 -0.000060 [component_container_isolated-3] -0.000009 -0.000045 1.000000 0.000085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.544156342] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.002} {0.173,0.109,0.256} [component_container_isolated-3] [DEBUG] [1762964977.544203121] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.544244120] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.544283786] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979125 0.000288 0.203259 -0.006452 [component_container_isolated-3] 0.002113 0.999931 -0.011593 0.061360 [component_container_isolated-3] -0.203248 0.011780 0.979056 0.017813 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.544307741] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.689,11.727,0.124} [component_container_isolated-3] [DEBUG] [1762964977.544340644] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.002} {0.464,11.620,-0.139} [component_container_isolated-3] [DEBUG] [1762964977.544392263] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.549108580] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.549179265] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.549220143] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.549265089] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000108 -0.000094 0.000441 [component_container_isolated-3] 0.000108 1.000000 -0.000001 -0.000814 [component_container_isolated-3] 0.000094 0.000001 1.000000 -0.000372 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.549290327] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.018,-0.001} {-0.041,-0.026,-0.105} [component_container_isolated-3] [DEBUG] [1762964977.549338779] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.549384797] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.549420846] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 -0.000033 0.191296 -0.006323 [component_container_isolated-3] -0.001755 0.999956 0.009175 0.061081 [component_container_isolated-3] -0.191288 -0.009341 0.981489 0.016524 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.549445714] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.545,11.028,-0.102} [component_container_isolated-3] [DEBUG] [1762964977.549479308] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.017,-0.001} {-0.484,11.055,0.005} [component_container_isolated-3] [DEBUG] [1762964977.549536727] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.553661244] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.553730326] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.553769972] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.553814276] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000047 0.000035 -0.000035 [component_container_isolated-3] -0.000048 1.000000 0.000128 0.001096 [component_container_isolated-3] -0.000035 -0.000128 1.000000 0.000100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.553839104] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.009} {-0.065,0.098,-0.129} [component_container_isolated-3] [DEBUG] [1762964977.553887296] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.553971246] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.554015140] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 -0.000117 0.185151 -0.006989 [component_container_isolated-3] -0.000049 1.000000 0.000894 0.060143 [component_container_isolated-3] -0.185151 -0.000888 0.982710 0.017591 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.554040388] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,0.000} {-0.052,10.670,-0.003} [component_container_isolated-3] [DEBUG] [1762964977.554071608] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.008} {0.038,10.571,0.129} [component_container_isolated-3] [DEBUG] [1762964977.554122665] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.565333024] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.565404872] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.565459526] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.565520583] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000005 -0.000111 -0.000032 [component_container_isolated-3] 0.000005 1.000000 -0.000330 0.000027 [component_container_isolated-3] 0.000111 0.000330 1.000000 -0.000112 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.565559888] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.136,0.033,-0.089} [component_container_isolated-3] [DEBUG] [1762964977.565631965] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.565701047] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.565754800] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879515 -0.000035 0.475871 -0.001102 [component_container_isolated-3] -0.004569 0.999953 0.008518 0.059822 [component_container_isolated-3] -0.475849 -0.009666 0.879474 0.017985 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.565787993] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.630,28.415,-0.298} [component_container_isolated-3] [DEBUG] [1762964977.565826757] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.445,28.383,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.565880179] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.574134102] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.574193295] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.574231168] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.574273679] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000004 0.000009 0.000002 [component_container_isolated-3] 0.000004 1.000000 0.000045 -0.000060 [component_container_isolated-3] -0.000009 -0.000045 1.000000 0.000085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.574297665] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.002} {0.170,0.109,0.256} [component_container_isolated-3] [DEBUG] [1762964977.574345085] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.574397195] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.574438113] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979125 0.000288 0.203259 -0.006452 [component_container_isolated-3] 0.002113 0.999931 -0.011593 0.061360 [component_container_isolated-3] -0.203248 0.011780 0.979056 0.017813 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.574459975] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.689,11.727,0.124} [component_container_isolated-3] [DEBUG] [1762964977.574490493] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.003} {0.466,11.620,-0.139} [component_container_isolated-3] [DEBUG] [1762964977.574539246] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.586968192] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.587031614] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.587070388] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.587113540] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000022 0.000294 0.000494 [component_container_isolated-3] 0.000023 1.000000 -0.000212 -0.000237 [component_container_isolated-3] -0.000294 0.000212 1.000000 0.000819 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.587138187] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.008,0.010} {-0.053,0.115,-0.128} [component_container_isolated-3] [DEBUG] [1762964977.587190166] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.587235854] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.587276241] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982655 -0.000100 0.185441 -0.006920 [component_container_isolated-3] -0.000027 1.000000 0.000682 0.060143 [component_container_isolated-3] -0.185441 -0.000675 0.982655 0.017689 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.587314764] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,0.000} {-0.039,10.687,-0.002} [component_container_isolated-3] [DEBUG] [1762964977.587348358] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.038,10.571,0.129} [component_container_isolated-3] [DEBUG] [1762964977.587401350] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.596669199] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.596724515] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.596767667] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.596812803] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000072 -0.000225 -0.000261 [component_container_isolated-3] 0.000072 1.000000 -0.000255 -0.000169 [component_container_isolated-3] 0.000225 0.000255 1.000000 -0.001042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.596839083] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.018,-0.002} {-0.026,-0.039,-0.101} [component_container_isolated-3] [DEBUG] [1762964977.596888237] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.596964503] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.597007615] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981575 -0.000055 0.191076 -0.006363 [component_container_isolated-3] -0.001680 0.999959 0.008920 0.060997 [component_container_isolated-3] -0.191068 -0.009077 0.981535 0.016245 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.597033835] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.530,11.015,-0.098} [component_container_isolated-3] [DEBUG] [1762964977.597066047] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.017,-0.000} {-0.484,11.055,0.005} [component_container_isolated-3] [DEBUG] [1762964977.597116203] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.606301785] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.606367260] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.606405623] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.606448665] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000001 0.000160 -0.000045 [component_container_isolated-3] -0.000001 1.000000 0.000308 0.000010 [component_container_isolated-3] -0.000160 -0.000308 1.000000 0.000129 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.606473413] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.154,0.042,-0.089} [component_container_isolated-3] [DEBUG] [1762964977.606519731] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.606564767] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.606603952] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879439 -0.000181 0.476011 -0.001112 [component_container_isolated-3] -0.004571 0.999951 0.008825 0.059831 [component_container_isolated-3] -0.475989 -0.009937 0.879395 0.017965 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.606627246] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.647,28.424,-0.298} [component_container_isolated-3] [DEBUG] [1762964977.606659288] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.445,28.383,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.606711417] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.618013752] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.618082052] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.618122910] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.618167926] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000241 0.000280 0.000615 [component_container_isolated-3] -0.000241 1.000000 0.000462 0.001203 [component_container_isolated-3] -0.000280 -0.000462 1.000000 0.000511 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.618194637] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.019,-0.001} {-0.052,-0.023,-0.115} [component_container_isolated-3] [DEBUG] [1762964977.618243431] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.618288066] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.618324115] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981522 0.000094 0.191350 -0.006192 [component_container_isolated-3] -0.001924 0.999954 0.009382 0.061265 [component_container_isolated-3] -0.191341 -0.009577 0.981477 0.016164 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.618348802] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.559,11.031,-0.112} [component_container_isolated-3] [DEBUG] [1762964977.618382997] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.018,-0.001} {-0.484,11.055,0.005} [component_container_isolated-3] [DEBUG] [1762964977.618433864] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.628986297] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.629048215] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.629088131] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.629133778] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000011 -0.000097 0.000406 [component_container_isolated-3] -0.000011 1.000000 0.000080 -0.000173 [component_container_isolated-3] 0.000097 -0.000080 1.000000 -0.000091 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.629160149] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.008,0.010} {-0.058,0.110,-0.129} [component_container_isolated-3] [DEBUG] [1762964977.629208611] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.629262003] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.629303242] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982673 -0.000104 0.185345 -0.006801 [component_container_isolated-3] -0.000038 1.000000 0.000762 0.060124 [component_container_isolated-3] -0.185345 -0.000756 0.982673 0.017678 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.629328560] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.044,10.681,-0.002} [component_container_isolated-3] [DEBUG] [1762964977.629362495] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.007,-0.009} {0.038,10.571,0.129} [component_container_isolated-3] [DEBUG] [1762964977.629421478] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.629897928] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.629966138] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.630010473] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.630054677] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000004 0.000009 0.000002 [component_container_isolated-3] 0.000004 1.000000 0.000045 -0.000060 [component_container_isolated-3] -0.000009 -0.000045 1.000000 0.000085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.630079144] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.002} {0.168,0.110,0.257} [component_container_isolated-3] [DEBUG] [1762964977.630128037] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.630169216] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.630204603] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979125 0.000288 0.203259 -0.006452 [component_container_isolated-3] 0.002113 0.999931 -0.011593 0.061360 [component_container_isolated-3] -0.203248 0.011780 0.979056 0.017813 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.630226676] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.689,11.727,0.124} [component_container_isolated-3] [DEBUG] [1762964977.630258536] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.003} {0.469,11.619,-0.139} [component_container_isolated-3] [DEBUG] [1762964977.630308823] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.636514804] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.636570841] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.636610377] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.636653429] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000013 -0.000059 0.000055 [component_container_isolated-3] -0.000013 1.000000 0.000022 0.000013 [component_container_isolated-3] 0.000059 -0.000022 1.000000 -0.000080 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.636679299] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.155,0.038,-0.090} [component_container_isolated-3] [DEBUG] [1762964977.636726288] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.636771384] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.636810399] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879467 -0.000179 0.475959 -0.001115 [component_container_isolated-3] -0.004584 0.999950 0.008847 0.059837 [component_container_isolated-3] -0.475937 -0.009962 0.879423 0.017951 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.636834645] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.649,28.420,-0.299} [component_container_isolated-3] [DEBUG] [1762964977.636867288] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.445,28.383,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.636949434] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.649249535] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.649306704] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.649346420] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.649390955] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000004 0.000009 0.000002 [component_container_isolated-3] 0.000004 1.000000 0.000045 -0.000060 [component_container_isolated-3] -0.000009 -0.000045 1.000000 0.000085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.649416263] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.002} {0.165,0.110,0.257} [component_container_isolated-3] [DEBUG] [1762964977.649464004] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.649505003] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.649540270] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979125 0.000288 0.203259 -0.006452 [component_container_isolated-3] 0.002113 0.999931 -0.011593 0.061360 [component_container_isolated-3] -0.203248 0.011780 0.979056 0.017813 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.649564536] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.689,11.727,0.124} [component_container_isolated-3] [DEBUG] [1762964977.649597850] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.021,-0.003} {0.471,11.619,-0.140} [component_container_isolated-3] [DEBUG] [1762964977.649650040] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.654948538] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.655015246] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.655058639] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.655103084] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000050 0.000066 -0.000453 [component_container_isolated-3] -0.000050 1.000000 -0.000078 0.000188 [component_container_isolated-3] -0.000066 0.000078 1.000000 0.000521 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.655128763] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.019,-0.001} {-0.048,-0.019,-0.118} [component_container_isolated-3] [DEBUG] [1762964977.655180131] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.655225898] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.655262107] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981509 0.000157 0.191415 -0.006149 [component_container_isolated-3] -0.001975 0.999955 0.009304 0.061395 [component_container_isolated-3] -0.191405 -0.009510 0.981465 0.016259 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.655286354] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.555,11.035,-0.115} [component_container_isolated-3] [DEBUG] [1762964977.655318765] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.018,-0.001} {-0.484,11.055,0.005} [component_container_isolated-3] [DEBUG] [1762964977.655370775] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.657947917] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.658003072] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.658054941] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.658102201] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000031 0.000024 0.000004 [component_container_isolated-3] 0.000031 1.000000 0.000001 -0.000054 [component_container_isolated-3] -0.000024 -0.000001 1.000000 0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.658128431] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.007,0.010} {-0.058,0.111,-0.127} [component_container_isolated-3] [DEBUG] [1762964977.658179349] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.658222641] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.658258309] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982669 -0.000135 0.185369 -0.006747 [component_container_isolated-3] -0.000007 1.000000 0.000763 0.060103 [component_container_isolated-3] -0.185369 -0.000751 0.982669 0.017686 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.658281073] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.044,10.683,-0.000} [component_container_isolated-3] [DEBUG] [1762964977.658315839] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.007,-0.009} {0.038,10.571,0.129} [component_container_isolated-3] [DEBUG] [1762964977.658367067] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.659757693] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.659805795] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.659843426] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.659884525] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000050 0.000066 -0.000453 [component_container_isolated-3] -0.000050 1.000000 -0.000078 0.000188 [component_container_isolated-3] -0.000066 0.000078 1.000000 0.000521 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.659908781] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.020,-0.000} {-0.044,-0.015,-0.121} [component_container_isolated-3] [DEBUG] [1762964977.659996068] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.660042286] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.660082032] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981509 0.000157 0.191415 -0.006149 [component_container_isolated-3] -0.001975 0.999955 0.009304 0.061395 [component_container_isolated-3] -0.191405 -0.009510 0.981465 0.016259 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.660106669] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.555,11.035,-0.115} [component_container_isolated-3] [DEBUG] [1762964977.660139652] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.018,-0.002} {-0.488,11.051,0.008} [component_container_isolated-3] [DEBUG] [1762964977.660196250] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.678855605] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.678956398] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.679000732] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.679048954] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000061 0.000009 -0.000322 [component_container_isolated-3] -0.000061 1.000000 0.000084 0.000262 [component_container_isolated-3] -0.000009 -0.000084 1.000000 0.000058 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.679077198] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.008,0.010} {-0.063,0.112,-0.130} [component_container_isolated-3] [DEBUG] [1762964977.679129007] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.679617119] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.679700108] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982668 -0.000090 0.185377 -0.006725 [component_container_isolated-3] -0.000068 1.000000 0.000847 0.060121 [component_container_isolated-3] -0.185377 -0.000845 0.982667 0.017701 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.679726328] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.049,10.683,-0.004} [component_container_isolated-3] [DEBUG] [1762964977.679751626] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.038,10.571,0.129} [component_container_isolated-3] [DEBUG] [1762964977.679798095] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.680874701] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.680962509] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.681005551] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.681050507] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000013 -0.000059 0.000055 [component_container_isolated-3] -0.000013 1.000000 0.000022 0.000013 [component_container_isolated-3] 0.000059 -0.000022 1.000000 -0.000080 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.681076316] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.157,0.035,-0.090} [component_container_isolated-3] [DEBUG] [1762964977.681126302] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.681172219] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.681217215] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879467 -0.000179 0.475959 -0.001115 [component_container_isolated-3] -0.004584 0.999950 0.008847 0.059837 [component_container_isolated-3] -0.475937 -0.009962 0.879423 0.017951 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.681241161] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.649,28.420,-0.299} [component_container_isolated-3] [DEBUG] [1762964977.681271850] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.681322767] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.682767486] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.682816379] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.682855223] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.682901321] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000004 0.000009 0.000002 [component_container_isolated-3] 0.000004 1.000000 0.000045 -0.000060 [component_container_isolated-3] -0.000009 -0.000045 1.000000 0.000085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.682959232] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.002} {0.163,0.111,0.257} [component_container_isolated-3] [DEBUG] [1762964977.683015359] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.683063060] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.683103237] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979125 0.000288 0.203259 -0.006452 [component_container_isolated-3] 0.002113 0.999931 -0.011593 0.061360 [component_container_isolated-3] -0.203248 0.011780 0.979056 0.017813 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.683127804] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.689,11.727,0.124} [component_container_isolated-3] [DEBUG] [1762964977.683162530] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.021,-0.003} {0.474,11.618,-0.140} [component_container_isolated-3] [DEBUG] [1762964977.683211955] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.701040012] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.701135945] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.701192804] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.701250294] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000033 0.000012 -0.000100 [component_container_isolated-3] 0.000033 1.000000 -0.000188 0.000034 [component_container_isolated-3] -0.000012 0.000188 1.000000 0.000182 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.701282415] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.146,0.036,-0.088} [component_container_isolated-3] [DEBUG] [1762964977.701348862] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.701400390] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.701442601] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879461 -0.000119 0.475970 -0.001114 [component_container_isolated-3] -0.004551 0.999952 0.008659 0.059843 [component_container_isolated-3] -0.475949 -0.009781 0.879419 0.017973 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.701467108] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.421,-0.296} [component_container_isolated-3] [DEBUG] [1762964977.701498137] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.701546590] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.709675624] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.709739987] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.709782749] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.709830139] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000036 -0.000037 -0.000299 [component_container_isolated-3] 0.000036 1.000000 -0.000038 0.000310 [component_container_isolated-3] 0.000037 0.000038 1.000000 0.000027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.709857271] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.061,0.109,-0.128} [component_container_isolated-3] [DEBUG] [1762964977.709907346] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.709976018] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.710015924] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982674 -0.000119 0.185340 -0.006762 [component_container_isolated-3] -0.000032 1.000000 0.000809 0.060191 [component_container_isolated-3] -0.185340 -0.000801 0.982674 0.017733 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.710038186] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.047,10.681,-0.002} [component_container_isolated-3] [DEBUG] [1762964977.710077191] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.038,10.571,0.129} [component_container_isolated-3] [DEBUG] [1762964977.710130533] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.716280868] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.716350091] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.716395337] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.716441986] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000087 0.000044 -0.000342 [component_container_isolated-3] 0.000087 1.000000 -0.000037 -0.000594 [component_container_isolated-3] -0.000044 0.000037 1.000000 0.000577 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.716468076] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.019,0.000} {-0.041,-0.013,-0.116} [component_container_isolated-3] [DEBUG] [1762964977.716518492] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.716568037] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.716604677] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981501 0.000079 0.191458 -0.006157 [component_container_isolated-3] -0.001888 0.999955 0.009267 0.061396 [component_container_isolated-3] -0.191449 -0.009457 0.981457 0.016486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.716630175] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.552,11.037,-0.110} [component_container_isolated-3] [DEBUG] [1762964977.716664431] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.018,-0.002} {-0.488,11.051,0.008} [component_container_isolated-3] [DEBUG] [1762964977.716716090] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.723159375] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.723217185] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.723259576] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.723305484] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000119 0.000682 -0.000442 [component_container_isolated-3] 0.000119 1.000000 0.000206 -0.000229 [component_container_isolated-3] -0.000682 -0.000206 1.000000 0.002257 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.723331012] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.004} {0.151,0.150,0.264} [component_container_isolated-3] [DEBUG] [1762964977.723379415] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.723423088] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.723458616] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.978986 0.000129 0.203926 -0.006325 [component_container_isolated-3] 0.002240 0.999933 -0.011385 0.061293 [component_container_isolated-3] -0.203914 0.011603 0.978920 0.018990 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.723481370] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,0.001} {0.679,11.766,0.131} [component_container_isolated-3] [DEBUG] [1762964977.723514613] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.021,-0.004} {0.474,11.618,-0.140} [component_container_isolated-3] [DEBUG] [1762964977.723565340] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.725887885] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.725969471] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.726009718] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.726052790] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000082 -0.000041 0.000087 [component_container_isolated-3] 0.000082 1.000000 -0.000028 -0.000062 [component_container_isolated-3] 0.000041 0.000028 1.000000 -0.000088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.726078700] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.144,0.033,-0.084} [component_container_isolated-3] [DEBUG] [1762964977.726127473] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.726171337] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.726211083] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879481 -0.000178 0.475934 -0.001116 [component_container_isolated-3] -0.004468 0.999953 0.008631 0.059843 [component_container_isolated-3] -0.475913 -0.009718 0.879439 0.017972 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.726235860] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.633,28.419,-0.291} [component_container_isolated-3] [DEBUG] [1762964977.726269184] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.726321353] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.738633537] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.738698150] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.738736754] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.738779816] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000009 0.000039 -0.000458 [component_container_isolated-3] -0.000009 1.000000 -0.000000 0.000107 [component_container_isolated-3] -0.000039 0.000000 1.000000 0.000116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.738804032] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.007,0.019,0.001} {-0.041,-0.011,-0.116} [component_container_isolated-3] [DEBUG] [1762964977.738852294] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.738896198] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.738962515] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981493 0.000087 0.191496 -0.006272 [component_container_isolated-3] -0.001897 0.999955 0.009266 0.061409 [component_container_isolated-3] -0.191487 -0.009458 0.981450 0.016629 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.738989196] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.000} {-0.552,11.040,-0.111} [component_container_isolated-3] [DEBUG] [1762964977.739020486] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.018,-0.002} {-0.488,11.051,0.008} [component_container_isolated-3] [DEBUG] [1762964977.739080079] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.746364150] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.746434264] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.746476896] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.746523695] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000081 0.000002 0.000283 [component_container_isolated-3] -0.000081 1.000000 -0.000011 -0.000194 [component_container_isolated-3] -0.000002 0.000011 1.000000 -0.000040 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.746550236] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.008,0.010} {-0.060,0.110,-0.133} [component_container_isolated-3] [DEBUG] [1762964977.746603497] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.746650667] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.746691205] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982674 -0.000037 0.185342 -0.006739 [component_container_isolated-3] -0.000113 1.000000 0.000798 0.060209 [component_container_isolated-3] -0.185342 -0.000805 0.982674 0.017746 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.746716623] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.047,10.681,-0.007} [component_container_isolated-3] [DEBUG] [1762964977.746751360] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.038,10.571,0.129} [component_container_isolated-3] [DEBUG] [1762964977.746801586] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.767069993] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.767127653] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.767165897] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.767210131] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000106 -0.000271 0.000010 [component_container_isolated-3] -0.000106 1.000000 -0.000004 -0.000062 [component_container_isolated-3] 0.000271 0.000004 1.000000 -0.000830 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.767234768] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.004} {0.151,0.135,0.258} [component_container_isolated-3] [DEBUG] [1762964977.767284884] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.767330300] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.767369155] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979041 0.000234 0.203661 -0.006348 [component_container_isolated-3] 0.002131 0.999933 -0.011390 0.061249 [component_container_isolated-3] -0.203650 0.011585 0.978975 0.019118 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.767392519] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.001} {0.678,11.750,0.125} [component_container_isolated-3] [DEBUG] [1762964977.767426214] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.021,-0.003} {0.474,11.618,-0.140} [component_container_isolated-3] [DEBUG] [1762964977.767477902] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.774569345] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.774628158] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.774669527] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.774716306] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000257 -0.000122 -0.000266 [component_container_isolated-3] 0.000257 1.000000 -0.000231 -0.001608 [component_container_isolated-3] 0.000122 0.000231 1.000000 -0.000353 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.774743949] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.007,0.017,0.000} {-0.028,-0.018,-0.101} [component_container_isolated-3] [DEBUG] [1762964977.774797240] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.774845132] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.774884918] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 -0.000121 0.191376 -0.006406 [component_container_isolated-3] -0.001639 0.999958 0.009036 0.060826 [component_container_isolated-3] -0.191369 -0.009182 0.981475 0.016732 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.774909214] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.000} {-0.536,11.033,-0.096} [component_container_isolated-3] [DEBUG] [1762964977.774970822] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.017,-0.002} {-0.488,11.051,0.008} [component_container_isolated-3] [DEBUG] [1762964977.775024484] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.777047738] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.777102894] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.777142790] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.777187585] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000058 -0.000015 -0.000033 [component_container_isolated-3] -0.000058 1.000000 0.000005 0.000084 [component_container_isolated-3] 0.000015 -0.000005 1.000000 -0.000061 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.777213164] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.145,0.033,-0.087} [component_container_isolated-3] [DEBUG] [1762964977.777261667] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.777308947] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.777345307] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879488 -0.000129 0.475921 -0.001118 [component_container_isolated-3] -0.004526 0.999952 0.008636 0.059855 [component_container_isolated-3] -0.475899 -0.009749 0.879446 0.017961 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.777367790] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.635,28.418,-0.295} [component_container_isolated-3] [DEBUG] [1762964977.777400693] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.777453093] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.786053647] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.786122980] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.786163597] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.786208674] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000100 -0.000206 0.000081 [component_container_isolated-3] 0.000100 1.000000 -0.000048 -0.000553 [component_container_isolated-3] 0.000206 0.000048 1.000000 -0.001127 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.786234733] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.007,0.009} {-0.057,0.098,-0.127} [component_container_isolated-3] [DEBUG] [1762964977.786283687] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.786329364] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.786369881] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 -0.000126 0.185139 -0.006786 [component_container_isolated-3] -0.000013 1.000000 0.000750 0.060108 [component_container_isolated-3] -0.185139 -0.000739 0.982712 0.017433 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.786394508] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.043,10.669,-0.001} [component_container_isolated-3] [DEBUG] [1762964977.786428553] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.007,-0.008} {0.038,10.571,0.129} [component_container_isolated-3] [DEBUG] [1762964977.786546769] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.790405579] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.790470022] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.790509998] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.790553501] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000257 -0.000122 -0.000266 [component_container_isolated-3] 0.000257 1.000000 -0.000231 -0.001608 [component_container_isolated-3] 0.000122 0.000231 1.000000 -0.000353 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.790578429] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.007,0.016,-0.000} {-0.015,-0.025,-0.087} [component_container_isolated-3] [DEBUG] [1762964977.790625779] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.790668661] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.790703979] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 -0.000121 0.191376 -0.006406 [component_container_isolated-3] -0.001639 0.999958 0.009036 0.060826 [component_container_isolated-3] -0.191369 -0.009182 0.981475 0.016732 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.790728836] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.000} {-0.536,11.033,-0.096} [component_container_isolated-3] [DEBUG] [1762964977.790762600] [zed_multi.right]: +++ Diff [map -> odom] - {0.008,-0.015,-0.001} {-0.504,11.058,-0.008} [component_container_isolated-3] [DEBUG] [1762964977.790813648] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.795701833] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.795769653] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.795808056] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.795851419] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000129 0.000099 -0.000058 [component_container_isolated-3] 0.000129 1.000000 -0.000047 -0.000411 [component_container_isolated-3] -0.000099 0.000047 1.000000 0.000198 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.795875675] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.020,0.004} {0.154,0.140,0.265} [component_container_isolated-3] [DEBUG] [1762964977.795954746] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.796001766] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.796040821] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979021 0.000117 0.203758 -0.006387 [component_container_isolated-3] 0.002260 0.999932 -0.011437 0.061104 [component_container_isolated-3] -0.203745 0.011658 0.978955 0.019212 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.796065498] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.001} {0.682,11.756,0.132} [component_container_isolated-3] [DEBUG] [1762964977.796097188] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.021,-0.003} {0.474,11.618,-0.140} [component_container_isolated-3] [DEBUG] [1762964977.796146943] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.797534032] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.797581272] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.797619085] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.797661836] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000030 0.000073 -0.000044 [component_container_isolated-3] -0.000030 1.000000 0.000159 0.000009 [component_container_isolated-3] -0.000073 -0.000159 1.000000 0.000053 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.797685992] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.154,0.037,-0.089} [component_container_isolated-3] [DEBUG] [1762964977.797733183] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.797778229] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.797817674] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879454 -0.000179 0.475985 -0.001125 [component_container_isolated-3] -0.004557 0.999951 0.008794 0.059867 [component_container_isolated-3] -0.475963 -0.009903 0.879410 0.017953 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.797841359] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.422,-0.297} [component_container_isolated-3] [DEBUG] [1762964977.797873250] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.797955978] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.814374904] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.814430831] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.814472050] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.814517467] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000005 0.000073 -0.000347 [component_container_isolated-3] -0.000005 1.000000 0.000052 0.000091 [component_container_isolated-3] -0.000073 -0.000052 1.000000 0.000585 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.814543376] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.007,0.009} {-0.060,0.102,-0.128} [component_container_isolated-3] [DEBUG] [1762964977.814592780] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.814634811] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.814671220] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982699 -0.000131 0.185210 -0.006822 [component_container_isolated-3] -0.000018 1.000000 0.000801 0.060085 [component_container_isolated-3] -0.185210 -0.000791 0.982699 0.017421 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.814693332] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.046,10.673,-0.001} [component_container_isolated-3] [DEBUG] [1762964977.814723931] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.007,-0.009} {0.038,10.571,0.129} [component_container_isolated-3] [DEBUG] [1762964977.814773015] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.827179668] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.827246967] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.827284519] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.827325857] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000060 -0.000169 0.000613 [component_container_isolated-3] 0.000060 1.000000 0.000011 0.000012 [component_container_isolated-3] 0.000169 -0.000011 1.000000 -0.000514 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.827350074] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.020,0.003} {0.153,0.130,0.269} [component_container_isolated-3] [DEBUG] [1762964977.827403536] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.827446698] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.827483869] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979056 0.000056 0.203592 -0.006346 [component_container_isolated-3] 0.002319 0.999932 -0.011427 0.061042 [component_container_isolated-3] -0.203579 0.011660 0.978989 0.019211 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.827505601] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.001} {0.682,11.746,0.136} [component_container_isolated-3] [DEBUG] [1762964977.827535197] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.021,-0.002} {0.474,11.618,-0.140} [component_container_isolated-3] [DEBUG] [1762964977.827583349] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.828406301] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.828456727] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.828494790] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.828537281] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000257 -0.000122 -0.000266 [component_container_isolated-3] 0.000257 1.000000 -0.000231 -0.001608 [component_container_isolated-3] 0.000122 0.000231 1.000000 -0.000353 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.828566046] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.008,0.014,-0.001} {-0.002,-0.032,-0.072} [component_container_isolated-3] [DEBUG] [1762964977.828620370] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.828663843] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.828700433] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 -0.000121 0.191376 -0.006406 [component_container_isolated-3] -0.001639 0.999958 0.009036 0.060826 [component_container_isolated-3] -0.191369 -0.009182 0.981475 0.016732 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.828722284] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.000} {-0.536,11.033,-0.096} [component_container_isolated-3] [DEBUG] [1762964977.828756880] [zed_multi.right]: +++ Diff [map -> odom] - {0.008,-0.014,-0.001} {-0.520,11.065,-0.023} [component_container_isolated-3] [DEBUG] [1762964977.828810653] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.847135850] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.847190775] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.847232464] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.847277691] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000002 -0.000042 0.000194 [component_container_isolated-3] -0.000002 1.000000 -0.000180 -0.000065 [component_container_isolated-3] 0.000042 0.000180 1.000000 0.000007 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.847303550] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.143,0.034,-0.089} [component_container_isolated-3] [DEBUG] [1762964977.847352964] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.847395025] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.847431695] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879474 -0.000091 0.475947 -0.001103 [component_container_isolated-3] -0.004558 0.999953 0.008615 0.059866 [component_container_isolated-3] -0.475925 -0.009746 0.879432 0.017951 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.847454208] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.635,28.420,-0.297} [component_container_isolated-3] [DEBUG] [1762964977.847486329] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.847539330] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.857377619] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.857445469] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.857485906] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.857528938] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000065 0.000249 0.000275 [component_container_isolated-3] -0.000065 1.000000 0.000128 0.000434 [component_container_isolated-3] -0.000249 -0.000128 1.000000 0.000556 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.857553966] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.008,0.010} {-0.067,0.116,-0.131} [component_container_isolated-3] [DEBUG] [1762964977.857606426] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.857652754] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.857693071] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982653 -0.000091 0.185455 -0.006778 [component_container_isolated-3] -0.000083 1.000000 0.000930 0.060128 [component_container_isolated-3] -0.185455 -0.000929 0.982652 0.017526 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.857715264] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.054,10.688,-0.005} [component_container_isolated-3] [DEBUG] [1762964977.857745411] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.038,10.571,0.129} [component_container_isolated-3] [DEBUG] [1762964977.857794756] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.868272055] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.868337790] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.868376725] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.868420238] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000257 -0.000122 -0.000266 [component_container_isolated-3] 0.000257 1.000000 -0.000231 -0.001608 [component_container_isolated-3] 0.000122 0.000231 1.000000 -0.000353 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.868446939] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.008,0.013,-0.001} {0.012,-0.039,-0.057} [component_container_isolated-3] [DEBUG] [1762964977.868496203] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.868539526] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.868575204] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 -0.000121 0.191376 -0.006406 [component_container_isolated-3] -0.001639 0.999958 0.009036 0.060826 [component_container_isolated-3] -0.191369 -0.009182 0.981475 0.016732 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.868602185] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.000} {-0.536,11.033,-0.096} [component_container_isolated-3] [DEBUG] [1762964977.868638334] [zed_multi.right]: +++ Diff [map -> odom] - {0.008,-0.012,-0.001} {-0.536,11.072,-0.038} [component_container_isolated-3] [DEBUG] [1762964977.868693780] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.871362246] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.871431869] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.871472577] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.871516872] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000136 -0.000155 -0.000287 [component_container_isolated-3] -0.000136 1.000000 0.000121 0.000419 [component_container_isolated-3] 0.000155 -0.000121 1.000000 -0.000549 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.871542691] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.003} {0.146,0.122,0.261} [component_container_isolated-3] [DEBUG] [1762964977.871591624] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.871636320] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.871676947] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 0.000164 0.203440 -0.006385 [component_container_isolated-3] 0.002182 0.999934 -0.011307 0.061029 [component_container_isolated-3] -0.203429 0.011514 0.979022 0.019092 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.871701314] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.001} {0.674,11.738,0.128} [component_container_isolated-3] [DEBUG] [1762964977.871733295] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.021,-0.002} {0.474,11.618,-0.140} [component_container_isolated-3] [DEBUG] [1762964977.871788250] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.875127217] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.875181871] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.875224412] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.875268677] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000067 0.000058 -0.000097 [component_container_isolated-3] 0.000067 1.000000 0.000113 -0.000188 [component_container_isolated-3] -0.000058 -0.000113 1.000000 0.000128 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.875294576] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.150,0.038,-0.085} [component_container_isolated-3] [DEBUG] [1762964977.875343860] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.875385951] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.875421489] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 -0.000204 0.475998 -0.001097 [component_container_isolated-3] -0.004492 0.999952 0.008728 0.059843 [component_container_isolated-3] -0.475977 -0.009814 0.879403 0.017959 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.875443941] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.423,-0.293} [component_container_isolated-3] [DEBUG] [1762964977.875475331] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.875528904] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.885830587] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.885892195] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.885955185] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.885992186] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000136 -0.000155 -0.000287 [component_container_isolated-3] -0.000136 1.000000 0.000121 0.000419 [component_container_isolated-3] 0.000155 -0.000121 1.000000 -0.000549 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.886011934] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.002} {0.139,0.113,0.253} [component_container_isolated-3] [DEBUG] [1762964977.886052591] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.886085464] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.886111634] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 0.000164 0.203440 -0.006385 [component_container_isolated-3] 0.002182 0.999934 -0.011307 0.061029 [component_container_isolated-3] -0.203429 0.011514 0.979022 0.019092 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.886127615] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.001} {0.674,11.738,0.128} [component_container_isolated-3] [DEBUG] [1762964977.886149076] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.020,-0.002} {0.482,11.627,-0.132} [component_container_isolated-3] [DEBUG] [1762964977.886185936] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.890273552] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.890340490] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.890381969] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.890428378] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000014 -0.000157 -0.000272 [component_container_isolated-3] 0.000014 1.000000 -0.000098 0.000209 [component_container_isolated-3] 0.000157 0.000098 1.000000 0.000042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.890455069] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.062,0.107,-0.131} [component_container_isolated-3] [DEBUG] [1762964977.890504794] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.890552134] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.890593704] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982682 -0.000086 0.185301 -0.006798 [component_container_isolated-3] -0.000069 1.000000 0.000832 0.060188 [component_container_isolated-3] -0.185301 -0.000830 0.982681 0.017587 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.890619012] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.048,10.679,-0.004} [component_container_isolated-3] [DEBUG] [1762964977.890657987] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.038,10.571,0.129} [component_container_isolated-3] [DEBUG] [1762964977.890728551] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.898404000] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.898469425] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.898510433] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.898555940] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000257 -0.000122 -0.000266 [component_container_isolated-3] 0.000257 1.000000 -0.000231 -0.001608 [component_container_isolated-3] 0.000122 0.000231 1.000000 -0.000353 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.898584204] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.008,0.011,-0.001} {0.025,-0.046,-0.043} [component_container_isolated-3] [DEBUG] [1762964977.898633738] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.898681399] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.898722688] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 -0.000121 0.191376 -0.006406 [component_container_isolated-3] -0.001639 0.999958 0.009036 0.060826 [component_container_isolated-3] -0.191369 -0.009182 0.981475 0.016732 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.898748457] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.000} {-0.536,11.033,-0.096} [component_container_isolated-3] [DEBUG] [1762964977.898787041] [zed_multi.right]: +++ Diff [map -> odom] - {0.009,-0.010,-0.001} {-0.553,11.079,-0.053} [component_container_isolated-3] [DEBUG] [1762964977.898835203] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.904106300] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.904164310] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.904202874] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.904247419] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000014 -0.000157 -0.000272 [component_container_isolated-3] 0.000014 1.000000 -0.000098 0.000209 [component_container_isolated-3] 0.000157 0.000098 1.000000 0.000042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.904273118] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.056,0.098,-0.130} [component_container_isolated-3] [DEBUG] [1762964977.904320899] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.904366737] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.904414418] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982682 -0.000086 0.185301 -0.006798 [component_container_isolated-3] -0.000069 1.000000 0.000832 0.060188 [component_container_isolated-3] -0.185301 -0.000830 0.982681 0.017587 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.904439676] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.048,10.679,-0.004} [component_container_isolated-3] [DEBUG] [1762964977.904474543] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.032,10.580,0.128} [component_container_isolated-3] [DEBUG] [1762964977.904540359] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.904998293] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.905048880] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.905090690] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.905137870] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000009 -0.000086 0.000026 [component_container_isolated-3] -0.000009 1.000000 -0.000181 0.000116 [component_container_isolated-3] 0.000086 0.000181 1.000000 -0.000131 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.905164430] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.139,0.033,-0.086} [component_container_isolated-3] [DEBUG] [1762964977.905215067] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.905260834] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.905299218] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879487 -0.000110 0.475923 -0.001091 [component_container_isolated-3] -0.004500 0.999953 0.008548 0.059837 [component_container_isolated-3] -0.475902 -0.009659 0.879445 0.017961 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.905320528] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.629,28.418,-0.293} [component_container_isolated-3] [DEBUG] [1762964977.905350606] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.905398467] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.926295606] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.926354288] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.926392751] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.926437316] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000018 0.000091 -0.000320 [component_container_isolated-3] -0.000018 1.000000 -0.000164 -0.000132 [component_container_isolated-3] -0.000091 0.000164 1.000000 0.000251 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.926462054] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.003} {0.149,0.118,0.252} [component_container_isolated-3] [DEBUG] [1762964977.926514875] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.926561824] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.926601590] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979069 0.000215 0.203529 -0.006461 [component_container_isolated-3] 0.002165 0.999932 -0.011470 0.061002 [component_container_isolated-3] -0.203518 0.011670 0.979002 0.019100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.926624975] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.001} {0.683,11.743,0.127} [component_container_isolated-3] [DEBUG] [1762964977.926657948] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.020,-0.002} {0.482,11.627,-0.132} [component_container_isolated-3] [DEBUG] [1762964977.926710248] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.929371610] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.929423549] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.929462734] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.929506959] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000114 0.000121 -0.000165 [component_container_isolated-3] -0.000114 1.000000 0.000296 0.000112 [component_container_isolated-3] -0.000121 -0.000296 1.000000 0.000168 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.929533169] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.156,0.040,-0.092} [component_container_isolated-3] [DEBUG] [1762964977.929581451] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.929622960] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.929664219] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879430 -0.000151 0.476029 -0.001096 [component_container_isolated-3] -0.004615 0.999950 0.008843 0.059853 [component_container_isolated-3] -0.476007 -0.009974 0.879385 0.017969 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.929688866] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.650,28.425,-0.301} [component_container_isolated-3] [DEBUG] [1762964977.929720567] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.929771424] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.939692881] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.939760060] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.939801278] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.939846324] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000293 -0.000366 0.001974 [component_container_isolated-3] -0.000293 1.000000 0.000240 0.001083 [component_container_isolated-3] 0.000366 -0.000240 1.000000 -0.001634 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.939871813] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.006,0.012,-0.003} {0.011,-0.067,-0.059} [component_container_isolated-3] [DEBUG] [1762964977.939936056] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.939984418] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.940024374] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981587 0.000121 0.191018 -0.005951 [component_container_isolated-3] -0.001928 0.999955 0.009276 0.060868 [component_container_isolated-3] -0.191008 -0.009474 0.981543 0.016085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.940049853] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.553,11.012,-0.113} [component_container_isolated-3] [DEBUG] [1762964977.940082716] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.011,0.001} {-0.553,11.079,-0.053} [component_container_isolated-3] [DEBUG] [1762964977.940133823] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.943221260] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.943293037] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.943334706] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.943380504] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000024 -0.000209 0.000723 [component_container_isolated-3] 0.000024 1.000000 -0.000073 -0.000399 [component_container_isolated-3] 0.000209 0.000073 1.000000 -0.001739 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.943406423] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.008,0.008} {-0.052,0.086,-0.128} [component_container_isolated-3] [DEBUG] [1762964977.943456860] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.943500202] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.943539698] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982721 -0.000097 0.185095 -0.006764 [component_container_isolated-3] -0.000045 1.000000 0.000759 0.060171 [component_container_isolated-3] -0.185096 -0.000754 0.982720 0.017023 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.943565187] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.001} {-0.044,10.667,-0.003} [component_container_isolated-3] [DEBUG] [1762964977.943598360] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.008} {0.032,10.580,0.128} [component_container_isolated-3] [DEBUG] [1762964977.943649457] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.961587304] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.961653381] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.961695381] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.961740367] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000293 -0.000366 0.001974 [component_container_isolated-3] -0.000293 1.000000 0.000240 0.001083 [component_container_isolated-3] 0.000366 -0.000240 1.000000 -0.001634 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.961768771] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.013,-0.005} {-0.003,-0.088,-0.076} [component_container_isolated-3] [DEBUG] [1762964977.961819367] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.961863923] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.961900272] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981587 0.000121 0.191018 -0.005951 [component_container_isolated-3] -0.001928 0.999955 0.009276 0.060868 [component_container_isolated-3] -0.191008 -0.009474 0.981543 0.016085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.961967631] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.553,11.012,-0.113} [component_container_isolated-3] [DEBUG] [1762964977.962006976] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.012,0.003} {-0.536,11.100,-0.036} [component_container_isolated-3] [DEBUG] [1762964977.962062362] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.963879081] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.963966127] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.964002066] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.964038586] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000035 0.000015 0.000020 [component_container_isolated-3] 0.000035 1.000000 -0.000013 -0.000032 [component_container_isolated-3] -0.000015 0.000013 1.000000 -0.000065 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.964059135] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.156,0.040,-0.090} [component_container_isolated-3] [DEBUG] [1762964977.964100133] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.964134529] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.964181980] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879422 -0.000175 0.476042 -0.001101 [component_container_isolated-3] -0.004580 0.999950 0.008830 0.059857 [component_container_isolated-3] -0.476020 -0.009946 0.879378 0.017980 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.964210795] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.648,28.426,-0.298} [component_container_isolated-3] [DEBUG] [1762964977.964248697] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.964297230] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.966440733] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.966489476] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.966528481] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.966573056] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000380 0.000444 -0.001184 [component_container_isolated-3] -0.000381 1.000000 0.000275 0.001025 [component_container_isolated-3] -0.000444 -0.000275 1.000000 0.001481 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.966598825] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.004} {0.133,0.143,0.230} [component_container_isolated-3] [DEBUG] [1762964977.966646216] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.966689188] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.966728112] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.978978 0.000532 0.203964 -0.006854 [component_container_isolated-3] 0.001789 0.999936 -0.011194 0.061255 [component_container_isolated-3] -0.203957 0.011324 0.978914 0.019695 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.966752258] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,0.001} {0.663,11.768,0.105} [component_container_isolated-3] [DEBUG] [1762964977.966786454] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.019,-0.003} {0.482,11.627,-0.132} [component_container_isolated-3] [DEBUG] [1762964977.966837732] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.973178511] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.973234418] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.973275746] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.973321564] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000002 0.000340 -0.000291 [component_container_isolated-3] 0.000002 1.000000 0.000096 -0.000043 [component_container_isolated-3] -0.000340 -0.000096 1.000000 0.001354 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.973347293] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.008,0.010} {-0.058,0.106,-0.128} [component_container_isolated-3] [DEBUG] [1762964977.973396026] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.973443948] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.973484726] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982658 -0.000116 0.185429 -0.006709 [component_container_isolated-3] -0.000043 1.000000 0.000855 0.060160 [component_container_isolated-3] -0.185429 -0.000849 0.982657 0.017182 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.973509273] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.049,10.686,-0.003} [component_container_isolated-3] [DEBUG] [1762964977.973541294] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.032,10.580,0.128} [component_container_isolated-3] [DEBUG] [1762964977.973594856] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.990252157] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.990311421] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.990351627] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.990396012] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000274 -0.000698 0.001936 [component_container_isolated-3] 0.000274 1.000000 -0.000301 -0.000372 [component_container_isolated-3] 0.000698 0.000301 1.000000 -0.001939 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.990420609] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.018,0.002} {0.150,0.103,0.246} [component_container_isolated-3] [DEBUG] [1762964977.990468120] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.990510210] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.990545768] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979121 0.000324 0.203280 -0.006601 [component_container_isolated-3] 0.002056 0.999932 -0.011496 0.061285 [component_container_isolated-3] -0.203270 0.011674 0.979053 0.019206 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.990567229] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,0.001} {0.683,11.728,0.120} [component_container_isolated-3] [DEBUG] [1762964977.990598208] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.001} {0.482,11.627,-0.132} [component_container_isolated-3] [DEBUG] [1762964977.990650598] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964977.994991378] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964977.995034901] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964977.995071281] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964977.995112329] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000031 -0.000159 0.000151 [component_container_isolated-3] 0.000031 1.000000 -0.000259 -0.000115 [component_container_isolated-3] 0.000159 0.000259 1.000000 -0.000150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964977.995136395] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.141,0.031,-0.088} [component_container_isolated-3] [DEBUG] [1762964977.995182784] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964977.995228311] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964977.995272515] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879498 -0.000080 0.475902 -0.001095 [component_container_isolated-3] -0.004548 0.999953 0.008572 0.059843 [component_container_isolated-3] -0.475880 -0.009703 0.879457 0.017977 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964977.995296992] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.632,28.417,-0.296} [component_container_isolated-3] [DEBUG] [1762964977.995329905] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964977.995385651] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.003963934] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.004021944] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.004062081] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.004105524] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000027 -0.000071 -0.000292 [component_container_isolated-3] -0.000027 1.000000 0.000006 0.000303 [component_container_isolated-3] 0.000071 -0.000006 1.000000 0.000347 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.004130502] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.058,0.102,-0.130} [component_container_isolated-3] [DEBUG] [1762964978.004180417] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.004226645] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.004265720] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982671 -0.000090 0.185359 -0.006711 [component_container_isolated-3] -0.000070 1.000000 0.000862 0.060194 [component_container_isolated-3] -0.185359 -0.000860 0.982670 0.017334 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.004288413] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.050,10.682,-0.004} [component_container_isolated-3] [DEBUG] [1762964978.004319352] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.032,10.580,0.128} [component_container_isolated-3] [DEBUG] [1762964978.004368546] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.009908937] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.010005592] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.010046971] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.010097357] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000066 0.000628 -0.000960 [component_container_isolated-3] 0.000066 1.000000 -0.000245 0.000006 [component_container_isolated-3] -0.000628 0.000245 1.000000 0.002380 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.010124879] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.013,-0.002} {0.011,-0.052,-0.072} [component_container_isolated-3] [DEBUG] [1762964978.010179103] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.010226103] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.010268524] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981466 0.000103 0.191634 -0.005860 [component_container_isolated-3] -0.001868 0.999958 0.009030 0.060886 [component_container_isolated-3] -0.191625 -0.009221 0.981425 0.016783 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.010297549] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.538,11.048,-0.109} [component_container_isolated-3] [DEBUG] [1762964978.010331845] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.012,0.001} {-0.536,11.100,-0.036} [component_container_isolated-3] [DEBUG] [1762964978.010387230] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.017684887] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.017742187] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.017780470] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.017824123] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000083 -0.000478 0.000759 [component_container_isolated-3] -0.000083 1.000000 0.000058 0.000482 [component_container_isolated-3] 0.000478 -0.000058 1.000000 -0.002094 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.017848339] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.018,-0.000} {0.147,0.076,0.241} [component_container_isolated-3] [DEBUG] [1762964978.017895359] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.017969391] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.018009187] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979218 0.000394 0.202812 -0.006476 [component_container_isolated-3] 0.001967 0.999933 -0.011439 0.061436 [component_container_isolated-3] -0.202803 0.011601 0.979151 0.017879 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.018032551] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.679,11.701,0.115} [component_container_isolated-3] [DEBUG] [1762964978.018066115] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.000} {0.482,11.627,-0.132} [component_container_isolated-3] [DEBUG] [1762964978.018117814] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.036969025] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.037032767] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.037071671] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.037115665] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000043 -0.000387 0.000392 [component_container_isolated-3] -0.000043 1.000000 0.000128 0.000283 [component_container_isolated-3] 0.000387 -0.000128 1.000000 -0.001702 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.037140964] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.013,-0.004} {0.004,-0.074,-0.075} [component_container_isolated-3] [DEBUG] [1762964978.037188154] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.037231026] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.037266664] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981540 0.000121 0.191255 -0.005883 [component_container_isolated-3] -0.001908 0.999956 0.009159 0.060950 [component_container_isolated-3] -0.191245 -0.009355 0.981498 0.016470 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.037289407] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.546,11.025,-0.111} [component_container_isolated-3] [DEBUG] [1762964978.037319254] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,0.002} {-0.536,11.100,-0.036} [component_container_isolated-3] [DEBUG] [1762964978.037368729] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.037707546] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.037762140] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.037802437] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.037849988] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000083 -0.000478 0.000759 [component_container_isolated-3] -0.000083 1.000000 0.000058 0.000482 [component_container_isolated-3] 0.000478 -0.000058 1.000000 -0.002094 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.037875757] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.017,-0.002} {0.144,0.049,0.236} [component_container_isolated-3] [DEBUG] [1762964978.037948716] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.037996618] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.038041804] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979218 0.000394 0.202812 -0.006476 [component_container_isolated-3] 0.001967 0.999933 -0.011439 0.061436 [component_container_isolated-3] -0.202803 0.011601 0.979151 0.017879 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.038070499] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.679,11.701,0.115} [component_container_isolated-3] [DEBUG] [1762964978.038096789] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.019,0.002} {0.486,11.654,-0.127} [component_container_isolated-3] [DEBUG] [1762964978.038138318] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.038780625] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.038832364] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.038873863] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.038951081] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000140 0.000021 0.000083 [component_container_isolated-3] -0.000140 1.000000 0.000140 0.000141 [component_container_isolated-3] -0.000021 -0.000140 1.000000 -0.000019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.038979455] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.149,0.033,-0.096} [component_container_isolated-3] [DEBUG] [1762964978.039030212] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.039073725] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.039109904] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879488 -0.000024 0.475921 -0.001081 [component_container_isolated-3] -0.004687 0.999951 0.008712 0.059856 [component_container_isolated-3] -0.475897 -0.009893 0.879445 0.017948 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.039133138] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.644,28.418,-0.305} [component_container_isolated-3] [DEBUG] [1762964978.039164779] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964978.039214995] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.050343567] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.050408572] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.050450792] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.050498533] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000045 -0.000011 0.000184 [component_container_isolated-3] -0.000045 1.000000 0.000029 -0.000120 [component_container_isolated-3] 0.000011 -0.000029 1.000000 -0.000046 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.050524002] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.008,0.010} {-0.060,0.101,-0.132} [component_container_isolated-3] [DEBUG] [1762964978.050571974] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.050613423] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.050661505] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982673 -0.000051 0.185348 -0.006695 [component_container_isolated-3] -0.000116 1.000000 0.000891 0.060201 [component_container_isolated-3] -0.185348 -0.000897 0.982673 0.017382 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.050686512] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.052,10.681,-0.007} [component_container_isolated-3] [DEBUG] [1762964978.050718303] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.032,10.580,0.128} [component_container_isolated-3] [DEBUG] [1762964978.050772046] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.051064835] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.051116393] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.051156430] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.051200464] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000043 -0.000387 0.000392 [component_container_isolated-3] -0.000043 1.000000 0.000128 0.000283 [component_container_isolated-3] 0.000387 -0.000128 1.000000 -0.001702 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.051225051] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.014,-0.006} {-0.003,-0.096,-0.077} [component_container_isolated-3] [DEBUG] [1762964978.051272742] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.051315253] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.051350210] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981540 0.000121 0.191255 -0.005883 [component_container_isolated-3] -0.001908 0.999956 0.009159 0.060950 [component_container_isolated-3] -0.191245 -0.009355 0.981498 0.016470 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.051374997] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.546,11.025,-0.111} [component_container_isolated-3] [DEBUG] [1762964978.051408691] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,0.004} {-0.528,11.122,-0.034} [component_container_isolated-3] [DEBUG] [1762964978.051461402] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.069131187] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.069192625] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.069235356] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.069281665] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000096 -0.000027 -0.000087 [component_container_isolated-3] 0.000096 1.000000 -0.000024 -0.000060 [component_container_isolated-3] 0.000027 0.000024 1.000000 -0.000079 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.069307424] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.000} {-0.147,0.031,-0.091} [component_container_isolated-3] [DEBUG] [1762964978.069358411] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.069404990] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.069447932] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879501 -0.000097 0.475897 -0.001091 [component_container_isolated-3] -0.004591 0.999952 0.008687 0.059855 [component_container_isolated-3] -0.475875 -0.009825 0.879458 0.017931 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.069476146] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.416,-0.299} [component_container_isolated-3] [DEBUG] [1762964978.069510201] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964978.069552482] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.079709269] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.079774033] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.079814700] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.079859566] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000015 0.000041 -0.000306 [component_container_isolated-3] -0.000015 1.000000 0.000046 0.000206 [component_container_isolated-3] -0.000041 -0.000046 1.000000 0.000056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.079885355] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.062,0.103,-0.133} [component_container_isolated-3] [DEBUG] [1762964978.079958395] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.080005224] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.080046443] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982665 -0.000045 0.185388 -0.006728 [component_container_isolated-3] -0.000131 1.000000 0.000937 0.060238 [component_container_isolated-3] -0.185388 -0.000945 0.982665 0.017445 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.080071030] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.055,10.684,-0.008} [component_container_isolated-3] [DEBUG] [1762964978.080101568] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.032,10.580,0.128} [component_container_isolated-3] [DEBUG] [1762964978.080151784] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.102212875] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.102280635] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.102328356] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.102375436] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000001 0.000044 -0.000213 [component_container_isolated-3] -0.000001 1.000000 -0.000090 -0.000138 [component_container_isolated-3] -0.000044 0.000090 1.000000 -0.000155 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.102401716] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.018,-0.002} {0.149,0.051,0.236} [component_container_isolated-3] [DEBUG] [1762964978.102450980] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.102493672] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.102528899] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979209 0.000413 0.202856 -0.006465 [component_container_isolated-3] 0.001966 0.999932 -0.011530 0.061483 [component_container_isolated-3] -0.202846 0.011689 0.979141 0.017538 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.102551843] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.684,11.703,0.115} [component_container_isolated-3] [DEBUG] [1762964978.102582461] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.019,0.002} {0.486,11.654,-0.127} [component_container_isolated-3] [DEBUG] [1762964978.102632437] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.106190692] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.106244354] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.106285142] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.106329898] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000004 0.000031 0.000029 [component_container_isolated-3] 0.000004 1.000000 0.000019 -0.000091 [component_container_isolated-3] -0.000031 -0.000019 1.000000 0.000100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.106355507] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.149,0.033,-0.091} [component_container_isolated-3] [DEBUG] [1762964978.106441090] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.106492368] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.106532655] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879486 -0.000110 0.475924 -0.001088 [component_container_isolated-3] -0.004586 0.999952 0.008706 0.059844 [component_container_isolated-3] -0.475902 -0.009840 0.879443 0.017922 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.106559055] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.641,28.418,-0.299} [component_container_isolated-3] [DEBUG] [1762964978.106594864] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964978.106636704] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.119542861] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.119600271] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.119639997] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.119683490] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000044 -0.000020 -0.000040 [component_container_isolated-3] 0.000044 1.000000 -0.000117 0.000065 [component_container_isolated-3] 0.000020 0.000117 1.000000 0.000039 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.119708628] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.056,0.102,-0.131} [component_container_isolated-3] [DEBUG] [1762964978.119755227] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.119796666] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.119836833] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982669 -0.000067 0.185368 -0.006750 [component_container_isolated-3] -0.000087 1.000000 0.000820 0.060269 [component_container_isolated-3] -0.185368 -0.000822 0.982669 0.017509 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.119861229] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.048,10.683,-0.005} [component_container_isolated-3] [DEBUG] [1762964978.119896517] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.032,10.580,0.128} [component_container_isolated-3] [DEBUG] [1762964978.119983673] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.124539053] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.124604458] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.124645015] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.124688809] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000184 -0.000057 0.000058 [component_container_isolated-3] 0.000184 1.000000 0.000079 -0.000453 [component_container_isolated-3] 0.000057 -0.000079 1.000000 -0.000368 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.124713746] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.013,-0.006} {-0.008,-0.099,-0.067} [component_container_isolated-3] [DEBUG] [1762964978.124761918] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.124805562] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.124841120] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981551 -0.000075 0.191198 -0.005901 [component_container_isolated-3] -0.001723 0.999956 0.009238 0.060922 [component_container_isolated-3] -0.191191 -0.009397 0.981508 0.016265 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.124865436] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.549,11.022,-0.101} [component_container_isolated-3] [DEBUG] [1762964978.124898850] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.012,0.004} {-0.528,11.122,-0.034} [component_container_isolated-3] [DEBUG] [1762964978.125089634] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.131827702] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.131880603] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.131956158] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.132006023] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000080 0.000223 -0.000165 [component_container_isolated-3] 0.000080 1.000000 -0.000021 -0.000004 [component_container_isolated-3] -0.000223 0.000021 1.000000 0.000246 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.132027795] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.147,0.046,-0.086} [component_container_isolated-3] [DEBUG] [1762964978.132071528] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.132128527] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.132169064] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879380 -0.000170 0.476120 -0.001085 [component_container_isolated-3] -0.004508 0.999952 0.008684 0.059836 [component_container_isolated-3] -0.476099 -0.009783 0.879337 0.017960 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.132188311] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.431,-0.294} [component_container_isolated-3] [DEBUG] [1762964978.132209802] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964978.132256221] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.143025417] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.143081004] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.143131229] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.143193148] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000061 -0.000049 0.000165 [component_container_isolated-3] 0.000061 1.000000 0.000062 -0.000132 [component_container_isolated-3] 0.000049 -0.000062 1.000000 0.000039 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.143228966] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.018,-0.002} {0.145,0.048,0.240} [component_container_isolated-3] [DEBUG] [1762964978.143298178] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.143356960] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.143411645] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979218 0.000341 0.202808 -0.006391 [component_container_isolated-3] 0.002027 0.999932 -0.011467 0.061514 [component_container_isolated-3] -0.202798 0.011640 0.979151 0.017389 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.143445139] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.681,11.701,0.119} [component_container_isolated-3] [DEBUG] [1762964978.143487349] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.019,0.001} {0.486,11.654,-0.127} [component_container_isolated-3] [DEBUG] [1762964978.143564787] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.148222933] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.148278479] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.148319628] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.148365405] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000141 -0.000028 -0.000466 [component_container_isolated-3] -0.000141 1.000000 -0.000028 0.000298 [component_container_isolated-3] 0.000028 0.000028 1.000000 0.000236 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.148391535] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.014,-0.006} {-0.006,-0.101,-0.075} [component_container_isolated-3] [DEBUG] [1762964978.148441290] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.148484713] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.148520432] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981557 0.000068 0.191171 -0.005951 [component_container_isolated-3] -0.001863 0.999956 0.009210 0.060951 [component_container_isolated-3] -0.191162 -0.009396 0.981514 0.016212 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.148544858] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.548,11.021,-0.109} [component_container_isolated-3] [DEBUG] [1762964978.148576669] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.013,0.004} {-0.528,11.122,-0.034} [component_container_isolated-3] [DEBUG] [1762964978.148626043] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.148768455] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.148812269] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.148843739] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.148889096] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000061 -0.000049 0.000165 [component_container_isolated-3] 0.000061 1.000000 0.000062 -0.000132 [component_container_isolated-3] 0.000049 -0.000062 1.000000 0.000039 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.148950052] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.018,-0.002} {0.142,0.046,0.243} [component_container_isolated-3] [DEBUG] [1762964978.148995689] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.149033231] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.149077425] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979218 0.000341 0.202808 -0.006391 [component_container_isolated-3] 0.002027 0.999932 -0.011467 0.061514 [component_container_isolated-3] -0.202798 0.011640 0.979151 0.017389 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.149102493] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.681,11.701,0.119} [component_container_isolated-3] [DEBUG] [1762964978.149125126] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.019,0.001} {0.489,11.657,-0.130} [component_container_isolated-3] [DEBUG] [1762964978.149166145] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.154309758] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.154364512] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.154399389] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.154449665] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000024 0.000003 0.000093 [component_container_isolated-3] 0.000024 1.000000 0.000058 -0.000069 [component_container_isolated-3] -0.000003 -0.000058 1.000000 -0.000034 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.154475755] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.059,0.102,-0.129} [component_container_isolated-3] [DEBUG] [1762964978.154524127] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.154568372] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.154604811] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982669 -0.000101 0.185372 -0.006761 [component_container_isolated-3] -0.000062 1.000000 0.000878 0.060290 [component_container_isolated-3] -0.185372 -0.000874 0.982668 0.017550 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.154627084] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.051,10.683,-0.004} [component_container_isolated-3] [DEBUG] [1762964978.154657301] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.032,10.580,0.128} [component_container_isolated-3] [DEBUG] [1762964978.154707277] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.171190716] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.171252234] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.171294885] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.171339761] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000097 -0.000199 0.000264 [component_container_isolated-3] -0.000097 1.000000 0.000134 0.000159 [component_container_isolated-3] 0.000199 -0.000134 1.000000 -0.000241 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.171365079] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.155,0.034,-0.091} [component_container_isolated-3] [DEBUG] [1762964978.171413933] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.171456744] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.171492923] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879475 -0.000149 0.475945 -0.001068 [component_container_isolated-3] -0.004603 0.999951 0.008819 0.059850 [component_container_isolated-3] -0.475923 -0.009947 0.879431 0.017928 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.171516579] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.648,28.419,-0.300} [component_container_isolated-3] [DEBUG] [1762964978.171553469] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964978.171609767] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.181570639] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.181642887] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.181684797] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.181729863] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000082 0.000055 0.000460 [component_container_isolated-3] -0.000082 1.000000 -0.000009 0.000958 [component_container_isolated-3] -0.000055 0.000009 1.000000 -0.000085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.181755402] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.015,-0.006} {-0.006,-0.098,-0.079} [component_container_isolated-3] [DEBUG] [1762964978.181803484] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.181847178] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.181883507] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 0.000150 0.191225 -0.005906 [component_container_isolated-3] -0.001946 0.999956 0.009201 0.061286 [component_container_isolated-3] -0.191215 -0.009404 0.981503 0.016146 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.181909236] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.549,11.024,-0.114} [component_container_isolated-3] [DEBUG] [1762964978.181981374] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,0.004} {-0.528,11.122,-0.034} [component_container_isolated-3] [DEBUG] [1762964978.182045817] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.186527466] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.186587440] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.186627507] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.186670739] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000043 -0.000043 0.000183 [component_container_isolated-3] 0.000043 1.000000 -0.000062 -0.000221 [component_container_isolated-3] 0.000043 0.000062 1.000000 -0.000039 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.186695557] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.055,0.100,-0.127} [component_container_isolated-3] [DEBUG] [1762964978.186743508] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.186786020] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.186821628] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982677 -0.000132 0.185329 -0.006749 [component_container_isolated-3] -0.000020 1.000000 0.000816 0.060279 [component_container_isolated-3] -0.185329 -0.000806 0.982676 0.017587 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.186843539] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.047,10.680,-0.001} [component_container_isolated-3] [DEBUG] [1762964978.186876362] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.032,10.580,0.128} [component_container_isolated-3] [DEBUG] [1762964978.186969560] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.197170141] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.197234033] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.197274791] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.197317803] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000082 0.000055 0.000460 [component_container_isolated-3] -0.000082 1.000000 -0.000009 0.000958 [component_container_isolated-3] -0.000055 0.000009 1.000000 -0.000085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.197341728] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.015,-0.006} {-0.005,-0.094,-0.084} [component_container_isolated-3] [DEBUG] [1762964978.197388468] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.197431139] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.197467018] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 0.000150 0.191225 -0.005906 [component_container_isolated-3] -0.001946 0.999956 0.009201 0.061286 [component_container_isolated-3] -0.191215 -0.009404 0.981503 0.016146 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.197492146] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.549,11.024,-0.114} [component_container_isolated-3] [DEBUG] [1762964978.197525559] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.014,0.004} {-0.527,11.119,-0.029} [component_container_isolated-3] [DEBUG] [1762964978.197586887] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.207104573] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.207167042] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.207209033] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.207253648] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000091 0.000594 -0.000963 [component_container_isolated-3] 0.000091 1.000000 -0.000067 -0.000710 [component_container_isolated-3] -0.000594 0.000067 1.000000 0.002169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.207279086] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.018,-0.000} {0.145,0.080,0.249} [component_container_isolated-3] [DEBUG] [1762964978.207327018] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.207368297] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.207403714] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 0.000266 0.203390 -0.006373 [component_container_isolated-3] 0.002125 0.999931 -0.011533 0.061374 [component_container_isolated-3] -0.203379 0.011724 0.979030 0.017865 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.207427450] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.686,11.735,0.124} [component_container_isolated-3] [DEBUG] [1762964978.207461044] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.000} {0.489,11.657,-0.130} [component_container_isolated-3] [DEBUG] [1762964978.207510047] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.224425041] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.224478162] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.224514862] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.224557915] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000091 0.000594 -0.000963 [component_container_isolated-3] 0.000091 1.000000 -0.000067 -0.000710 [component_container_isolated-3] -0.000594 0.000067 1.000000 0.002169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.224581099] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.002} {0.149,0.114,0.254} [component_container_isolated-3] [DEBUG] [1762964978.224626486] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.224668666] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.224707180] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 0.000266 0.203390 -0.006373 [component_container_isolated-3] 0.002125 0.999931 -0.011533 0.061374 [component_container_isolated-3] -0.203379 0.011724 0.979030 0.017865 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.224731656] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.686,11.735,0.124} [component_container_isolated-3] [DEBUG] [1762964978.224764659] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.021,-0.003} {0.484,11.623,-0.136} [component_container_isolated-3] [DEBUG] [1762964978.224815787] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.229544047] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.229610875] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.229654217] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.229699805] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000035 0.000091 -0.000051 [component_container_isolated-3] -0.000035 1.000000 -0.000095 0.000105 [component_container_isolated-3] -0.000091 0.000095 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.229725714] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.050,0.105,-0.129} [component_container_isolated-3] [DEBUG] [1762964978.229774978] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.229822769] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.229862786] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982660 -0.000080 0.185419 -0.006738 [component_container_isolated-3] -0.000055 1.000000 0.000721 0.060284 [component_container_isolated-3] -0.185419 -0.000719 0.982659 0.017627 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.229887613] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.042,10.686,-0.003} [component_container_isolated-3] [DEBUG] [1762964978.229965161] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.032,10.580,0.128} [component_container_isolated-3] [DEBUG] [1762964978.230020397] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.235261606] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.235319597] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.235359423] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.235404158] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000057 -0.000023 -0.000335 [component_container_isolated-3] 0.000057 1.000000 -0.000067 -0.000068 [component_container_isolated-3] 0.000023 0.000067 1.000000 0.000012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.235430268] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.151,0.033,-0.088} [component_container_isolated-3] [DEBUG] [1762964978.235478611] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.235525961] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.235566969] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879486 -0.000167 0.475925 -0.001099 [component_container_isolated-3] -0.004546 0.999951 0.008752 0.059849 [component_container_isolated-3] -0.475903 -0.009861 0.879443 0.017944 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.235590675] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.418,-0.296} [component_container_isolated-3] [DEBUG] [1762964978.235623758] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.443,28.386,-0.196} [component_container_isolated-3] [DEBUG] [1762964978.235676879] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.237823769] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.237873614] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.237911467] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.237988955] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000035 0.000091 -0.000051 [component_container_isolated-3] -0.000035 1.000000 -0.000095 0.000105 [component_container_isolated-3] -0.000091 0.000095 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.238013762] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.045,0.110,-0.131} [component_container_isolated-3] [DEBUG] [1762964978.238062706] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.238107241] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.238147758] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982660 -0.000080 0.185419 -0.006738 [component_container_isolated-3] -0.000055 1.000000 0.000721 0.060284 [component_container_isolated-3] -0.185419 -0.000719 0.982659 0.017627 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.238171774] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.042,10.686,-0.003} [component_container_isolated-3] [DEBUG] [1762964978.238205619] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.027,10.575,0.130} [component_container_isolated-3] [DEBUG] [1762964978.238259171] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.240493378] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.240547070] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.240595332] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.240638635] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000057 -0.000023 -0.000335 [component_container_isolated-3] 0.000057 1.000000 -0.000067 -0.000068 [component_container_isolated-3] 0.000023 0.000067 1.000000 0.000012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.240663122] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.147,0.031,-0.085} [component_container_isolated-3] [DEBUG] [1762964978.240710873] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.240753264] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.240793471] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879486 -0.000167 0.475925 -0.001099 [component_container_isolated-3] -0.004546 0.999951 0.008752 0.059849 [component_container_isolated-3] -0.475903 -0.009861 0.879443 0.017944 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.240817096] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.418,-0.296} [component_container_isolated-3] [DEBUG] [1762964978.240849387] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.001} {-0.449,28.387,-0.199} [component_container_isolated-3] [DEBUG] [1762964978.240900846] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.252962511] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.253029449] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.253071449] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.253116014] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000135 -0.000108 -0.000056 [component_container_isolated-3] 0.000135 1.000000 0.000026 -0.000808 [component_container_isolated-3] 0.000108 -0.000026 1.000000 -0.000211 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.253141853] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.015,-0.006} {-0.007,-0.101,-0.076} [component_container_isolated-3] [DEBUG] [1762964978.253192109] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.253235191] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.253270629] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981567 0.000013 0.191119 -0.005919 [component_container_isolated-3] -0.001810 0.999956 0.009227 0.061279 [component_container_isolated-3] -0.191110 -0.009403 0.981523 0.016048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.253293623] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.549,11.018,-0.106} [component_container_isolated-3] [DEBUG] [1762964978.253326155] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.014,0.004} {-0.527,11.119,-0.029} [component_container_isolated-3] [DEBUG] [1762964978.253377954] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.262445301] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.262501267] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.262552976] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.262598112] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000091 0.000594 -0.000963 [component_container_isolated-3] 0.000091 1.000000 -0.000067 -0.000710 [component_container_isolated-3] -0.000594 0.000067 1.000000 0.002169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.262623260] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.020,0.004} {0.153,0.148,0.259} [component_container_isolated-3] [DEBUG] [1762964978.262670170] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.262710737] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.262745925] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 0.000266 0.203390 -0.006373 [component_container_isolated-3] 0.002125 0.999931 -0.011533 0.061374 [component_container_isolated-3] -0.203379 0.011724 0.979030 0.017865 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.262768518] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.686,11.735,0.124} [component_container_isolated-3] [DEBUG] [1762964978.262801651] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.005} {0.480,11.589,-0.142} [component_container_isolated-3] [DEBUG] [1762964978.262806250] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.262858991] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.262950185] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.263038353] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.263084561] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000135 -0.000108 -0.000056 [component_container_isolated-3] 0.000135 1.000000 0.000026 -0.000808 [component_container_isolated-3] 0.000108 -0.000026 1.000000 -0.000211 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.263110441] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.014,-0.006} {-0.008,-0.107,-0.069} [component_container_isolated-3] [DEBUG] [1762964978.263162029] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.263210562] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.263256279] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981567 0.000013 0.191119 -0.005919 [component_container_isolated-3] -0.001810 0.999956 0.009227 0.061279 [component_container_isolated-3] -0.191110 -0.009403 0.981523 0.016048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.263277339] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.549,11.018,-0.106} [component_container_isolated-3] [DEBUG] [1762964978.263300884] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,0.005} {-0.527,11.125,-0.037} [component_container_isolated-3] [DEBUG] [1762964978.263342614] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.263651444] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.263700818] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.263738700] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.263781743] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000035 0.000091 -0.000051 [component_container_isolated-3] -0.000035 1.000000 -0.000095 0.000105 [component_container_isolated-3] -0.000091 0.000095 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.263806189] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.039,0.115,-0.133} [component_container_isolated-3] [DEBUG] [1762964978.263856365] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.263898956] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.263963850] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982660 -0.000080 0.185419 -0.006738 [component_container_isolated-3] -0.000055 1.000000 0.000721 0.060284 [component_container_isolated-3] -0.185419 -0.000719 0.982659 0.017627 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.264010870] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.042,10.686,-0.003} [component_container_isolated-3] [DEBUG] [1762964978.264037080] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.022,10.570,0.132} [component_container_isolated-3] [DEBUG] [1762964978.264083840] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.265082347] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.265153232] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.265207476] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.265268923] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000116 0.000045 0.000161 [component_container_isolated-3] 0.000116 1.000000 -0.000082 -0.000266 [component_container_isolated-3] -0.000045 0.000082 1.000000 0.000014 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.265304882] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.143,0.034,-0.078} [component_container_isolated-3] [DEBUG] [1762964978.265375396] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.265442104] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.265496558] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879464 -0.000230 0.475965 -0.001102 [component_container_isolated-3] -0.004431 0.999953 0.008670 0.059805 [component_container_isolated-3] -0.475944 -0.009734 0.879422 0.017948 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.265530532] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.634,28.421,-0.289} [component_container_isolated-3] [DEBUG] [1762964978.265573454] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.449,28.387,-0.199} [component_container_isolated-3] [DEBUG] [1762964978.265644911] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.289043456] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.289107809] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.289149519] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.289195256] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000091 0.000594 -0.000963 [component_container_isolated-3] 0.000091 1.000000 -0.000067 -0.000710 [component_container_isolated-3] -0.000594 0.000067 1.000000 0.002169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.289222018] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.021,0.006} {0.157,0.182,0.264} [component_container_isolated-3] [DEBUG] [1762964978.289271312] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.289318341] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.289358598] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 0.000266 0.203390 -0.006373 [component_container_isolated-3] 0.002125 0.999931 -0.011533 0.061374 [component_container_isolated-3] -0.203379 0.011724 0.979030 0.017865 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.289382754] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.686,11.735,0.124} [component_container_isolated-3] [DEBUG] [1762964978.289415347] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.022,-0.007} {0.475,11.555,-0.147} [component_container_isolated-3] [DEBUG] [1762964978.289465693] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.291903779] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.291988982] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.292029028] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.292073794] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000135 -0.000108 -0.000056 [component_container_isolated-3] 0.000135 1.000000 0.000026 -0.000808 [component_container_isolated-3] 0.000108 -0.000026 1.000000 -0.000211 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.292100074] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.013,-0.006} {-0.010,-0.113,-0.061} [component_container_isolated-3] [DEBUG] [1762964978.292148396] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.292196398] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.292236274] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981567 0.000013 0.191119 -0.005919 [component_container_isolated-3] -0.001810 0.999956 0.009227 0.061279 [component_container_isolated-3] -0.191110 -0.009403 0.981523 0.016048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.292261132] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.549,11.018,-0.106} [component_container_isolated-3] [DEBUG] [1762964978.292295147] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.012,0.005} {-0.527,11.131,-0.045} [component_container_isolated-3] [DEBUG] [1762964978.292346965] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.297281159] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.297339199] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.297378945] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.297422288] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000035 0.000091 -0.000051 [component_container_isolated-3] -0.000035 1.000000 -0.000095 0.000105 [component_container_isolated-3] -0.000091 0.000095 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.297447306] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.034,0.121,-0.135} [component_container_isolated-3] [DEBUG] [1762964978.297495348] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.297537648] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.297574168] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982660 -0.000080 0.185419 -0.006738 [component_container_isolated-3] -0.000055 1.000000 0.000721 0.060284 [component_container_isolated-3] -0.185419 -0.000719 0.982659 0.017627 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.297596701] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.042,10.686,-0.003} [component_container_isolated-3] [DEBUG] [1762964978.297626859] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.017,10.565,0.134} [component_container_isolated-3] [DEBUG] [1762964978.297678467] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.300997947] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.301079743] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.301128356] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.301179353] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000360 -0.000114 0.000169 [component_container_isolated-3] -0.000360 1.000000 0.000334 0.000822 [component_container_isolated-3] 0.000114 -0.000334 1.000000 -0.000268 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.301207617] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.000} {-0.162,0.027,-0.099} [component_container_isolated-3] [DEBUG] [1762964978.301262111] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.301602321] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.301675771] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879519 -0.000072 0.475864 -0.001096 [component_container_isolated-3] -0.004789 0.999948 0.009004 0.059970 [component_container_isolated-3] -0.475840 -0.010198 0.879473 0.017870 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.301707341] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.664,28.414,-0.312} [component_container_isolated-3] [DEBUG] [1762964978.301855074] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.449,28.387,-0.199} [component_container_isolated-3] [DEBUG] [1762964978.301940026] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.305549349] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.305605025] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.305642707] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.305686130] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000091 0.000594 -0.000963 [component_container_isolated-3] 0.000091 1.000000 -0.000067 -0.000710 [component_container_isolated-3] -0.000594 0.000067 1.000000 0.002169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.305709655] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.021,0.009} {0.161,0.216,0.270} [component_container_isolated-3] [DEBUG] [1762964978.306343686] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.306429369] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.306468254] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 0.000266 0.203390 -0.006373 [component_container_isolated-3] 0.002125 0.999931 -0.011533 0.061374 [component_container_isolated-3] -0.203379 0.011724 0.979030 0.017865 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.306489063] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.686,11.735,0.124} [component_container_isolated-3] [DEBUG] [1762964978.306513580] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.023,-0.010} {0.470,11.521,-0.153} [component_container_isolated-3] [DEBUG] [1762964978.306554659] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.331910592] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.331999963] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.332038777] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.332081208] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000035 0.000091 -0.000051 [component_container_isolated-3] -0.000035 1.000000 -0.000095 0.000105 [component_container_isolated-3] -0.000091 0.000095 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.332105174] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.009,0.010} {-0.028,0.126,-0.137} [component_container_isolated-3] [DEBUG] [1762964978.332153596] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.332195436] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.332230814] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982660 -0.000080 0.185419 -0.006738 [component_container_isolated-3] -0.000055 1.000000 0.000721 0.060284 [component_container_isolated-3] -0.185419 -0.000719 0.982659 0.017627 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.332254048] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.042,10.686,-0.003} [component_container_isolated-3] [DEBUG] [1762964978.332286751] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.012,10.560,0.136} [component_container_isolated-3] [DEBUG] [1762964978.332338520] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.336020171] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.336085165] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.336125111] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.336170297] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000216 0.000218 -0.000433 [component_container_isolated-3] 0.000216 1.000000 -0.000180 -0.000570 [component_container_isolated-3] -0.000218 0.000180 1.000000 0.000378 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.336198201] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.151,0.040,-0.087} [component_container_isolated-3] [DEBUG] [1762964978.336251042] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.336296949] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.336338108] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879415 -0.000177 0.476056 -0.001135 [component_container_isolated-3] -0.004575 0.999951 0.008823 0.059940 [component_container_isolated-3] -0.476034 -0.009937 0.879371 0.017932 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.336362545] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.647,28.427,-0.298} [component_container_isolated-3] [DEBUG] [1762964978.336393794] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.001} {-0.449,28.387,-0.199} [component_container_isolated-3] [DEBUG] [1762964978.336442708] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.345500927] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.345559228] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.345599285] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.345647086] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000091 0.000398 0.000049 [component_container_isolated-3] -0.000091 1.000000 0.000188 0.000538 [component_container_isolated-3] -0.000398 -0.000188 1.000000 0.001690 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.345674007] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.014,-0.005} {-0.020,-0.090,-0.066} [component_container_isolated-3] [DEBUG] [1762964978.345724834] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.345768788] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.345804837] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981491 0.000066 0.191509 -0.005803 [component_container_isolated-3] -0.001904 0.999954 0.009415 0.061389 [component_container_isolated-3] -0.191500 -0.009605 0.981446 0.016478 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.345827701] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.561,11.040,-0.111} [component_container_isolated-3] [DEBUG] [1762964978.345859201] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.012,0.003} {-0.527,11.131,-0.045} [component_container_isolated-3] [DEBUG] [1762964978.345910098] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.353533377] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.353596056] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.353637285] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.353684004] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000011 -0.000499 0.000934 [component_container_isolated-3] -0.000011 1.000000 0.000039 0.000439 [component_container_isolated-3] 0.000499 -0.000039 1.000000 -0.002271 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.353710174] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.021,0.006} {0.159,0.187,0.269} [component_container_isolated-3] [DEBUG] [1762964978.353758587] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.353806057] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.353845733] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979199 0.000269 0.202902 -0.006333 [component_container_isolated-3] 0.002107 0.999932 -0.011495 0.061393 [component_container_isolated-3] -0.202891 0.011683 0.979132 0.017112 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.353870821] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.684,11.706,0.123} [component_container_isolated-3] [DEBUG] [1762964978.353903493] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.023,-0.008} {0.470,11.521,-0.153} [component_container_isolated-3] [DEBUG] [1762964978.353985580] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.366510941] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.366572919] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.366613196] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.366657791] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000076 -0.000095 0.000441 [component_container_isolated-3] -0.000076 1.000000 -0.000061 0.000170 [component_container_isolated-3] 0.000095 0.000061 1.000000 -0.000168 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.366683140] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.148,0.035,-0.091} [component_container_isolated-3] [DEBUG] [1762964978.366731372] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.366775005] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.366815312] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 -0.000081 0.475972 -0.001101 [component_container_isolated-3] -0.004651 0.999951 0.008763 0.059948 [component_container_isolated-3] -0.475950 -0.009920 0.879417 0.017907 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.366839709] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.646,28.421,-0.303} [component_container_isolated-3] [DEBUG] [1762964978.366872952] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.449,28.387,-0.199} [component_container_isolated-3] [DEBUG] [1762964978.366949598] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.376169015] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.376229180] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.376270790] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.376316216] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000094 -0.000018 -0.000604 [component_container_isolated-3] -0.000094 1.000000 -0.000147 0.000176 [component_container_isolated-3] 0.000018 0.000147 1.000000 0.000172 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.376342096] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.014,-0.005} {-0.012,-0.091,-0.072} [component_container_isolated-3] [DEBUG] [1762964978.376392342] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.376437768] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.376473457] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981494 0.000186 0.191491 -0.005864 [component_container_isolated-3] -0.001998 0.999955 0.009268 0.061481 [component_container_isolated-3] -0.191481 -0.009479 0.981451 0.016664 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.376497092] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.553,11.039,-0.117} [component_container_isolated-3] [DEBUG] [1762964978.376527710] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.012,0.003} {-0.527,11.131,-0.045} [component_container_isolated-3] [DEBUG] [1762964978.376581874] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.381131502] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.381193591] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.381256100] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.381301096] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000008 -0.000027 0.000030 [component_container_isolated-3] -0.000008 1.000000 0.000162 -0.000006 [component_container_isolated-3] 0.000027 -0.000162 1.000000 -0.000004 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.381327557] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.038,0.124,-0.137} [component_container_isolated-3] [DEBUG] [1762964978.381377132] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.381508853] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.381553428] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982665 -0.000102 0.185392 -0.006731 [component_container_isolated-3] -0.000063 1.000000 0.000884 0.060291 [component_container_isolated-3] -0.185392 -0.000880 0.982664 0.017647 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.381579368] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.051,10.684,-0.004} [component_container_isolated-3] [DEBUG] [1762964978.381610597] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.012,10.560,0.136} [component_container_isolated-3] [DEBUG] [1762964978.381665352] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.400791699] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.400860360] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.400901438] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.400977393] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000086 0.000020 0.000084 [component_container_isolated-3] 0.000086 1.000000 -0.000020 -0.000082 [component_container_isolated-3] -0.000020 0.000020 1.000000 0.000275 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.401005617] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.021,0.007} {0.160,0.188,0.274} [component_container_isolated-3] [DEBUG] [1762964978.401055933] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.401099837] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.401136647] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979195 0.000188 0.202921 -0.006262 [component_container_isolated-3] 0.002194 0.999931 -0.011515 0.061389 [component_container_isolated-3] -0.202910 0.011720 0.979127 0.017030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.401161735] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.686,11.707,0.128} [component_container_isolated-3] [DEBUG] [1762964978.401195269] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.023,-0.008} {0.470,11.521,-0.153} [component_container_isolated-3] [DEBUG] [1762964978.401245585] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.403770888] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.403826575] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.403866671] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.403910705] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000065 0.000102 -0.000210 [component_container_isolated-3] 0.000065 1.000000 0.000066 -0.000048 [component_container_isolated-3] -0.000102 -0.000066 1.000000 0.000274 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.403938128] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.152,0.040,-0.087} [component_container_isolated-3] [DEBUG] [1762964978.403989345] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.404049019] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.404088875] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879412 -0.000169 0.476062 -0.001092 [component_container_isolated-3] -0.004587 0.999951 0.008828 0.059950 [component_container_isolated-3] -0.476040 -0.009948 0.879367 0.017939 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.404111950] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.648,28.427,-0.299} [component_container_isolated-3] [DEBUG] [1762964978.404142358] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.449,28.387,-0.199} [component_container_isolated-3] [DEBUG] [1762964978.404192053] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.408681376] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.408743745] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.408791096] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.408846892] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000086 0.000020 0.000084 [component_container_isolated-3] 0.000086 1.000000 -0.000020 -0.000082 [component_container_isolated-3] -0.000020 0.000020 1.000000 0.000275 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.408883532] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.021,0.007} {0.161,0.189,0.279} [component_container_isolated-3] [DEBUG] [1762964978.408979846] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.409050050] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.409104564] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979195 0.000188 0.202921 -0.006262 [component_container_isolated-3] 0.002194 0.999931 -0.011515 0.061389 [component_container_isolated-3] -0.202910 0.011720 0.979127 0.017030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.409137046] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.686,11.707,0.128} [component_container_isolated-3] [DEBUG] [1762964978.409177724] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.023,-0.008} {0.468,11.520,-0.158} [component_container_isolated-3] [DEBUG] [1762964978.409248740] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.412380761] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.412471785] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.412524986] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.412582476] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000282 -0.000136 -0.000502 [component_container_isolated-3] 0.000282 1.000000 -0.000031 -0.001440 [component_container_isolated-3] 0.000136 0.000031 1.000000 -0.000391 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.412613295] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.012,-0.005} {-0.010,-0.099,-0.055} [component_container_isolated-3] [DEBUG] [1762964978.412670374] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.412730840] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.412778861] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981520 -0.000085 0.191358 -0.006053 [component_container_isolated-3] -0.001714 0.999956 0.009238 0.061142 [component_container_isolated-3] -0.191350 -0.009395 0.981477 0.016760 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.412811353] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.548,11.032,-0.100} [component_container_isolated-3] [DEBUG] [1762964978.412852602] [zed_multi.right]: +++ Diff [map -> odom] - {0.007,-0.011,0.004} {-0.527,11.131,-0.045} [component_container_isolated-3] [DEBUG] [1762964978.412944978] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.419023768] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.419090445] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.419132916] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.419178523] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000020 0.000034 -0.000107 [component_container_isolated-3] 0.000020 1.000000 -0.000185 0.000091 [component_container_isolated-3] -0.000034 0.000185 1.000000 0.000034 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.419204783] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.009,0.010} {-0.027,0.126,-0.136} [component_container_isolated-3] [DEBUG] [1762964978.419255771] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.419300757] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.419338959] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982658 -0.000086 0.185426 -0.006734 [component_container_isolated-3] -0.000044 1.000000 0.000699 0.060303 [component_container_isolated-3] -0.185426 -0.000695 0.982658 0.017690 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.419363556] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.041,10.686,-0.003} [component_container_isolated-3] [DEBUG] [1762964978.419394335] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.012,10.560,0.136} [component_container_isolated-3] [DEBUG] [1762964978.419445964] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.438096973] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.438160594] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.438201061] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.438245025] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000020 0.000034 -0.000107 [component_container_isolated-3] 0.000020 1.000000 -0.000185 0.000091 [component_container_isolated-3] -0.000034 0.000185 1.000000 0.000034 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.438269993] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.009,0.010} {-0.016,0.128,-0.135} [component_container_isolated-3] [DEBUG] [1762964978.438319468] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.438364113] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.438403879] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982658 -0.000086 0.185426 -0.006734 [component_container_isolated-3] -0.000044 1.000000 0.000699 0.060303 [component_container_isolated-3] -0.185426 -0.000695 0.982658 0.017690 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.438428716] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.041,10.686,-0.003} [component_container_isolated-3] [DEBUG] [1762964978.438462581] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.001,10.558,0.135} [component_container_isolated-3] [DEBUG] [1762964978.438519510] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.441285632] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.441349154] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.441390132] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.441435609] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000005 -0.000102 0.000095 [component_container_isolated-3] -0.000005 1.000000 -0.000041 0.000015 [component_container_isolated-3] 0.000102 0.000041 1.000000 -0.000215 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.441461518] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.149,0.035,-0.087} [component_container_isolated-3] [DEBUG] [1762964978.441510101] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.441552582] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.441588160] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 -0.000145 0.475972 -0.001088 [component_container_isolated-3] -0.004591 0.999951 0.008788 0.059952 [component_container_isolated-3] -0.475950 -0.009914 0.879416 0.017934 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.441611615] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.646,28.421,-0.299} [component_container_isolated-3] [DEBUG] [1762964978.441645950] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.449,28.387,-0.199} [component_container_isolated-3] [DEBUG] [1762964978.441695665] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.448772280] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.448845009] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.448886769] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.448967152] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000185 -0.000078 0.000520 [component_container_isolated-3] -0.000185 1.000000 0.000071 0.001103 [component_container_isolated-3] 0.000078 -0.000071 1.000000 -0.000245 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.448994404] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.005,0.013,-0.005} {-0.014,-0.104,-0.066} [component_container_isolated-3] [DEBUG] [1762964978.449045482] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.449091129] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.449132548] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981535 0.000083 0.191282 -0.006069 [component_container_isolated-3] -0.001899 0.999955 0.009308 0.061287 [component_container_isolated-3] -0.191272 -0.009500 0.981491 0.016759 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.449157987] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.555,11.027,-0.111} [component_container_isolated-3] [DEBUG] [1762964978.449191050] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.012,0.004} {-0.527,11.131,-0.045} [component_container_isolated-3] [DEBUG] [1762964978.449241827] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.472007434] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.472069622] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.472108467] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.472152100] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000185 -0.000078 0.000520 [component_container_isolated-3] -0.000185 1.000000 0.000071 0.001103 [component_container_isolated-3] 0.000078 -0.000071 1.000000 -0.000245 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.472177057] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.015,-0.005} {-0.018,-0.108,-0.077} [component_container_isolated-3] [DEBUG] [1762964978.472224047] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.472274023] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.472313819] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981535 0.000083 0.191282 -0.006069 [component_container_isolated-3] -0.001899 0.999955 0.009308 0.061287 [component_container_isolated-3] -0.191272 -0.009500 0.981491 0.016759 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.472337985] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.555,11.027,-0.111} [component_container_isolated-3] [DEBUG] [1762964978.472371619] [zed_multi.right]: +++ Diff [map -> odom] - {0.006,-0.013,0.004} {-0.521,11.136,-0.034} [component_container_isolated-3] [DEBUG] [1762964978.472458906] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.474554628] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.474619993] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.474661783] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.474707720] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000130 0.000018 -0.000453 [component_container_isolated-3] -0.000130 1.000000 -0.000006 -0.000081 [component_container_isolated-3] -0.000018 0.000006 1.000000 0.000070 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.474733159] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.021,0.007} {0.161,0.191,0.271} [component_container_isolated-3] [DEBUG] [1762964978.474781652] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.474826878] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.474865802] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979191 0.000317 0.202939 -0.006252 [component_container_isolated-3] 0.002064 0.999931 -0.011521 0.061377 [component_container_isolated-3] -0.202929 0.011700 0.979124 0.016964 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.474889157] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.685,11.708,0.121} [component_container_isolated-3] [DEBUG] [1762964978.474956756] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.023,-0.009} {0.468,11.520,-0.158} [component_container_isolated-3] [DEBUG] [1762964978.475010148] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.477333796] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.477392939] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.477443725] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.477503229] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000130 -0.000031 0.000087 [component_container_isolated-3] 0.000130 1.000000 -0.000187 -0.000228 [component_container_isolated-3] 0.000031 0.000187 1.000000 -0.000084 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.477540290] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.139,0.033,-0.080} [component_container_isolated-3] [DEBUG] [1762964978.477610905] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.477669737] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.477724692] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879475 -0.000171 0.475945 -0.001081 [component_container_isolated-3] -0.004461 0.999953 0.008601 0.059918 [component_container_isolated-3] -0.475924 -0.009688 0.879433 0.017926 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.477756843] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.631,28.420,-0.291} [component_container_isolated-3] [DEBUG] [1762964978.477796138] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.449,28.387,-0.199} [component_container_isolated-3] [DEBUG] [1762964978.477864559] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.483907650] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.483978465] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.484017550] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.484061935] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000130 0.000018 -0.000453 [component_container_isolated-3] -0.000130 1.000000 -0.000006 -0.000081 [component_container_isolated-3] -0.000018 0.000006 1.000000 0.000070 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.484087103] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.021,0.007} {0.161,0.192,0.264} [component_container_isolated-3] [DEBUG] [1762964978.484134964] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.484176614] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.484216570] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979191 0.000317 0.202939 -0.006252 [component_container_isolated-3] 0.002064 0.999931 -0.011521 0.061377 [component_container_isolated-3] -0.202929 0.011700 0.979124 0.016964 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.484240095] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.685,11.708,0.121} [component_container_isolated-3] [DEBUG] [1762964978.484273879] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.023,-0.009} {0.469,11.519,-0.150} [component_container_isolated-3] [DEBUG] [1762964978.484322643] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.488349794] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.488408916] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.488451357] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.488496724] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000015 0.000044 0.000281 [component_container_isolated-3] 0.000015 1.000000 0.000077 -0.000231 [component_container_isolated-3] -0.000044 -0.000076 1.000000 -0.000077 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.488523074] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.021,0.131,-0.134} [component_container_isolated-3] [DEBUG] [1762964978.488572449] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.488620671] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.488658253] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982650 -0.000115 0.185469 -0.006698 [component_container_isolated-3] -0.000029 1.000000 0.000775 0.060286 [component_container_isolated-3] -0.185469 -0.000767 0.982650 0.017702 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.488680796] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.045,10.688,-0.002} [component_container_isolated-3] [DEBUG] [1762964978.488711624] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.001,10.558,0.135} [component_container_isolated-3] [DEBUG] [1762964978.488761580] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.493060059] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.493121106] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.493158487] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.493201579] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000185 -0.000078 0.000520 [component_container_isolated-3] -0.000185 1.000000 0.000071 0.001103 [component_container_isolated-3] 0.000078 -0.000071 1.000000 -0.000245 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.493225785] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.016,-0.006} {-0.022,-0.112,-0.087} [component_container_isolated-3] [DEBUG] [1762964978.493273196] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.493318733] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.493358018] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981535 0.000083 0.191282 -0.006069 [component_container_isolated-3] -0.001899 0.999955 0.009308 0.061287 [component_container_isolated-3] -0.191272 -0.009500 0.981491 0.016759 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.493381803] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.555,11.027,-0.111} [component_container_isolated-3] [DEBUG] [1762964978.493413584] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.014,0.005} {-0.515,11.140,-0.023} [component_container_isolated-3] [DEBUG] [1762964978.493463239] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.502817573] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.502873250] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.502907565] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.502976597] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000117 0.000058 -0.000231 [component_container_isolated-3] -0.000117 1.000000 0.000233 0.000204 [component_container_isolated-3] -0.000058 -0.000233 1.000000 0.000081 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.502999290] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.152,0.036,-0.087} [component_container_isolated-3] [DEBUG] [1762964978.503041411] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.503077861] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.503104381] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879447 -0.000179 0.475996 -0.001095 [component_container_isolated-3] -0.004579 0.999950 0.008834 0.059927 [component_container_isolated-3] -0.475974 -0.009949 0.879403 0.017916 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.503121253] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.648,28.423,-0.298} [component_container_isolated-3] [DEBUG] [1762964978.503142604] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.449,28.387,-0.199} [component_container_isolated-3] [DEBUG] [1762964978.503180216] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.512581751] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.512636976] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.512677223] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.512721788] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000130 0.000018 -0.000453 [component_container_isolated-3] -0.000130 1.000000 -0.000006 -0.000081 [component_container_isolated-3] -0.000018 0.000006 1.000000 0.000070 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.512746996] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.021,0.007} {0.162,0.193,0.257} [component_container_isolated-3] [DEBUG] [1762964978.512796471] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.512837549] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.512875011] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979191 0.000317 0.202939 -0.006252 [component_container_isolated-3] 0.002064 0.999931 -0.011521 0.061377 [component_container_isolated-3] -0.202929 0.011700 0.979124 0.016964 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.512898425] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.685,11.708,0.121} [component_container_isolated-3] [DEBUG] [1762964978.512971976] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.023,-0.009} {0.470,11.518,-0.143} [component_container_isolated-3] [DEBUG] [1762964978.513027001] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.516878005] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.516966454] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.517010118] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.517055605] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000080 -0.000150 -0.000054 [component_container_isolated-3] -0.000080 1.000000 0.000193 -0.000018 [component_container_isolated-3] 0.000150 -0.000193 1.000000 -0.000040 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.517081905] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.008,0.010} {-0.032,0.122,-0.139} [component_container_isolated-3] [DEBUG] [1762964978.517130918] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.517176205] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.517216432] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982678 -0.000073 0.185322 -0.006683 [component_container_isolated-3] -0.000109 1.000000 0.000968 0.060277 [component_container_isolated-3] -0.185322 -0.000971 0.982677 0.017701 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.517240838] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.057,10.680,-0.006} [component_container_isolated-3] [DEBUG] [1762964978.517271437] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.001,10.558,0.135} [component_container_isolated-3] [DEBUG] [1762964978.517321072] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.530249081] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.530299808] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.530338281] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.530381945] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000011 -0.000039 -0.000072 [component_container_isolated-3] -0.000011 1.000000 0.000051 -0.000008 [component_container_isolated-3] 0.000039 -0.000051 1.000000 0.000027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.530406562] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.155,0.034,-0.087} [component_container_isolated-3] [DEBUG] [1762964978.530453030] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.530493538] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.530528705] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879466 -0.000193 0.475962 -0.001113 [component_container_isolated-3] -0.004589 0.999950 0.008885 0.059930 [component_container_isolated-3] -0.475940 -0.009999 0.879421 0.017925 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.530550767] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.651,28.421,-0.299} [component_container_isolated-3] [DEBUG] [1762964978.530583229] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.449,28.387,-0.199} [component_container_isolated-3] [DEBUG] [1762964978.530635870] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.539484538] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.539547649] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.539587605] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.539631810] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000136 -0.000014 0.000137 [component_container_isolated-3] 0.000136 1.000000 0.000032 -0.000835 [component_container_isolated-3] 0.000014 -0.000032 1.000000 -0.001174 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.539657098] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.015,-0.007} {-0.024,-0.113,-0.079} [component_container_isolated-3] [DEBUG] [1762964978.539704559] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.539751388] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.539791645] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 -0.000056 0.191268 -0.006145 [component_container_isolated-3] -0.001763 0.999955 0.009341 0.061163 [component_container_isolated-3] -0.191260 -0.009505 0.981493 0.016379 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.539814980] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.555,11.026,-0.103} [component_container_isolated-3] [DEBUG] [1762964978.539846099] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.014,0.006} {-0.515,11.140,-0.023} [component_container_isolated-3] [DEBUG] [1762964978.539895894] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.544337146] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.544400346] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.544442046] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.544485900] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000032 0.000043 -0.000100 [component_container_isolated-3] 0.000032 1.000000 -0.000165 0.000163 [component_container_isolated-3] -0.000043 0.000165 1.000000 0.000050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.544512060] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.009,0.010} {-0.022,0.125,-0.137} [component_container_isolated-3] [DEBUG] [1762964978.544561715] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.544606139] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.544642218] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982670 -0.000073 0.185364 -0.006678 [component_container_isolated-3] -0.000077 1.000000 0.000803 0.060282 [component_container_isolated-3] -0.185364 -0.000803 0.982670 0.017729 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.544666685] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.047,10.682,-0.004} [component_container_isolated-3] [DEBUG] [1762964978.544699528] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.008,-0.009} {0.001,10.558,0.135} [component_container_isolated-3] [DEBUG] [1762964978.544751587] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.559118535] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.559174241] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.559211642] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.559253923] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000130 0.000018 -0.000453 [component_container_isolated-3] -0.000130 1.000000 -0.000006 -0.000081 [component_container_isolated-3] -0.000018 0.000006 1.000000 0.000070 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.559277879] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.021,0.007} {0.162,0.194,0.249} [component_container_isolated-3] [DEBUG] [1762964978.559324207] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.559365065] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.559399992] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979191 0.000317 0.202939 -0.006252 [component_container_isolated-3] 0.002064 0.999931 -0.011521 0.061377 [component_container_isolated-3] -0.202929 0.011700 0.979124 0.016964 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.559422415] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.685,11.708,0.121} [component_container_isolated-3] [DEBUG] [1762964978.559455198] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.023,-0.009} {0.471,11.517,-0.135} [component_container_isolated-3] [DEBUG] [1762964978.559542715] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.561285323] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.561333104] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.561371297] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.561415952] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000011 -0.000039 -0.000072 [component_container_isolated-3] -0.000011 1.000000 0.000051 -0.000008 [component_container_isolated-3] 0.000039 -0.000051 1.000000 0.000027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.561441571] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.158,0.032,-0.088} [component_container_isolated-3] [DEBUG] [1762964978.561489112] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.561535490] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.561575076] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879466 -0.000193 0.475962 -0.001113 [component_container_isolated-3] -0.004589 0.999950 0.008885 0.059930 [component_container_isolated-3] -0.475940 -0.009999 0.879421 0.017925 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.561599212] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.651,28.421,-0.299} [component_container_isolated-3] [DEBUG] [1762964978.561633227] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.001} {-0.446,28.390,-0.199} [component_container_isolated-3] [DEBUG] [1762964978.561685507] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.573024421] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.573087161] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.573127428] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.573171723] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000032 0.000043 -0.000100 [component_container_isolated-3] 0.000032 1.000000 -0.000165 0.000163 [component_container_isolated-3] -0.000043 0.000165 1.000000 0.000050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.573197402] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.009,0.010} {-0.013,0.127,-0.135} [component_container_isolated-3] [DEBUG] [1762964978.573245764] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.573293225] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.573333662] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982670 -0.000073 0.185364 -0.006678 [component_container_isolated-3] -0.000077 1.000000 0.000803 0.060282 [component_container_isolated-3] -0.185364 -0.000803 0.982670 0.017729 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.573356285] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.047,10.682,-0.004} [component_container_isolated-3] [DEBUG] [1762964978.573388377] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.009,-0.009} {-0.009,10.555,0.133} [component_container_isolated-3] [DEBUG] [1762964978.573438753] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.584283173] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.584345312] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.584384316] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.584428420] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000221 -0.000003 0.000107 [component_container_isolated-3] -0.000221 1.000000 -0.000030 0.001469 [component_container_isolated-3] 0.000003 0.000030 1.000000 0.000473 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.584453208] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.016,-0.006} {-0.023,-0.113,-0.092} [component_container_isolated-3] [DEBUG] [1762964978.584500999] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.584547037] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.584586422] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 0.000166 0.191265 -0.006125 [component_container_isolated-3] -0.001984 0.999955 0.009311 0.061558 [component_container_isolated-3] -0.191255 -0.009518 0.981494 0.016321 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.584610899] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.556,11.026,-0.116} [component_container_isolated-3] [DEBUG] [1762964978.584644132] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.015,0.005} {-0.515,11.140,-0.023} [component_container_isolated-3] [DEBUG] [1762964978.584695871] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.589700599] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.589763128] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.589802794] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.589847069] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000011 -0.000039 -0.000072 [component_container_isolated-3] -0.000011 1.000000 0.000051 -0.000008 [component_container_isolated-3] 0.000039 -0.000051 1.000000 0.000027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.589872958] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.161,0.029,-0.089} [component_container_isolated-3] [DEBUG] [1762964978.589952410] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.590002636] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.590044436] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879466 -0.000193 0.475962 -0.001113 [component_container_isolated-3] -0.004589 0.999950 0.008885 0.059930 [component_container_isolated-3] -0.475940 -0.009999 0.879421 0.017925 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.590068522] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.651,28.421,-0.299} [component_container_isolated-3] [DEBUG] [1762964978.590101915] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.001} {-0.443,28.392,-0.198} [component_container_isolated-3] [DEBUG] [1762964978.590152141] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.595367481] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.595428879] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.595466190] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.595510464] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000221 -0.000003 0.000107 [component_container_isolated-3] -0.000221 1.000000 -0.000030 0.001469 [component_container_isolated-3] 0.000003 0.000030 1.000000 0.000473 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.595534380] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.018,-0.006} {-0.021,-0.114,-0.105} [component_container_isolated-3] [DEBUG] [1762964978.595582422] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.595629892] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.595668827] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 0.000166 0.191265 -0.006125 [component_container_isolated-3] -0.001984 0.999955 0.009311 0.061558 [component_container_isolated-3] -0.191255 -0.009518 0.981494 0.016321 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.595693995] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.556,11.026,-0.116} [component_container_isolated-3] [DEBUG] [1762964978.595727068] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.016,0.005} {-0.514,11.141,-0.010} [component_container_isolated-3] [DEBUG] [1762964978.595778546] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.600630302] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.600684876] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.600728259] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.600773476] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000032 0.000043 -0.000100 [component_container_isolated-3] 0.000032 1.000000 -0.000165 0.000163 [component_container_isolated-3] -0.000043 0.000165 1.000000 0.000050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.600799315] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.009,0.010} {-0.003,0.130,-0.134} [component_container_isolated-3] [DEBUG] [1762964978.600848609] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.600892573] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.600961114] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982670 -0.000073 0.185364 -0.006678 [component_container_isolated-3] -0.000077 1.000000 0.000803 0.060282 [component_container_isolated-3] -0.185364 -0.000803 0.982670 0.017729 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.600985811] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.047,10.682,-0.004} [component_container_isolated-3] [DEBUG] [1762964978.601019205] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.009,-0.009} {-0.019,10.553,0.131} [component_container_isolated-3] [DEBUG] [1762964978.601077626] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.607566258] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.607624670] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.607665277] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.607714201] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000030 0.000355 -0.000458 [component_container_isolated-3] 0.000030 1.000000 -0.000065 -0.000062 [component_container_isolated-3] -0.000355 0.000065 1.000000 0.001942 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.607740130] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.021,0.009} {0.166,0.214,0.251} [component_container_isolated-3] [DEBUG] [1762964978.607787180] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.607827748] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.607862764] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979119 0.000301 0.203286 -0.006208 [component_container_isolated-3] 0.002098 0.999931 -0.011585 0.061350 [component_container_isolated-3] -0.203275 0.011769 0.979051 0.017585 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.607884726] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.689,11.729,0.123} [component_container_isolated-3] [DEBUG] [1762964978.607916237] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.023,-0.011} {0.471,11.517,-0.135} [component_container_isolated-3] [DEBUG] [1762964978.607996810] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.617349031] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.617408655] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.617444804] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.617488227] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000030 0.000355 -0.000458 [component_container_isolated-3] 0.000030 1.000000 -0.000065 -0.000062 [component_container_isolated-3] -0.000355 0.000065 1.000000 0.001942 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.617513124] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.022,0.011} {0.170,0.234,0.253} [component_container_isolated-3] [DEBUG] [1762964978.617561657] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.617605441] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.617643533] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979119 0.000301 0.203286 -0.006208 [component_container_isolated-3] 0.002098 0.999931 -0.011585 0.061350 [component_container_isolated-3] -0.203275 0.011769 0.979051 0.017585 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.617668331] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.689,11.729,0.123} [component_container_isolated-3] [DEBUG] [1762964978.617701344] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.023,-0.013} {0.467,11.496,-0.137} [component_container_isolated-3] [DEBUG] [1762964978.617752291] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.618257185] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.618304395] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.618342879] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.618390269] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000011 -0.000039 -0.000072 [component_container_isolated-3] -0.000011 1.000000 0.000051 -0.000008 [component_container_isolated-3] 0.000039 -0.000051 1.000000 0.000027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.618416830] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.164,0.027,-0.089} [component_container_isolated-3] [DEBUG] [1762964978.618469080] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.618513334] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.618549143] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879466 -0.000193 0.475962 -0.001113 [component_container_isolated-3] -0.004589 0.999950 0.008885 0.059930 [component_container_isolated-3] -0.475940 -0.009999 0.879421 0.017925 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.618570954] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.651,28.421,-0.299} [component_container_isolated-3] [DEBUG] [1762964978.618601533] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.001} {-0.439,28.394,-0.197} [component_container_isolated-3] [DEBUG] [1762964978.618650366] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.623597634] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.623661847] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.623701573] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.623745557] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000221 -0.000003 0.000107 [component_container_isolated-3] -0.000221 1.000000 -0.000030 0.001469 [component_container_isolated-3] 0.000003 0.000030 1.000000 0.000473 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.623770544] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.019,-0.005} {-0.019,-0.114,-0.117} [component_container_isolated-3] [DEBUG] [1762964978.623822003] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.623868932] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.623908909] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 0.000166 0.191265 -0.006125 [component_container_isolated-3] -0.001984 0.999955 0.009311 0.061558 [component_container_isolated-3] -0.191255 -0.009518 0.981494 0.016321 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.623974544] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.556,11.026,-0.116} [component_container_isolated-3] [DEBUG] [1762964978.624007988] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.018,0.004} {-0.514,11.141,0.003} [component_container_isolated-3] [DEBUG] [1762964978.624060809] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.630037132] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.630089582] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.630121814] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.630163303] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000032 0.000043 -0.000100 [component_container_isolated-3] 0.000032 1.000000 -0.000165 0.000163 [component_container_isolated-3] -0.000043 0.000165 1.000000 0.000050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.630194372] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.009,0.010} {0.006,0.132,-0.132} [component_container_isolated-3] [DEBUG] [1762964978.630251000] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.630297349] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.630336824] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982670 -0.000073 0.185364 -0.006678 [component_container_isolated-3] -0.000077 1.000000 0.000803 0.060282 [component_container_isolated-3] -0.185364 -0.000803 0.982670 0.017729 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.630361071] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.047,10.682,-0.004} [component_container_isolated-3] [DEBUG] [1762964978.630391980] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.009,-0.009} {-0.028,10.550,0.130} [component_container_isolated-3] [DEBUG] [1762964978.630447997] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.656459893] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.656516561] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.656554544] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.656599079] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000011 -0.000039 -0.000072 [component_container_isolated-3] -0.000011 1.000000 0.000051 -0.000008 [component_container_isolated-3] 0.000039 -0.000051 1.000000 0.000027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.656624427] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.167,0.025,-0.090} [component_container_isolated-3] [DEBUG] [1762964978.656672710] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.656718046] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.656756950] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879466 -0.000193 0.475962 -0.001113 [component_container_isolated-3] -0.004589 0.999950 0.008885 0.059930 [component_container_isolated-3] -0.475940 -0.009999 0.879421 0.017925 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.656779774] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.651,28.421,-0.299} [component_container_isolated-3] [DEBUG] [1762964978.656810012] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.002} {-0.436,28.396,-0.197} [component_container_isolated-3] [DEBUG] [1762964978.656861200] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.667660814] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.667714196] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.667752890] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.667795562] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000061 0.000090 -0.000208 [component_container_isolated-3] 0.000061 1.000000 -0.000047 -0.000134 [component_container_isolated-3] -0.000090 0.000047 1.000000 0.000154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.667820028] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.022,0.011} {0.172,0.239,0.256} [component_container_isolated-3] [DEBUG] [1762964978.667865665] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.667905952] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.667969925] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979101 0.000250 0.203374 -0.006254 [component_container_isolated-3] 0.002160 0.999930 -0.011632 0.061309 [component_container_isolated-3] -0.203363 0.011828 0.979032 0.017791 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.667993870] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.692,11.734,0.126} [component_container_isolated-3] [DEBUG] [1762964978.668026853] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.023,-0.013} {0.467,11.496,-0.137} [component_container_isolated-3] [DEBUG] [1762964978.668080065] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.678298690] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.678357733] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.678398100] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.678444108] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000012 0.000042 -0.000041 [component_container_isolated-3] -0.000012 1.000000 0.000127 -0.000006 [component_container_isolated-3] -0.000042 -0.000127 1.000000 0.000018 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.678469456] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.009,0.010} {-0.001,0.134,-0.132} [component_container_isolated-3] [DEBUG] [1762964978.678518890] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.678565179] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.678606297] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982662 -0.000085 0.185405 -0.006679 [component_container_isolated-3] -0.000089 1.000000 0.000929 0.060288 [component_container_isolated-3] -0.185405 -0.000930 0.982662 0.017741 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.678630263] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.054,10.685,-0.005} [component_container_isolated-3] [DEBUG] [1762964978.678663607] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.009,-0.009} {-0.028,10.550,0.130} [component_container_isolated-3] [DEBUG] [1762964978.678715346] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.681716828] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.681771562] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.681809865] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.681852998] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000061 0.000090 -0.000208 [component_container_isolated-3] 0.000061 1.000000 -0.000047 -0.000134 [component_container_isolated-3] -0.000090 0.000047 1.000000 0.000154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.681877394] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.022,0.011} {0.175,0.245,0.260} [component_container_isolated-3] [DEBUG] [1762964978.681959301] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.682004958] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.682040326] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979101 0.000250 0.203374 -0.006254 [component_container_isolated-3] 0.002160 0.999930 -0.011632 0.061309 [component_container_isolated-3] -0.203363 0.011828 0.979032 0.017791 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.682062227] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.692,11.734,0.126} [component_container_isolated-3] [DEBUG] [1762964978.682091774] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.023,-0.013} {0.464,11.491,-0.141} [component_container_isolated-3] [DEBUG] [1762964978.682144805] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.686998585] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.687066635] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.687109206] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.687155965] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000078 0.000018 0.000209 [component_container_isolated-3] 0.000078 1.000000 -0.000023 -0.000519 [component_container_isolated-3] -0.000018 0.000023 1.000000 0.000038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.687182576] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.019,-0.005} {-0.018,-0.113,-0.113} [component_container_isolated-3] [DEBUG] [1762964978.687232702] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.687278389] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.687313396] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981535 0.000094 0.191282 -0.006085 [component_container_isolated-3] -0.001906 0.999955 0.009288 0.061591 [component_container_isolated-3] -0.191273 -0.009481 0.981491 0.016289 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.687336901] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.553,11.027,-0.111} [component_container_isolated-3] [DEBUG] [1762964978.687369152] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.017,0.004} {-0.514,11.141,0.003} [component_container_isolated-3] [DEBUG] [1762964978.687419799] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.700231036] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.700293605] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.700334263] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.700379830] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000012 0.000042 -0.000041 [component_container_isolated-3] -0.000012 1.000000 0.000127 -0.000006 [component_container_isolated-3] -0.000042 -0.000127 1.000000 0.000018 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.700405268] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.009,0.010} {-0.008,0.137,-0.133} [component_container_isolated-3] [DEBUG] [1762964978.700452969] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.700499769] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.700540256] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982662 -0.000085 0.185405 -0.006679 [component_container_isolated-3] -0.000089 1.000000 0.000929 0.060288 [component_container_isolated-3] -0.185405 -0.000930 0.982662 0.017741 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.700564492] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.054,10.685,-0.005} [component_container_isolated-3] [DEBUG] [1762964978.700597726] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.009,-0.009} {-0.021,10.548,0.130} [component_container_isolated-3] [DEBUG] [1762964978.700648683] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.701359511] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.701411870] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.701452017] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.701496222] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000042 -0.000096 0.000419 [component_container_isolated-3] 0.000042 1.000000 -0.000186 -0.000067 [component_container_isolated-3] 0.000096 0.000186 1.000000 -0.000283 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.701522211] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.000} {-0.156,0.019,-0.088} [component_container_isolated-3] [DEBUG] [1762964978.701571856] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.701614497] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.701650326] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879512 -0.000141 0.475877 -0.001087 [component_container_isolated-3] -0.004547 0.999952 0.008699 0.059921 [component_container_isolated-3] -0.475855 -0.009815 0.879469 0.017870 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.701674292] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.415,-0.296} [component_container_isolated-3] [DEBUG] [1762964978.701707445] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.436,28.396,-0.197} [component_container_isolated-3] [DEBUG] [1762964978.701804100] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.713221644] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.713275187] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.713311436] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.713360079] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000138 -0.000229 -0.000110 [component_container_isolated-3] 0.000138 1.000000 -0.000166 -0.000749 [component_container_isolated-3] 0.000229 0.000166 1.000000 -0.000889 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.713385798] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.018,-0.006} {-0.008,-0.126,-0.105} [component_container_isolated-3] [DEBUG] [1762964978.713435793] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.713480809] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.713516477] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981579 -0.000010 0.191058 -0.006134 [component_container_isolated-3] -0.001765 0.999957 0.009122 0.061430 [component_container_isolated-3] -0.191050 -0.009291 0.981537 0.015996 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.713539071] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.542,11.014,-0.103} [component_container_isolated-3] [DEBUG] [1762964978.713569970] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.017,0.005} {-0.514,11.141,0.003} [component_container_isolated-3] [DEBUG] [1762964978.713622159] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.728178168] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.728235437] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.728273049] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.728315530] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000043 0.000158 -0.000456 [component_container_isolated-3] -0.000043 1.000000 -0.000004 0.000075 [component_container_isolated-3] -0.000158 0.000004 1.000000 0.000480 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.728339826] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.022,0.012} {0.175,0.254,0.257} [component_container_isolated-3] [DEBUG] [1762964978.728385033] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.728428576] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.728467390] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979069 0.000293 0.203529 -0.006377 [component_container_isolated-3] 0.002119 0.999930 -0.011635 0.061288 [component_container_isolated-3] -0.203518 0.011823 0.979000 0.018100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.728490244] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.692,11.743,0.124} [component_container_isolated-3] [DEBUG] [1762964978.728523577] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.023,-0.013} {0.464,11.491,-0.141} [component_container_isolated-3] [DEBUG] [1762964978.728575016] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.734125365] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.734174439] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.734218163] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.734263740] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000015 0.000046 -0.000107 [component_container_isolated-3] -0.000015 1.000000 0.000030 -0.000017 [component_container_isolated-3] -0.000046 -0.000030 1.000000 0.000084 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.734289088] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.158,0.022,-0.088} [component_container_isolated-3] [DEBUG] [1762964978.734338643] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.734381795] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.734416952] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879490 -0.000142 0.475917 -0.001082 [component_container_isolated-3] -0.004562 0.999952 0.008729 0.059915 [component_container_isolated-3] -0.475896 -0.009848 0.879447 0.017848 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.734438844] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.418,-0.297} [component_container_isolated-3] [DEBUG] [1762964978.734469342] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.001} {-0.436,28.396,-0.197} [component_container_isolated-3] [DEBUG] [1762964978.734520931] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.740433302] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.740496773] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.740538012] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.740582858] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000120 0.000129 -0.000394 [component_container_isolated-3] -0.000120 1.000000 0.000100 0.000739 [component_container_isolated-3] -0.000129 -0.000100 1.000000 0.001342 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.740609318] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.019,-0.005} {-0.014,-0.119,-0.112} [component_container_isolated-3] [DEBUG] [1762964978.740659885] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.740705121] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.740741601] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981554 0.000089 0.191184 -0.006136 [component_container_isolated-3] -0.001887 0.999956 0.009221 0.061508 [component_container_isolated-3] -0.191175 -0.009412 0.981511 0.016183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.740766088] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.549,11.021,-0.110} [component_container_isolated-3] [DEBUG] [1762964978.740799952] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.017,0.004} {-0.514,11.141,0.003} [component_container_isolated-3] [DEBUG] [1762964978.740851901] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.747208371] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.747275449] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.747318000] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.747363116] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000032 -0.000049 0.000104 [component_container_isolated-3] 0.000032 1.000000 0.000019 -0.000109 [component_container_isolated-3] 0.000049 -0.000019 1.000000 -0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.747388946] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.009,0.010} {-0.010,0.134,-0.131} [component_container_isolated-3] [DEBUG] [1762964978.747437929] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.747856789] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.747945669] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982671 -0.000119 0.185357 -0.006670 [component_container_isolated-3] -0.000057 1.000000 0.000948 0.060279 [component_container_isolated-3] -0.185357 -0.000942 0.982671 0.017751 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.747972991] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.055,10.682,-0.003} [component_container_isolated-3] [DEBUG] [1762964978.748005473] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.009,-0.009} {-0.021,10.548,0.130} [component_container_isolated-3] [DEBUG] [1762964978.748052262] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.770821516] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.770874738] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.770912660] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.771006399] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000032 -0.000062 0.000325 [component_container_isolated-3] 0.000032 1.000000 -0.000038 0.000034 [component_container_isolated-3] 0.000062 0.000038 1.000000 -0.000234 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.771031898] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.022,0.012} {0.177,0.250,0.259} [component_container_isolated-3] [DEBUG] [1762964978.771080431] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.771123473] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.771162016] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000269 0.203468 -0.006418 [component_container_isolated-3] 0.002151 0.999930 -0.011673 0.061274 [component_container_isolated-3] -0.203456 0.011867 0.979012 0.018215 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.771185752] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.694,11.739,0.126} [component_container_isolated-3] [DEBUG] [1762964978.771217532] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.023,-0.013} {0.464,11.491,-0.141} [component_container_isolated-3] [DEBUG] [1762964978.771265574] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.774878244] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.774965961] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.775007751] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.775053027] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000062 0.000031 -0.000243 [component_container_isolated-3] -0.000062 1.000000 0.000171 0.000106 [component_container_isolated-3] -0.000031 -0.000171 1.000000 0.000093 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.775078636] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.167,0.024,-0.092} [component_container_isolated-3] [DEBUG] [1762964978.775132529] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.775181002] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.775221499] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879475 -0.000169 0.475945 -0.001104 [component_container_isolated-3] -0.004624 0.999950 0.008900 0.059924 [component_container_isolated-3] -0.475922 -0.010028 0.879430 0.017845 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.775246076] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.653,28.419,-0.301} [component_container_isolated-3] [DEBUG] [1762964978.775278047] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.001} {-0.436,28.396,-0.197} [component_container_isolated-3] [DEBUG] [1762964978.775328253] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.784982400] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.785047845] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.785088372] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.785133008] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000041 -0.000038 0.000126 [component_container_isolated-3] 0.000041 1.000000 -0.000133 -0.000580 [component_container_isolated-3] 0.000038 0.000133 1.000000 -0.000376 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.785157214] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.018,-0.005} {-0.006,-0.121,-0.109} [component_container_isolated-3] [DEBUG] [1762964978.785207109] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.785255842] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.785296049] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981561 0.000074 0.191146 -0.006146 [component_container_isolated-3] -0.001845 0.999957 0.009089 0.061434 [component_container_isolated-3] -0.191138 -0.009274 0.981519 0.016193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.785320536] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.541,11.019,-0.108} [component_container_isolated-3] [DEBUG] [1762964978.785354310] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.017,0.004} {-0.514,11.141,0.003} [component_container_isolated-3] [DEBUG] [1762964978.785408654] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.790686834] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.790754503] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.790797996] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.790844615] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000004 0.000022 0.000023 [component_container_isolated-3] -0.000004 1.000000 0.000018 0.000033 [component_container_isolated-3] -0.000022 -0.000018 1.000000 0.000033 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.790872208] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.009,0.010} {-0.011,0.135,-0.132} [component_container_isolated-3] [DEBUG] [1762964978.790962250] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.791011434] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.791050078] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982667 -0.000118 0.185379 -0.006658 [component_container_isolated-3] -0.000062 1.000000 0.000966 0.060277 [component_container_isolated-3] -0.185379 -0.000961 0.982667 0.017764 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.791072721] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.056,10.683,-0.004} [component_container_isolated-3] [DEBUG] [1762964978.791103610] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.009,-0.009} {-0.021,10.548,0.130} [component_container_isolated-3] [DEBUG] [1762964978.791158325] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.796211565] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.796271650] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.796312277] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.796356702] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000073 0.000008 -0.000150 [component_container_isolated-3] -0.000073 1.000000 0.000100 0.000188 [component_container_isolated-3] -0.000008 -0.000100 1.000000 0.000119 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.796380397] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.022,0.012} {0.172,0.251,0.255} [component_container_isolated-3] [DEBUG] [1762964978.796426065] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.796469668] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.796508162] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 0.000321 0.203476 -0.006454 [component_container_isolated-3] 0.002078 0.999931 -0.011573 0.061287 [component_container_isolated-3] -0.203465 0.011754 0.979012 0.018313 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.796530284] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.688,11.740,0.122} [component_container_isolated-3] [DEBUG] [1762964978.796561283] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.023,-0.013} {0.464,11.491,-0.141} [component_container_isolated-3] [DEBUG] [1762964978.796609906] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.813384131] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.813438975] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.813475455] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.813518217] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000026 0.000040 -0.000063 [component_container_isolated-3] 0.000026 1.000000 0.000126 0.000007 [component_container_isolated-3] -0.000040 -0.000126 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.813542974] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.175,0.026,-0.090} [component_container_isolated-3] [DEBUG] [1762964978.813589573] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.813632294] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.813670718] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879456 -0.000252 0.475980 -0.001126 [component_container_isolated-3] -0.004599 0.999949 0.009026 0.059930 [component_container_isolated-3] -0.475958 -0.010127 0.879410 0.017853 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.813693822] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.660,28.422,-0.300} [component_container_isolated-3] [DEBUG] [1762964978.813726665] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.002} {-0.436,28.396,-0.197} [component_container_isolated-3] [DEBUG] [1762964978.813777742] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.823743224] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.823807897] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.823848064] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.823892379] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000108 0.000078 0.000161 [component_container_isolated-3] -0.000109 1.000000 0.000174 0.000434 [component_container_isolated-3] -0.000078 -0.000174 1.000000 -0.000237 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.823958866] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.019,-0.006} {-0.016,-0.116,-0.116} [component_container_isolated-3] [DEBUG] [1762964978.824012839] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.824061151] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.824101648] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 0.000147 0.191223 -0.006135 [component_container_isolated-3] -0.001954 0.999955 0.009263 0.061467 [component_container_isolated-3] -0.191214 -0.009465 0.981503 0.016142 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.824125764] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.553,11.024,-0.114} [component_container_isolated-3] [DEBUG] [1762964978.824159980] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.017,0.004} {-0.514,11.141,0.003} [component_container_isolated-3] [DEBUG] [1762964978.824220515] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.834483826] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.834554240] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.834595569] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.834642329] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000022 -0.000017 -0.000022 [component_container_isolated-3] -0.000022 1.000000 -0.000220 -0.000023 [component_container_isolated-3] 0.000017 0.000220 1.000000 -0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.834669240] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.009,0.010} {0.002,0.134,-0.133} [component_container_isolated-3] [DEBUG] [1762964978.834718554] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.834766886] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.834808085] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982670 -0.000056 0.185362 -0.006647 [component_container_isolated-3] -0.000084 1.000000 0.000747 0.060269 [component_container_isolated-3] -0.185362 -0.000749 0.982670 0.017786 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.834832782] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.044,10.682,-0.005} [component_container_isolated-3] [DEBUG] [1762964978.834865695] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.009,-0.009} {-0.021,10.548,0.130} [component_container_isolated-3] [DEBUG] [1762964978.834916482] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.838604575] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.838670381] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.838711049] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.838756616] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000088 0.000001 0.000302 [component_container_isolated-3] 0.000088 1.000000 -0.000185 -0.000202 [component_container_isolated-3] -0.000001 0.000185 1.000000 -0.000017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.838781894] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.164,0.026,-0.085} [component_container_isolated-3] [DEBUG] [1762964978.838830427] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.838872106] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.838912183] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879456 -0.000241 0.475981 -0.001103 [component_container_isolated-3] -0.004511 0.999951 0.008841 0.059904 [component_container_isolated-3] -0.475959 -0.009923 0.879411 0.017854 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.838966757] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.646,28.422,-0.294} [component_container_isolated-3] [DEBUG] [1762964978.838998828] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.436,28.396,-0.197} [component_container_isolated-3] [DEBUG] [1762964978.839052331] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.844858208] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.844958360] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.845005830] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.845056307] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000022 -0.000017 -0.000022 [component_container_isolated-3] -0.000022 1.000000 -0.000220 -0.000023 [component_container_isolated-3] 0.000017 0.000220 1.000000 -0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.845085873] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.009,0.010} {0.015,0.133,-0.134} [component_container_isolated-3] [DEBUG] [1762964978.845139886] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.845191625] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.845231381] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982670 -0.000056 0.185362 -0.006647 [component_container_isolated-3] -0.000084 1.000000 0.000747 0.060269 [component_container_isolated-3] -0.185362 -0.000749 0.982670 0.017786 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.845257741] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.044,10.682,-0.005} [component_container_isolated-3] [DEBUG] [1762964978.845296816] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.009,-0.009} {-0.033,10.549,0.132} [component_container_isolated-3] [DEBUG] [1762964978.845343936] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.848606086] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.848661963] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.848702951] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.848750512] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000038 -0.000081 -0.000046 [component_container_isolated-3] -0.000038 1.000000 0.000012 0.000081 [component_container_isolated-3] 0.000081 -0.000012 1.000000 -0.000304 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.848777553] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.021,0.011} {0.171,0.246,0.253} [component_container_isolated-3] [DEBUG] [1762964978.848827108] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.848869188] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.848905067] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979096 0.000356 0.203396 -0.006491 [component_container_isolated-3] 0.002038 0.999931 -0.011562 0.061305 [component_container_isolated-3] -0.203386 0.011735 0.979028 0.018383 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.848951556] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.000} {0.687,11.735,0.119} [component_container_isolated-3] [DEBUG] [1762964978.848983306] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.023,-0.012} {0.464,11.491,-0.141} [component_container_isolated-3] [DEBUG] [1762964978.849036338] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.854151396] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.854209467] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.854249664] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.854293127] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000013 -0.000115 -0.000038 [component_container_isolated-3] -0.000013 1.000000 -0.000139 0.000137 [component_container_isolated-3] 0.000115 0.000139 1.000000 -0.000402 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.854318255] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.019,-0.006} {-0.008,-0.123,-0.116} [component_container_isolated-3] [DEBUG] [1762964978.854367188] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.854411353] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.854446670] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981568 0.000186 0.191111 -0.006153 [component_container_isolated-3] -0.001966 0.999956 0.009124 0.061502 [component_container_isolated-3] -0.191101 -0.009332 0.981526 0.016030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.854468933] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.545,11.017,-0.115} [component_container_isolated-3] [DEBUG] [1762964978.854501074] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.017,0.004} {-0.514,11.141,0.003} [component_container_isolated-3] [DEBUG] [1762964978.854554015] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.856664706] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.856716605] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.856756151] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.856800555] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000038 -0.000081 -0.000046 [component_container_isolated-3] -0.000038 1.000000 0.000012 0.000081 [component_container_isolated-3] 0.000081 -0.000012 1.000000 -0.000304 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.856825533] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.021,0.011} {0.170,0.241,0.250} [component_container_isolated-3] [DEBUG] [1762964978.856872242] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.856914934] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.856982032] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979096 0.000356 0.203396 -0.006491 [component_container_isolated-3] 0.002038 0.999931 -0.011562 0.061305 [component_container_isolated-3] -0.203386 0.011735 0.979028 0.018383 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.857004565] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.000} {0.687,11.735,0.119} [component_container_isolated-3] [DEBUG] [1762964978.857037819] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.023,-0.012} {0.465,11.496,-0.138} [component_container_isolated-3] [DEBUG] [1762964978.857094777] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.866319645] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.866415538] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.866468288] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.866526229] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000046 -0.000034 -0.000114 [component_container_isolated-3] -0.000046 1.000000 -0.000032 0.000087 [component_container_isolated-3] 0.000034 0.000032 1.000000 0.000037 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.866561847] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.162,0.024,-0.088} [component_container_isolated-3] [DEBUG] [1762964978.866636770] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.866701223] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.866751279] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879472 -0.000185 0.475950 -0.001098 [component_container_isolated-3] -0.004557 0.999951 0.008810 0.059899 [component_container_isolated-3] -0.475928 -0.009917 0.879428 0.017858 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.866792357] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.646,28.420,-0.297} [component_container_isolated-3] [DEBUG] [1762964978.866830570] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.001} {-0.436,28.396,-0.197} [component_container_isolated-3] [DEBUG] [1762964978.866873683] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.870913287] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.870996436] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.871036984] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.871080497] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000182 0.000212 -0.000695 [component_container_isolated-3] 0.000182 1.000000 0.000065 -0.000627 [component_container_isolated-3] -0.000212 -0.000065 1.000000 0.001134 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.871104533] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.018,-0.005} {-0.012,-0.111,-0.106} [component_container_isolated-3] [DEBUG] [1762964978.871152113] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.871194865] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.871230142] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981528 -0.000005 0.191319 -0.006280 [component_container_isolated-3] -0.001786 0.999956 0.009189 0.061413 [component_container_isolated-3] -0.191311 -0.009361 0.981485 0.016261 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.871252726] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.546,11.029,-0.104} [component_container_isolated-3] [DEBUG] [1762964978.871282813] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.017,0.003} {-0.514,11.141,0.003} [component_container_isolated-3] [DEBUG] [1762964978.871331626] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.878220462] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.878290145] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.878330653] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.878377091] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000004 -0.000040 -0.000104 [component_container_isolated-3] -0.000004 1.000000 0.000184 0.000058 [component_container_isolated-3] 0.000040 -0.000184 1.000000 -0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.878403963] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.009,0.010} {0.004,0.131,-0.134} [component_container_isolated-3] [DEBUG] [1762964978.878457355] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.878507240] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.878554731] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982678 -0.000086 0.185322 -0.006654 [component_container_isolated-3] -0.000088 1.000000 0.000930 0.060273 [component_container_isolated-3] -0.185322 -0.000930 0.982677 0.017784 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.878583085] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.054,10.680,-0.005} [component_container_isolated-3] [DEBUG] [1762964978.878620476] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.009,-0.009} {-0.033,10.549,0.132} [component_container_isolated-3] [DEBUG] [1762964978.878680731] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.887410082] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.887473072] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.887512528] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.887557043] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000049 -0.000571 0.000860 [component_container_isolated-3] 0.000049 1.000000 0.000039 0.000296 [component_container_isolated-3] 0.000571 -0.000039 1.000000 -0.002160 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.887581910] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.021,0.009} {0.168,0.209,0.253} [component_container_isolated-3] [DEBUG] [1762964978.887627848] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.887671351] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.887711037] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979212 0.000300 0.202837 -0.006546 [component_container_isolated-3] 0.002081 0.999931 -0.011524 0.061389 [component_container_isolated-3] -0.202827 0.011707 0.979145 0.017545 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.887735383] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.002,-0.001} {0.685,11.702,0.122} [component_container_isolated-3] [DEBUG] [1762964978.887769679] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.023,-0.011} {0.465,11.496,-0.138} [component_container_isolated-3] [DEBUG] [1762964978.887818913] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.901555817] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.901610642] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.901650949] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.901693801] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 0.000055 0.000048 [component_container_isolated-3] -0.000037 1.000000 0.000051 0.000012 [component_container_isolated-3] -0.000055 -0.000051 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.901718217] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.165,0.027,-0.090} [component_container_isolated-3] [DEBUG] [1762964978.901764556] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.901805584] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.901840781] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 -0.000177 0.475999 -0.001087 [component_container_isolated-3] -0.004594 0.999950 0.008860 0.059897 [component_container_isolated-3] -0.475977 -0.009979 0.879401 0.017860 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.901862884] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.650,28.423,-0.299} [component_container_isolated-3] [DEBUG] [1762964978.901895015] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.436,28.396,-0.197} [component_container_isolated-3] [DEBUG] [1762964978.901995557] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.909299776] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.909361715] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.909404616] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.909448841] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000118 -0.000086 0.000600 [component_container_isolated-3] -0.000118 1.000000 0.000146 0.000189 [component_container_isolated-3] 0.000086 -0.000146 1.000000 -0.000428 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.909474590] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.018,-0.005} {-0.020,-0.116,-0.113} [component_container_isolated-3] [DEBUG] [1762964978.909524285] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.909570684] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.909606061] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000083 0.191235 -0.006253 [component_container_isolated-3] -0.001903 0.999955 0.009335 0.061402 [component_container_isolated-3] -0.191226 -0.009526 0.981500 0.016250 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.909629245] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.556,11.024,-0.111} [component_container_isolated-3] [DEBUG] [1762964978.909662499] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.017,0.004} {-0.514,11.141,0.003} [component_container_isolated-3] [DEBUG] [1762964978.909714158] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.915491120] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.915566765] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.915616630] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.915674771] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000175 -0.000258 -0.000470 [component_container_isolated-3] 0.000175 1.000000 -0.000090 -0.001011 [component_container_isolated-3] 0.000258 0.000090 1.000000 -0.000960 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.915710880] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.008,0.009} {0.009,0.116,-0.124} [component_container_isolated-3] [DEBUG] [1762964978.915777307] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.915843774] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.915895993] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982725 -0.000241 0.185069 -0.006817 [component_container_isolated-3] 0.000088 1.000000 0.000840 0.059970 [component_container_isolated-3] -0.185069 -0.000809 0.982725 0.017552 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.915961408] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,0.000} {-0.047,10.665,0.005} [component_container_isolated-3] [DEBUG] [1762964978.916004050] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.008,-0.009} {-0.033,10.549,0.132} [component_container_isolated-3] [DEBUG] [1762964978.916097278] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.921838382] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.921904528] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.921979652] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.922028996] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 0.000055 0.000048 [component_container_isolated-3] -0.000037 1.000000 0.000051 0.000012 [component_container_isolated-3] -0.000055 -0.000051 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.922055757] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.168,0.030,-0.092} [component_container_isolated-3] [DEBUG] [1762964978.922106284] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.922150388] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.922192468] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 -0.000177 0.475999 -0.001087 [component_container_isolated-3] -0.004594 0.999950 0.008860 0.059897 [component_container_isolated-3] -0.475977 -0.009979 0.879401 0.017860 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.922222856] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.650,28.423,-0.299} [component_container_isolated-3] [DEBUG] [1762964978.922366641] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.432,28.393,-0.194} [component_container_isolated-3] [DEBUG] [1762964978.922421996] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.933046316] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.933102343] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.933143642] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.933190321] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000175 -0.000258 -0.000470 [component_container_isolated-3] 0.000175 1.000000 -0.000090 -0.001011 [component_container_isolated-3] 0.000258 0.000090 1.000000 -0.000960 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.933216582] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.008} {0.014,0.101,-0.114} [component_container_isolated-3] [DEBUG] [1762964978.933265585] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.933313256] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.933354295] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982725 -0.000241 0.185069 -0.006817 [component_container_isolated-3] 0.000088 1.000000 0.000840 0.059970 [component_container_isolated-3] -0.185069 -0.000809 0.982725 0.017552 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.933379994] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,0.000} {-0.047,10.665,0.005} [component_container_isolated-3] [DEBUG] [1762964978.933412115] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.007,-0.008} {-0.040,10.564,0.121} [component_container_isolated-3] [DEBUG] [1762964978.933463012] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.936050043] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.936108925] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.936151166] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.936197374] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000012 0.000118 0.000167 [component_container_isolated-3] -0.000012 1.000000 -0.000032 0.000264 [component_container_isolated-3] -0.000118 0.000032 1.000000 0.000129 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.936222432] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.021,0.009} {0.170,0.215,0.252} [component_container_isolated-3] [DEBUG] [1762964978.936271245] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.936313145] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.936348032] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979189 0.000318 0.202953 -0.006488 [component_container_isolated-3] 0.002070 0.999931 -0.011556 0.061495 [component_container_isolated-3] -0.202942 0.011736 0.979120 0.017411 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.936370956] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.687,11.709,0.121} [component_container_isolated-3] [DEBUG] [1762964978.936402536] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.023,-0.011} {0.465,11.496,-0.138} [component_container_isolated-3] [DEBUG] [1762964978.936455297] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.944561728] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.944621963] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.944661749] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.944705553] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000090 0.000266 0.000343 [component_container_isolated-3] 0.000090 1.000000 -0.000074 0.000047 [component_container_isolated-3] -0.000266 0.000074 1.000000 0.001288 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.944730911] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.018,-0.004} {-0.016,-0.100,-0.108} [component_container_isolated-3] [DEBUG] [1762964978.944780366] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.944828337] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.944869496] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981493 0.000009 0.191496 -0.006088 [component_container_isolated-3] -0.001815 0.999955 0.009260 0.061398 [component_container_isolated-3] -0.191487 -0.009436 0.981450 0.016674 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.944894293] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.551,11.040,-0.106} [component_container_isolated-3] [DEBUG] [1762964978.944976931] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.017,0.003} {-0.514,11.141,0.003} [component_container_isolated-3] [DEBUG] [1762964978.945034601] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.953664943] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.953730228] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.953771326] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.953816462] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 0.000055 0.000048 [component_container_isolated-3] -0.000037 1.000000 0.000051 0.000012 [component_container_isolated-3] -0.000055 -0.000051 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.953842222] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.171,0.034,-0.094} [component_container_isolated-3] [DEBUG] [1762964978.953890995] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.953972781] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.954015803] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 -0.000177 0.475999 -0.001087 [component_container_isolated-3] -0.004594 0.999950 0.008860 0.059897 [component_container_isolated-3] -0.475977 -0.009979 0.879401 0.017860 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.954040610] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.650,28.423,-0.299} [component_container_isolated-3] [DEBUG] [1762964978.954072491] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.428,28.390,-0.192} [component_container_isolated-3] [DEBUG] [1762964978.954124611] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.964080614] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.964128726] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.964164404] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.964205583] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000068 0.000036 0.000232 [component_container_isolated-3] -0.000068 1.000000 0.000078 -0.000013 [component_container_isolated-3] -0.000036 -0.000078 1.000000 -0.000283 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.964229248] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.021,0.009} {0.165,0.217,0.249} [component_container_isolated-3] [DEBUG] [1762964978.964272721] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.964311175] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.964345059] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979181 0.000369 0.202988 -0.006418 [component_container_isolated-3] 0.002003 0.999932 -0.011478 0.061550 [component_container_isolated-3] -0.202978 0.011646 0.979114 0.017214 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.964366360] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.681,11.711,0.117} [component_container_isolated-3] [DEBUG] [1762964978.964397830] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.023,-0.011} {0.465,11.496,-0.138} [component_container_isolated-3] [DEBUG] [1762964978.964448707] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.976105689] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.976189780] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.976241218] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.976291755] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000112 -0.000156 -0.000853 [component_container_isolated-3] 0.000112 1.000000 0.000006 -0.000469 [component_container_isolated-3] 0.000156 -0.000006 1.000000 -0.000674 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.976320490] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.018,-0.005} {-0.017,-0.109,-0.101} [component_container_isolated-3] [DEBUG] [1762964978.976373942] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.976424558] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.976465256] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981523 -0.000102 0.191343 -0.006219 [component_container_isolated-3] -0.001702 0.999956 0.009267 0.061293 [component_container_isolated-3] -0.191335 -0.009421 0.981480 0.016740 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.976490043] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.550,11.031,-0.099} [component_container_isolated-3] [DEBUG] [1762964978.976521503] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.017,0.004} {-0.514,11.141,0.003} [component_container_isolated-3] [DEBUG] [1762964978.976570657] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.981998924] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.982065281] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.982106339] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.982152006] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000124 0.000357 0.000360 [component_container_isolated-3] -0.000124 1.000000 -0.000047 0.001112 [component_container_isolated-3] -0.000357 0.000047 1.000000 0.001049 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.982177715] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.008,0.009} {0.017,0.122,-0.121} [component_container_isolated-3] [DEBUG] [1762964978.982226629] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.982269631] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.982306792] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982659 -0.000111 0.185420 -0.006789 [component_container_isolated-3] -0.000037 1.000000 0.000793 0.060094 [component_container_isolated-3] -0.185420 -0.000786 0.982659 0.017676 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.982332471] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.046,10.686,-0.002} [component_container_isolated-3] [DEBUG] [1762964978.982365935] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.008,-0.009} {-0.040,10.564,0.121} [component_container_isolated-3] [DEBUG] [1762964978.982416461] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.984700393] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.984764796] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.984803159] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.984845600] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 0.000055 0.000048 [component_container_isolated-3] -0.000037 1.000000 0.000051 0.000012 [component_container_isolated-3] -0.000055 -0.000051 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.984869887] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.174,0.037,-0.097} [component_container_isolated-3] [DEBUG] [1762964978.984946042] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.984992341] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.985032006] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 -0.000177 0.475999 -0.001087 [component_container_isolated-3] -0.004594 0.999950 0.008860 0.059897 [component_container_isolated-3] -0.475977 -0.009979 0.879401 0.017860 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.985055652] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.650,28.423,-0.299} [component_container_isolated-3] [DEBUG] [1762964978.985085589] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.424,28.387,-0.189} [component_container_isolated-3] [DEBUG] [1762964978.985136155] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.986789333] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.986835771] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.986872081] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.986914361] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000038 0.000456 -0.000120 [component_container_isolated-3] -0.000038 1.000000 0.000083 0.000140 [component_container_isolated-3] -0.000456 -0.000083 1.000000 0.001942 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.986969537] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.021,0.011} {0.161,0.243,0.247} [component_container_isolated-3] [DEBUG] [1762964978.987015605] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.987056242] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.987090758] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979088 0.000389 0.203434 -0.006270 [component_container_isolated-3] 0.001970 0.999933 -0.011395 0.061624 [component_container_isolated-3] -0.203425 0.011557 0.979022 0.017646 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.987111237] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.676,11.737,0.115} [component_container_isolated-3] [DEBUG] [1762964978.987143870] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.023,-0.012} {0.465,11.496,-0.138} [component_container_isolated-3] [DEBUG] [1762964978.987198344] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964978.996638562] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964978.996710990] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964978.996751177] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964978.996796313] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000018 -0.000105 0.000290 [component_container_isolated-3] -0.000018 1.000000 -0.000107 0.000283 [component_container_isolated-3] 0.000105 0.000107 1.000000 -0.000308 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964978.996821071] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.018,-0.005} {-0.010,-0.115,-0.102} [component_container_isolated-3] [DEBUG] [1762964978.996872629] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964978.996955557] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964978.996998970] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 -0.000065 0.191239 -0.006235 [component_container_isolated-3] -0.001719 0.999957 0.009160 0.061272 [component_container_isolated-3] -0.191232 -0.009319 0.981501 0.016718 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964978.997023728] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.544,11.025,-0.100} [component_container_isolated-3] [DEBUG] [1762964978.997055218] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.017,0.004} {-0.514,11.141,0.003} [component_container_isolated-3] [DEBUG] [1762964978.997108409] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.006994460] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.007062149] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.007101584] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.007145308] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000012 0.000025 0.000032 [component_container_isolated-3] -0.000012 1.000000 0.000046 -0.000011 [component_container_isolated-3] -0.000025 -0.000046 1.000000 -0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.007169945] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.008,0.009} {0.014,0.123,-0.122} [component_container_isolated-3] [DEBUG] [1762964979.007217556] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.007260007] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.007301576] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982655 -0.000108 0.185444 -0.006783 [component_container_isolated-3] -0.000049 1.000000 0.000840 0.060130 [component_container_isolated-3] -0.185444 -0.000834 0.982654 0.017708 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.007326023] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.049,10.687,-0.003} [component_container_isolated-3] [DEBUG] [1762964979.007359186] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.008,-0.009} {-0.040,10.564,0.121} [component_container_isolated-3] [DEBUG] [1762964979.007409863] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.014883385] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.014985771] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.015025286] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.015069130] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000011 -0.000140 -0.000398 [component_container_isolated-3] 0.000011 1.000000 -0.000122 -0.000211 [component_container_isolated-3] 0.000140 0.000122 1.000000 -0.000423 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.015093867] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.021,0.010} {0.168,0.235,0.247} [component_container_isolated-3] [DEBUG] [1762964979.015142210] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.015187135] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.015226380] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979117 0.000403 0.203297 -0.006272 [component_container_isolated-3] 0.001980 0.999932 -0.011516 0.061665 [component_container_isolated-3] -0.203288 0.011678 0.979049 0.017680 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.015249905] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.683,11.729,0.116} [component_container_isolated-3] [DEBUG] [1762964979.015280935] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.023,-0.012} {0.465,11.496,-0.138} [component_container_isolated-3] [DEBUG] [1762964979.015329377] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.027527853] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.027588679] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.027627784] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.027671357] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 0.000055 0.000048 [component_container_isolated-3] -0.000037 1.000000 0.000051 0.000012 [component_container_isolated-3] -0.000055 -0.000051 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.027697207] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.177,0.040,-0.099} [component_container_isolated-3] [DEBUG] [1762964979.027744407] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.027786056] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.027821544] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 -0.000177 0.475999 -0.001087 [component_container_isolated-3] -0.004594 0.999950 0.008860 0.059897 [component_container_isolated-3] -0.475977 -0.009979 0.879401 0.017860 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.027843747] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.650,28.423,-0.299} [component_container_isolated-3] [DEBUG] [1762964979.027873383] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.420,28.384,-0.187} [component_container_isolated-3] [DEBUG] [1762964979.027946803] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.051714354] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.051777244] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.051816559] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.051860623] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000012 0.000025 0.000032 [component_container_isolated-3] -0.000012 1.000000 0.000046 -0.000011 [component_container_isolated-3] -0.000025 -0.000046 1.000000 -0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.051885450] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.008,0.009} {0.012,0.125,-0.123} [component_container_isolated-3] [DEBUG] [1762964979.051968299] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.052015058] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.052051748] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982655 -0.000108 0.185444 -0.006783 [component_container_isolated-3] -0.000049 1.000000 0.000840 0.060130 [component_container_isolated-3] -0.185444 -0.000834 0.982654 0.017708 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.052074030] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.049,10.687,-0.003} [component_container_isolated-3] [DEBUG] [1762964979.052106062] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.008,-0.009} {-0.038,10.562,0.122} [component_container_isolated-3] [DEBUG] [1762964979.052159995] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.074418784] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.074492234] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.074533002] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.074576615] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000192 -0.000060 0.000216 [component_container_isolated-3] -0.000192 1.000000 0.000114 0.000435 [component_container_isolated-3] 0.000060 -0.000114 1.000000 -0.000228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.074602054] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.019,-0.005} {-0.017,-0.119,-0.113} [component_container_isolated-3] [DEBUG] [1762964979.074651328] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.074694821] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.074731681] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981555 0.000102 0.191180 -0.006216 [component_container_isolated-3] -0.001910 0.999955 0.009274 0.061340 [component_container_isolated-3] -0.191171 -0.009468 0.981511 0.016648 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.074756609] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.553,11.021,-0.111} [component_container_isolated-3] [DEBUG] [1762964979.074796876] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.017,0.004} {-0.514,11.141,0.003} [component_container_isolated-3] [DEBUG] [1762964979.074855197] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.075715981] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.075797216] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.075851570] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.075904371] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000039 0.000298 -0.000231 [component_container_isolated-3] 0.000039 1.000000 -0.000146 -0.000364 [component_container_isolated-3] -0.000298 0.000146 1.000000 0.000953 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.075972441] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.021,0.011} {0.176,0.252,0.249} [component_container_isolated-3] [DEBUG] [1762964979.076028989] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.076075317] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.076113500] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979056 0.000395 0.203588 -0.006245 [component_container_isolated-3] 0.002022 0.999930 -0.011661 0.061639 [component_container_isolated-3] -0.203579 0.011829 0.978987 0.018013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.076136364] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.000} {0.692,11.746,0.118} [component_container_isolated-3] [DEBUG] [1762964979.076166752] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.023,-0.012} {0.465,11.496,-0.138} [component_container_isolated-3] [DEBUG] [1762964979.076215024] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.077658992] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.077710700] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.077750326] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.077795573] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000012 0.000025 0.000032 [component_container_isolated-3] -0.000012 1.000000 0.000046 -0.000011 [component_container_isolated-3] -0.000025 -0.000046 1.000000 -0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.077821242] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.008,0.009} {0.009,0.126,-0.123} [component_container_isolated-3] [DEBUG] [1762964979.077868352] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.077910131] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.077978813] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982655 -0.000108 0.185444 -0.006783 [component_container_isolated-3] -0.000049 1.000000 0.000840 0.060130 [component_container_isolated-3] -0.185444 -0.000834 0.982654 0.017708 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.078002187] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.049,10.687,-0.003} [component_container_isolated-3] [DEBUG] [1762964979.078032866] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.008,-0.009} {-0.035,10.561,0.123} [component_container_isolated-3] [DEBUG] [1762964979.078085977] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.079821832] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.079871767] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.079912255] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.079996516] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000192 -0.000060 0.000216 [component_container_isolated-3] -0.000192 1.000000 0.000114 0.000435 [component_container_isolated-3] 0.000060 -0.000114 1.000000 -0.000228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.080022726] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.019,-0.005} {-0.024,-0.122,-0.124} [component_container_isolated-3] [DEBUG] [1762964979.080083752] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.080131413] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.080167763] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981555 0.000102 0.191180 -0.006216 [component_container_isolated-3] -0.001910 0.999955 0.009274 0.061340 [component_container_isolated-3] -0.191171 -0.009468 0.981511 0.016648 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.080192430] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.553,11.021,-0.111} [component_container_isolated-3] [DEBUG] [1762964979.080226004] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.018,0.005} {-0.505,11.145,0.014} [component_container_isolated-3] [DEBUG] [1762964979.080283223] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.081237957] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.081299644] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.081346895] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.081399054] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000064 -0.000036 -0.000096 [component_container_isolated-3] 0.000064 1.000000 -0.000162 -0.000055 [component_container_isolated-3] 0.000036 0.000162 1.000000 -0.000009 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.081421798] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.168,0.038,-0.095} [component_container_isolated-3] [DEBUG] [1762964979.081464028] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.081499226] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.081526898] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879463 -0.000156 0.475967 -0.001089 [component_container_isolated-3] -0.004530 0.999952 0.008699 0.059885 [component_container_isolated-3] -0.475946 -0.009806 0.879420 0.017879 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.081545163] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.421,-0.295} [component_container_isolated-3] [DEBUG] [1762964979.081567175] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.420,28.384,-0.187} [component_container_isolated-3] [DEBUG] [1762964979.081605208] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.096657785] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.096725163] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.096764689] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.096806599] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000192 -0.000060 0.000216 [component_container_isolated-3] -0.000192 1.000000 0.000114 0.000435 [component_container_isolated-3] 0.000060 -0.000114 1.000000 -0.000228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.096831006] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.019,-0.006} {-0.030,-0.126,-0.135} [component_container_isolated-3] [DEBUG] [1762964979.096879348] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.096951265] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.096990170] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981555 0.000102 0.191180 -0.006216 [component_container_isolated-3] -0.001910 0.999955 0.009274 0.061340 [component_container_isolated-3] -0.191171 -0.009468 0.981511 0.016648 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.097015328] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.553,11.021,-0.111} [component_container_isolated-3] [DEBUG] [1762964979.097049212] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.018,0.005} {-0.496,11.148,0.025} [component_container_isolated-3] [DEBUG] [1762964979.097108085] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.108014073] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.108067635] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.108105748] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.108150102] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000138 -0.000273 -0.000030 [component_container_isolated-3] 0.000138 1.000000 0.000057 -0.000215 [component_container_isolated-3] 0.000273 -0.000057 1.000000 -0.000525 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.108174830] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.021,0.011} {0.173,0.237,0.257} [component_container_isolated-3] [DEBUG] [1762964979.108221649] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.108267356] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.108306902] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979112 0.000248 0.203321 -0.006273 [component_container_isolated-3] 0.002157 0.999930 -0.011605 0.061590 [component_container_isolated-3] -0.203310 0.011801 0.979043 0.018064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.108331038] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.000} {0.691,11.731,0.126} [component_container_isolated-3] [DEBUG] [1762964979.108362207] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.023,-0.012} {0.465,11.496,-0.138} [component_container_isolated-3] [DEBUG] [1762964979.108410119] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.114014592] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.114070208] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.114108662] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.114152706] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000138 -0.000273 -0.000030 [component_container_isolated-3] 0.000138 1.000000 0.000057 -0.000215 [component_container_isolated-3] 0.000273 -0.000057 1.000000 -0.000525 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.114177663] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.022,0.010} {0.170,0.221,0.265} [component_container_isolated-3] [DEBUG] [1762964979.114224473] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.114269339] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.114309265] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979112 0.000248 0.203321 -0.006273 [component_container_isolated-3] 0.002157 0.999930 -0.011605 0.061590 [component_container_isolated-3] -0.203310 0.011801 0.979043 0.018064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.114333251] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.000} {0.691,11.731,0.126} [component_container_isolated-3] [DEBUG] [1762964979.114366835] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.024,-0.011} {0.467,11.512,-0.146} [component_container_isolated-3] [DEBUG] [1762964979.114426348] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.118175999] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.118241304] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.118283344] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.118328470] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000111 -0.000341 -0.000634 [component_container_isolated-3] 0.000111 1.000000 -0.000119 -0.000874 [component_container_isolated-3] 0.000341 0.000119 1.000000 -0.000937 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.118353859] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.007,0.008} {0.016,0.107,-0.117} [component_container_isolated-3] [DEBUG] [1762964979.118402412] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.118444692] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.118480531] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 -0.000194 0.185109 -0.006976 [component_container_isolated-3] 0.000062 1.000000 0.000721 0.059953 [component_container_isolated-3] -0.185109 -0.000697 0.982718 0.017547 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.118502663] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,0.000} {-0.041,10.667,0.004} [component_container_isolated-3] [DEBUG] [1762964979.118535766] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.007,-0.008} {-0.035,10.561,0.123} [component_container_isolated-3] [DEBUG] [1762964979.118588347] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.122411037] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.122478526] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.122518673] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.122564340] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000003 -0.000092 0.000295 [component_container_isolated-3] 0.000003 1.000000 -0.000243 0.000039 [component_container_isolated-3] 0.000092 0.000243 1.000000 -0.000251 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.122590781] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.154,0.033,-0.095} [component_container_isolated-3] [DEBUG] [1762964979.122644273] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.122691914] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.122732381] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879507 -0.000043 0.475886 -0.001063 [component_container_isolated-3] -0.004526 0.999954 0.008456 0.059878 [component_container_isolated-3] -0.475864 -0.009591 0.879466 0.017842 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.122755896] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.625,28.416,-0.295} [component_container_isolated-3] [DEBUG] [1762964979.122786925] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.420,28.384,-0.187} [component_container_isolated-3] [DEBUG] [1762964979.122836400] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.126446043] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.126509594] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.126556063] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.126612491] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000192 -0.000060 0.000216 [component_container_isolated-3] -0.000192 1.000000 0.000114 0.000435 [component_container_isolated-3] 0.000060 -0.000114 1.000000 -0.000228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.126645123] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.020,-0.006} {-0.037,-0.129,-0.146} [component_container_isolated-3] [DEBUG] [1762964979.126711620] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.126778238] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.126826700] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981555 0.000102 0.191180 -0.006216 [component_container_isolated-3] -0.001910 0.999955 0.009274 0.061340 [component_container_isolated-3] -0.191171 -0.009468 0.981511 0.016648 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.126857499] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.553,11.021,-0.111} [component_container_isolated-3] [DEBUG] [1762964979.126898798] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.019,0.005} {-0.488,11.152,0.036} [component_container_isolated-3] [DEBUG] [1762964979.126995222] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.128809306] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.128857839] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.128895892] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.128966497] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000003 -0.000092 0.000295 [component_container_isolated-3] 0.000003 1.000000 -0.000243 0.000039 [component_container_isolated-3] 0.000092 0.000243 1.000000 -0.000251 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.128993408] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.000} {-0.140,0.027,-0.095} [component_container_isolated-3] [DEBUG] [1762964979.129047030] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.129093329] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.129133225] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879507 -0.000043 0.475886 -0.001063 [component_container_isolated-3] -0.004526 0.999954 0.008456 0.059878 [component_container_isolated-3] -0.475864 -0.009591 0.879466 0.017842 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.129156730] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.625,28.416,-0.295} [component_container_isolated-3] [DEBUG] [1762964979.129187889] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.434,28.389,-0.187} [component_container_isolated-3] [DEBUG] [1762964979.129237374] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.133897213] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.133984470] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.134025187] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.134069863] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000111 -0.000341 -0.000634 [component_container_isolated-3] 0.000111 1.000000 -0.000119 -0.000874 [component_container_isolated-3] 0.000341 0.000119 1.000000 -0.000937 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.134095462] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.006,0.007} {0.023,0.087,-0.111} [component_container_isolated-3] [DEBUG] [1762964979.134145948] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.134189461] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.134226452] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 -0.000194 0.185109 -0.006976 [component_container_isolated-3] 0.000062 1.000000 0.000721 0.059953 [component_container_isolated-3] -0.185109 -0.000697 0.982718 0.017547 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.134251289] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,0.000} {-0.041,10.667,0.004} [component_container_isolated-3] [DEBUG] [1762964979.134285845] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.007} {-0.043,10.581,0.116} [component_container_isolated-3] [DEBUG] [1762964979.134335921] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.147388398] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.147448332] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.147490363] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.147535489] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000003 -0.000092 0.000295 [component_container_isolated-3] 0.000003 1.000000 -0.000243 0.000039 [component_container_isolated-3] 0.000092 0.000243 1.000000 -0.000251 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.147562160] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.004,0.000} {-0.126,0.022,-0.094} [component_container_isolated-3] [DEBUG] [1762964979.147612887] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.147658193] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.147696066] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879507 -0.000043 0.475886 -0.001063 [component_container_isolated-3] -0.004526 0.999954 0.008456 0.059878 [component_container_isolated-3] -0.475864 -0.009591 0.879466 0.017842 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.147719089] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.625,28.416,-0.295} [component_container_isolated-3] [DEBUG] [1762964979.147749928] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.001} {-0.448,28.394,-0.187} [component_container_isolated-3] [DEBUG] [1762964979.147798171] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.154157235] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.154229934] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.154270611] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.154317340] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000192 -0.000060 0.000216 [component_container_isolated-3] -0.000192 1.000000 0.000114 0.000435 [component_container_isolated-3] 0.000060 -0.000114 1.000000 -0.000228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.154343450] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.020,-0.006} {-0.043,-0.133,-0.157} [component_container_isolated-3] [DEBUG] [1762964979.154393626] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.154443161] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.154482235] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981555 0.000102 0.191180 -0.006216 [component_container_isolated-3] -0.001910 0.999955 0.009274 0.061340 [component_container_isolated-3] -0.191171 -0.009468 0.981511 0.016648 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.154506161] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.553,11.021,-0.111} [component_container_isolated-3] [DEBUG] [1762964979.154536860] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.019,0.005} {-0.479,11.155,0.047} [component_container_isolated-3] [DEBUG] [1762964979.154586485] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.158385790] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.158443991] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.158485861] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.158532230] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000098 0.000254 -0.000161 [component_container_isolated-3] 0.000098 1.000000 0.000099 -0.001026 [component_container_isolated-3] -0.000254 -0.000099 1.000000 0.000859 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.158558250] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.023,0.011} {0.164,0.236,0.271} [component_container_isolated-3] [DEBUG] [1762964979.158606632] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.158648823] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.158687146] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979060 0.000132 0.203570 -0.006266 [component_container_isolated-3] 0.002258 0.999931 -0.011506 0.061190 [component_container_isolated-3] -0.203557 0.011724 0.978993 0.018352 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.158709448] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.686,11.745,0.132} [component_container_isolated-3] [DEBUG] [1762964979.158739686] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.024,-0.012} {0.467,11.512,-0.146} [component_container_isolated-3] [DEBUG] [1762964979.158787878] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.159391301] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.159441236] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.159481994] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.159526178] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000111 -0.000341 -0.000634 [component_container_isolated-3] 0.000111 1.000000 -0.000119 -0.000874 [component_container_isolated-3] 0.000341 0.000119 1.000000 -0.000937 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.159551977] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.005,0.006} {0.030,0.067,-0.104} [component_container_isolated-3] [DEBUG] [1762964979.159599849] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.159645446] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.159686244] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 -0.000194 0.185109 -0.006976 [component_container_isolated-3] 0.000062 1.000000 0.000721 0.059953 [component_container_isolated-3] -0.185109 -0.000697 0.982718 0.017547 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.159711141] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,0.000} {-0.041,10.667,0.004} [component_container_isolated-3] [DEBUG] [1762964979.159744044] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.006} {-0.051,10.600,0.110} [component_container_isolated-3] [DEBUG] [1762964979.159794851] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.192082102] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.192135975] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.192175160] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.192217571] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000098 0.000254 -0.000161 [component_container_isolated-3] 0.000098 1.000000 0.000099 -0.001026 [component_container_isolated-3] -0.000254 -0.000099 1.000000 0.000859 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.192242258] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.024,0.012} {0.158,0.250,0.276} [component_container_isolated-3] [DEBUG] [1762964979.192288877] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.192332731] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.192370974] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979060 0.000132 0.203570 -0.006266 [component_container_isolated-3] 0.002258 0.999931 -0.011506 0.061190 [component_container_isolated-3] -0.203557 0.011724 0.978993 0.018352 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.192394499] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,-0.000} {0.686,11.745,0.132} [component_container_isolated-3] [DEBUG] [1762964979.192427021] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.025,-0.013} {0.471,11.497,-0.152} [component_container_isolated-3] [DEBUG] [1762964979.192477006] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.200534073] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.200593888] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.200635237] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.200678860] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000020 0.000090 -0.000045 [component_container_isolated-3] 0.000020 1.000000 0.000234 -0.000115 [component_container_isolated-3] -0.000090 -0.000234 1.000000 0.000203 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.200703477] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.003,0.000} {-0.139,0.027,-0.093} [component_container_isolated-3] [DEBUG] [1762964979.200750767] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.200792657] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.200828466] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879464 -0.000173 0.475965 -0.001052 [component_container_isolated-3] -0.004506 0.999952 0.008690 0.059864 [component_container_isolated-3] -0.475944 -0.009787 0.879421 0.017827 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.200850057] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.421,-0.294} [component_container_isolated-3] [DEBUG] [1762964979.200882950] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.001} {-0.448,28.394,-0.187} [component_container_isolated-3] [DEBUG] [1762964979.200977661] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.214161849] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.214233276] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.214283151] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.214338907] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000143 0.000245 -0.000395 [component_container_isolated-3] 0.000143 1.000000 0.000031 -0.000480 [component_container_isolated-3] -0.000245 -0.000031 1.000000 0.000505 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.214369345] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.020,-0.006} {-0.045,-0.119,-0.149} [component_container_isolated-3] [DEBUG] [1762964979.214426835] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.214471591] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.214508972] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981508 -0.000045 0.191420 -0.006261 [component_container_isolated-3] -0.001769 0.999955 0.009304 0.061297 [component_container_isolated-3] -0.191412 -0.009471 0.981464 0.016701 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.214532547] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.000} {-0.553,11.035,-0.103} [component_container_isolated-3] [DEBUG] [1762964979.214564668] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.019,0.005} {-0.479,11.155,0.047} [component_container_isolated-3] [DEBUG] [1762964979.214614313] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.218206123] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.218273722] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.218313438] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.218356640] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000002 0.000023 -0.000227 [component_container_isolated-3] -0.000002 1.000000 0.000229 0.000152 [component_container_isolated-3] -0.000023 -0.000229 1.000000 0.000133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.218381608] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.006,0.007} {0.016,0.069,-0.104} [component_container_isolated-3] [DEBUG] [1762964979.218429810] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.218473253] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.218510324] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 -0.000235 0.185132 -0.007104 [component_container_isolated-3] 0.000060 1.000000 0.000950 0.059926 [component_container_isolated-3] -0.185132 -0.000922 0.982713 0.017522 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.218533929] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,0.000} {-0.054,10.669,0.004} [component_container_isolated-3] [DEBUG] [1762964979.218565770] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.006} {-0.051,10.600,0.110} [component_container_isolated-3] [DEBUG] [1762964979.218617558] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.223479243] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.223547784] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.223588582] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.223633758] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000026 -0.000170 -0.000053 [component_container_isolated-3] 0.000026 1.000000 -0.000086 0.000187 [component_container_isolated-3] 0.000170 0.000086 1.000000 -0.000272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.223658756] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.024,0.012} {0.163,0.240,0.278} [component_container_isolated-3] [DEBUG] [1762964979.223706798] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.223752595] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.223790948] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 0.000124 0.203404 -0.006296 [component_container_isolated-3] 0.002282 0.999930 -0.011593 0.061114 [component_container_isolated-3] -0.203391 0.011814 0.979026 0.018433 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.223813511] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.691,11.735,0.134} [component_container_isolated-3] [DEBUG] [1762964979.223844781] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.025,-0.012} {0.471,11.497,-0.152} [component_container_isolated-3] [DEBUG] [1762964979.223892833] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.231873604] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.231967714] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.232007770] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.232052386] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000008 0.000075 -0.000242 [component_container_isolated-3] 0.000007 1.000000 0.000029 0.000039 [component_container_isolated-3] -0.000075 -0.000029 1.000000 0.000116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.232077644] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.141,0.032,-0.093} [component_container_isolated-3] [DEBUG] [1762964979.232128160] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.232174749] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.232214435] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 -0.000194 0.476031 -0.001055 [component_container_isolated-3] -0.004499 0.999952 0.008719 0.059856 [component_container_isolated-3] -0.476010 -0.009810 0.879385 0.017850 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.232238070] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.425,-0.293} [component_container_isolated-3] [DEBUG] [1762964979.232271284] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.448,28.394,-0.187} [component_container_isolated-3] [DEBUG] [1762964979.232327281] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.241383025] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.241444633] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.241485280] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.241529044] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000058 -0.000208 0.000506 [component_container_isolated-3] 0.000058 1.000000 -0.000089 -0.000517 [component_container_isolated-3] 0.000208 0.000089 1.000000 -0.000481 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.241553601] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.019,-0.006} {-0.040,-0.131,-0.146} [component_container_isolated-3] [DEBUG] [1762964979.241602434] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.241649875] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.241692616] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981548 -0.000085 0.191216 -0.006221 [component_container_isolated-3] -0.001709 0.999956 0.009216 0.061139 [component_container_isolated-3] -0.191208 -0.009373 0.981505 0.016635 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.241716612] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.547,11.023,-0.100} [component_container_isolated-3] [DEBUG] [1762964979.241747441] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.018,0.005} {-0.479,11.155,0.047} [component_container_isolated-3] [DEBUG] [1762964979.241805071] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.243017837] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.243067833] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.243106496] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.243151132] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000140 0.000145 -0.000081 [component_container_isolated-3] -0.000140 1.000000 -0.000062 0.000524 [component_container_isolated-3] -0.000145 0.000062 1.000000 0.000142 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.243175969] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.023,0.012} {0.167,0.249,0.270} [component_container_isolated-3] [DEBUG] [1762964979.243227558] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.243273535] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.243313882] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979065 0.000274 0.203545 -0.006319 [component_container_isolated-3] 0.002143 0.999930 -0.011654 0.061093 [component_container_isolated-3] -0.203534 0.011847 0.978996 0.018517 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.243337658] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.693,11.744,0.125} [component_container_isolated-3] [DEBUG] [1762964979.243370801] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.024,-0.013} {0.471,11.497,-0.152} [component_container_isolated-3] [DEBUG] [1762964979.243420466] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.248123247] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.248184614] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.248225743] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.248278073] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000035 -0.000114 0.000731 [component_container_isolated-3] 0.000035 1.000000 -0.000127 -0.000485 [component_container_isolated-3] 0.000114 0.000127 1.000000 -0.000385 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.248307810] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.005,0.006} {0.024,0.062,-0.102} [component_container_isolated-3] [DEBUG] [1762964979.248364318] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.248420335] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.248468737] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982735 -0.000246 0.185019 -0.007096 [component_container_isolated-3] 0.000096 1.000000 0.000823 0.059767 [component_container_isolated-3] -0.185020 -0.000791 0.982735 0.017394 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.248497772] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.046,10.662,0.006} [component_container_isolated-3] [DEBUG] [1762964979.248536256] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.006} {-0.051,10.600,0.110} [component_container_isolated-3] [DEBUG] [1762964979.248594748] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.251667005] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.251725957] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.251765673] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.251809657] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000008 0.000075 -0.000242 [component_container_isolated-3] 0.000007 1.000000 0.000029 0.000039 [component_container_isolated-3] -0.000075 -0.000029 1.000000 0.000116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.251834705] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.143,0.036,-0.092} [component_container_isolated-3] [DEBUG] [1762964979.251883168] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.251943894] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.251981616] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 -0.000194 0.476031 -0.001055 [component_container_isolated-3] -0.004499 0.999952 0.008719 0.059856 [component_container_isolated-3] -0.476010 -0.009810 0.879385 0.017850 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.252004940] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.425,-0.293} [component_container_isolated-3] [DEBUG] [1762964979.252037773] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.446,28.390,-0.188} [component_container_isolated-3] [DEBUG] [1762964979.252092067] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.269428365] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.269483991] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.269521913] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.269566368] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000061 0.000003 -0.000262 [component_container_isolated-3] -0.000061 1.000000 -0.000023 0.000329 [component_container_isolated-3] -0.000003 0.000023 1.000000 0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.269591206] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.020,-0.006} {-0.038,-0.130,-0.149} [component_container_isolated-3] [DEBUG] [1762964979.269638456] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.269682721] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.269722436] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 -0.000021 0.191219 -0.006227 [component_container_isolated-3] -0.001770 0.999956 0.009193 0.061106 [component_container_isolated-3] -0.191210 -0.009362 0.981504 0.016610 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.269746683] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.546,11.023,-0.103} [component_container_isolated-3] [DEBUG] [1762964979.269780097] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.019,0.005} {-0.479,11.155,0.047} [component_container_isolated-3] [DEBUG] [1762964979.269830032] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.289529894] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.289593796] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.289632770] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.289675452] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000083 0.000116 -0.000015 [component_container_isolated-3] -0.000083 1.000000 0.000106 0.000555 [component_container_isolated-3] -0.000116 -0.000106 1.000000 0.000026 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.289700299] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.006,0.006} {0.018,0.069,-0.107} [component_container_isolated-3] [DEBUG] [1762964979.289751357] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.289796904] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.289836720] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 -0.000184 0.185134 -0.007091 [component_container_isolated-3] 0.000012 1.000000 0.000929 0.059760 [component_container_isolated-3] -0.185134 -0.000911 0.982713 0.017332 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.289861106] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.053,10.669,0.001} [component_container_isolated-3] [DEBUG] [1762964979.289893127] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.006} {-0.051,10.600,0.110} [component_container_isolated-3] [DEBUG] [1762964979.289987438] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.300817601] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.300887294] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.300959932] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.301008926] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000078 -0.000028 0.000024 [component_container_isolated-3] -0.000078 1.000000 0.000209 0.000177 [component_container_isolated-3] 0.000028 -0.000209 1.000000 -0.000045 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.301035296] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.155,0.034,-0.097} [component_container_isolated-3] [DEBUG] [1762964979.301086153] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.301129857] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.301169793] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879442 -0.000225 0.476006 -0.001058 [component_container_isolated-3] -0.004577 0.999950 0.008928 0.059873 [component_container_isolated-3] -0.475984 -0.010030 0.879397 0.017848 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.301194310] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.653,28.423,-0.298} [component_container_isolated-3] [DEBUG] [1762964979.301226712] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.446,28.390,-0.188} [component_container_isolated-3] [DEBUG] [1762964979.301276637] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.301895369] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.301971975] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.302010950] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.302057609] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000061 -0.000274 0.000071 [component_container_isolated-3] -0.000061 1.000000 0.000077 0.000428 [component_container_isolated-3] 0.000274 -0.000077 1.000000 -0.000666 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.302083067] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.023,0.011} {0.162,0.233,0.266} [component_container_isolated-3] [DEBUG] [1762964979.302130678] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.302170935] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.302208357] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979121 0.000318 0.203277 -0.006360 [component_container_isolated-3] 0.002079 0.999931 -0.011578 0.061170 [component_container_isolated-3] -0.203267 0.011759 0.979053 0.018483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.302234246] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.688,11.728,0.122} [component_container_isolated-3] [DEBUG] [1762964979.302267780] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.024,-0.012} {0.471,11.497,-0.152} [component_container_isolated-3] [DEBUG] [1762964979.302317766] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.311722216] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.311793502] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.311840852] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.311888954] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000020 0.000117 0.000159 [component_container_isolated-3] 0.000020 1.000000 0.000101 0.000047 [component_container_isolated-3] -0.000117 -0.000101 1.000000 0.000081 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.311917018] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.020,-0.006} {-0.044,-0.124,-0.148} [component_container_isolated-3] [DEBUG] [1762964979.312004936] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.312053198] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.312096290] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 -0.000060 0.191334 -0.006214 [component_container_isolated-3] -0.001750 0.999955 0.009294 0.061092 [component_container_isolated-3] -0.191326 -0.009457 0.981481 0.016586 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.312122390] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.552,11.030,-0.102} [component_container_isolated-3] [DEBUG] [1762964979.312153580] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.019,0.005} {-0.479,11.155,0.047} [component_container_isolated-3] [DEBUG] [1762964979.312203224] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.317179037] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.317249391] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.317293696] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.317339293] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000017 0.000111 -0.000153 [component_container_isolated-3] -0.000017 1.000000 0.000024 0.000400 [component_container_isolated-3] -0.000111 -0.000024 1.000000 0.000625 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.317365633] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.006,0.007} {0.016,0.075,-0.108} [component_container_isolated-3] [DEBUG] [1762964979.317417212] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.317465234] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.317503837] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982693 -0.000171 0.185243 -0.007092 [component_container_isolated-3] -0.000005 1.000000 0.000953 0.059834 [component_container_isolated-3] -0.185243 -0.000938 0.982692 0.017366 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.317530999] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.055,10.675,-0.000} [component_container_isolated-3] [DEBUG] [1762964979.317565415] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.007} {-0.051,10.600,0.110} [component_container_isolated-3] [DEBUG] [1762964979.317634577] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.320150722] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.320216498] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.320254380] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.320297653] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000020 0.000117 0.000159 [component_container_isolated-3] 0.000020 1.000000 0.000101 0.000047 [component_container_isolated-3] -0.000117 -0.000101 1.000000 0.000081 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.320322200] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.020,-0.006} {-0.050,-0.117,-0.147} [component_container_isolated-3] [DEBUG] [1762964979.320369701] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.320416891] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.320457278] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 -0.000060 0.191334 -0.006214 [component_container_isolated-3] -0.001750 0.999955 0.009294 0.061092 [component_container_isolated-3] -0.191326 -0.009457 0.981481 0.016586 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.320483257] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.552,11.030,-0.102} [component_container_isolated-3] [DEBUG] [1762964979.320516771] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.019,0.005} {-0.473,11.148,0.046} [component_container_isolated-3] [DEBUG] [1762964979.320568470] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.326445233] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.326508234] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.326551416] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.326598706] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000029 0.000045 -0.000272 [component_container_isolated-3] 0.000029 1.000000 -0.000052 -0.000307 [component_container_isolated-3] -0.000045 0.000052 1.000000 0.000145 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.326625898] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.023,0.011} {0.165,0.236,0.268} [component_container_isolated-3] [DEBUG] [1762964979.326674922] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.326717734] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.326758742] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979112 0.000300 0.203322 -0.006443 [component_container_isolated-3] 0.002109 0.999930 -0.011630 0.061164 [component_container_isolated-3] -0.203311 0.011816 0.979043 0.018507 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.326781656] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.691,11.731,0.123} [component_container_isolated-3] [DEBUG] [1762964979.326812324] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.024,-0.012} {0.471,11.497,-0.152} [component_container_isolated-3] [DEBUG] [1762964979.326860927] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.328283123] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.328342877] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.328384928] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.328430024] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 -0.000125 0.000084 [component_container_isolated-3] -0.000037 1.000000 -0.000031 -0.000036 [component_container_isolated-3] 0.000125 0.000031 1.000000 -0.000250 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.328455903] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.000} {-0.153,0.027,-0.099} [component_container_isolated-3] [DEBUG] [1762964979.328503865] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.328546626] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.328583006] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879501 -0.000177 0.475896 -0.001066 [component_container_isolated-3] -0.004613 0.999950 0.008898 0.059878 [component_container_isolated-3] -0.475874 -0.010021 0.879456 0.017824 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.328606511] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.653,28.416,-0.301} [component_container_isolated-3] [DEBUG] [1762964979.328639975] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.446,28.390,-0.188} [component_container_isolated-3] [DEBUG] [1762964979.328693296] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.341360428] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.341411956] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.341449027] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.341495035] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000079 0.000141 0.000346 [component_container_isolated-3] -0.000079 1.000000 -0.000096 0.000228 [component_container_isolated-3] -0.000141 0.000096 1.000000 0.000504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.341522417] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.006,0.007} {0.022,0.083,-0.113} [component_container_isolated-3] [DEBUG] [1762964979.341572863] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.341620414] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.341660801] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982667 -0.000076 0.185382 -0.007013 [component_container_isolated-3] -0.000084 1.000000 0.000857 0.059919 [component_container_isolated-3] -0.185382 -0.000858 0.982666 0.017499 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.341684727] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.050,10.683,-0.005} [component_container_isolated-3] [DEBUG] [1762964979.341715185] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.006,-0.007} {-0.051,10.600,0.110} [component_container_isolated-3] [DEBUG] [1762964979.341765271] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.370172532] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.370239049] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.370279246] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.370323300] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000006 0.000116 0.000060 [component_container_isolated-3] 0.000006 1.000000 0.000069 0.000032 [component_container_isolated-3] -0.000116 -0.000069 1.000000 0.000147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.370347877] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.023,0.011} {0.161,0.242,0.268} [component_container_isolated-3] [DEBUG] [1762964979.370394516] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.370439121] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.370478406] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979088 0.000280 0.203435 -0.006476 [component_container_isolated-3] 0.002116 0.999931 -0.011560 0.061165 [component_container_isolated-3] -0.203424 0.011749 0.979020 0.018535 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.370501971] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.688,11.737,0.124} [component_container_isolated-3] [DEBUG] [1762964979.370535345] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.024,-0.012} {0.471,11.497,-0.152} [component_container_isolated-3] [DEBUG] [1762964979.370584438] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.373233337] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.373309923] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.373358616] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.373417589] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000077 0.000048 -0.000035 [component_container_isolated-3] 0.000077 1.000000 -0.000103 -0.000060 [component_container_isolated-3] -0.000048 0.000103 1.000000 0.000097 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.373451343] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.000} {-0.147,0.030,-0.095} [component_container_isolated-3] [DEBUG] [1762964979.373517450] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.373580380] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.373629674] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879479 -0.000196 0.475938 -0.001069 [component_container_isolated-3] -0.004537 0.999951 0.008795 0.059874 [component_container_isolated-3] -0.475917 -0.009894 0.879435 0.017828 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.373658900] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.419,-0.296} [component_container_isolated-3] [DEBUG] [1762964979.373697924] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.446,28.390,-0.188} [component_container_isolated-3] [DEBUG] [1762964979.373765323] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.387480336] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.387536393] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.387579194] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.387624230] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000207 0.000054 -0.000293 [component_container_isolated-3] -0.000207 1.000000 0.000064 0.000891 [component_container_isolated-3] -0.000054 -0.000064 1.000000 0.000157 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.387648276] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.021,-0.006} {-0.054,-0.114,-0.159} [component_container_isolated-3] [DEBUG] [1762964979.387696699] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.387740132] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.387775199] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981515 0.000131 0.191387 -0.006232 [component_container_isolated-3] -0.001958 0.999954 0.009358 0.061315 [component_container_isolated-3] -0.191377 -0.009559 0.981470 0.016589 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.387798293] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.558,11.033,-0.114} [component_container_isolated-3] [DEBUG] [1762964979.387830584] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.019,0.005} {-0.473,11.148,0.046} [component_container_isolated-3] [DEBUG] [1762964979.387883325] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.393883484] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.393968396] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.394012040] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.394059059] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 0.999998 0.000339 -0.002136 0.001984 [component_container_isolated-3] -0.000338 1.000000 0.000057 0.002309 [component_container_isolated-3] 0.002136 -0.000056 0.999998 -0.009852 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.394085460] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.009,-0.002} {0.019,-0.039,-0.132} [component_container_isolated-3] [DEBUG] [1762964979.394136487] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.394181503] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.394219646] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.983060 0.000246 0.183282 -0.007410 [component_container_isolated-3] -0.000421 1.000000 0.000914 0.061188 [component_container_isolated-3] -0.183282 -0.000976 0.983060 0.010249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.394245525] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.001,0.001,-0.007} {-0.057,10.561,-0.025} [component_container_isolated-3] [DEBUG] [1762964979.394279390] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.007,-0.004} {-0.051,10.600,0.110} [component_container_isolated-3] [DEBUG] [1762964979.394330558] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.406875566] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.406949136] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.406991527] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.407035822] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000002 -0.000004 -0.000057 [component_container_isolated-3] -0.000002 1.000000 -0.000014 0.000005 [component_container_isolated-3] 0.000004 0.000014 1.000000 0.000038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.407061681] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.146,0.030,-0.095} [component_container_isolated-3] [DEBUG] [1762964979.407111075] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.407154649] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.407191038] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879481 -0.000187 0.475935 -0.001074 [component_container_isolated-3] -0.004539 0.999951 0.008781 0.059873 [component_container_isolated-3] -0.475913 -0.009882 0.879437 0.017831 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.407213681] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.644,28.419,-0.296} [component_container_isolated-3] [DEBUG] [1762964979.407246694] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.446,28.390,-0.188} [component_container_isolated-3] [DEBUG] [1762964979.407299565] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.417450581] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.417517399] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.417560411] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.417609144] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 0.999998 0.000339 -0.002136 0.001984 [component_container_isolated-3] -0.000338 1.000000 0.000057 0.002309 [component_container_isolated-3] 0.002136 -0.000056 0.999998 -0.009852 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.417638100] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.011,-0.012} {0.015,-0.161,-0.152} [component_container_isolated-3] [DEBUG] [1762964979.417689909] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.417738321] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.417777085] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.983060 0.000246 0.183282 -0.007410 [component_container_isolated-3] -0.000421 1.000000 0.000914 0.061188 [component_container_isolated-3] -0.183282 -0.000976 0.983060 0.010249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.417800810] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.001,0.001,-0.007} {-0.057,10.561,-0.025} [component_container_isolated-3] [DEBUG] [1762964979.417832190] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.010,0.006} {-0.044,10.723,0.130} [component_container_isolated-3] [DEBUG] [1762964979.417883308] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.422038583] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.422103768] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.422145618] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.422191095] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000010 -0.000257 0.000326 [component_container_isolated-3] 0.000010 1.000000 -0.000099 -0.000104 [component_container_isolated-3] 0.000257 0.000099 1.000000 -0.000903 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.422216704] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.023,0.011} {0.167,0.228,0.269} [component_container_isolated-3] [DEBUG] [1762964979.422265216] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.422308880] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.422348245] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979141 0.000290 0.203183 -0.006527 [component_container_isolated-3] 0.002123 0.999930 -0.011660 0.061155 [component_container_isolated-3] -0.203173 0.011848 0.979071 0.018332 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.422372461] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.000} {0.693,11.723,0.124} [component_container_isolated-3] [DEBUG] [1762964979.422405524] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.024,-0.011} {0.471,11.497,-0.152} [component_container_isolated-3] [DEBUG] [1762964979.422455670] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.426841716] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.426947298] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.426992314] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.427039965] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000087 0.000093 0.000376 [component_container_isolated-3] -0.000087 1.000000 0.000016 0.000159 [component_container_isolated-3] -0.000093 -0.000016 1.000000 0.000184 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.427066235] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.021,-0.006} {-0.055,-0.109,-0.164} [component_container_isolated-3] [DEBUG] [1762964979.427117553] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.427165294] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.427204920] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981497 0.000213 0.191478 -0.006184 [component_container_isolated-3] -0.002045 0.999954 0.009374 0.061433 [component_container_isolated-3] -0.191467 -0.009592 0.981452 0.016611 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.427229196] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.560,11.038,-0.119} [component_container_isolated-3] [DEBUG] [1762964979.427260296] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.019,0.005} {-0.473,11.148,0.046} [component_container_isolated-3] [DEBUG] [1762964979.427309570] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.428031328] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.428081734] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.428120037] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.428163500] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000010 -0.000257 0.000326 [component_container_isolated-3] 0.000010 1.000000 -0.000099 -0.000104 [component_container_isolated-3] 0.000257 0.000099 1.000000 -0.000903 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.428190252] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.023,0.010} {0.173,0.213,0.269} [component_container_isolated-3] [DEBUG] [1762964979.428244395] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.428285784] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.428322594] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979141 0.000290 0.203183 -0.006527 [component_container_isolated-3] 0.002123 0.999930 -0.011660 0.061155 [component_container_isolated-3] -0.203173 0.011848 0.979071 0.018332 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.428345378] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.000} {0.693,11.723,0.124} [component_container_isolated-3] [DEBUG] [1762964979.428376447] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.025,-0.010} {0.465,11.512,-0.153} [component_container_isolated-3] [DEBUG] [1762964979.428424870] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.436626232] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.436681678] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.436723027] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.436769556] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000120 -0.000050 0.000035 [component_container_isolated-3] -0.000120 1.000000 0.000147 0.000164 [component_container_isolated-3] 0.000050 -0.000147 1.000000 -0.000060 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.436795465] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.000} {-0.155,0.027,-0.102} [component_container_isolated-3] [DEBUG] [1762964979.436845010] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.436886630] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.436951984] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879505 -0.000152 0.475890 -0.001078 [component_container_isolated-3] -0.004658 0.999949 0.008927 0.059897 [component_container_isolated-3] -0.475867 -0.010069 0.879459 0.017816 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.436980609] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.656,28.416,-0.303} [component_container_isolated-3] [DEBUG] [1762964979.437012971] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.446,28.390,-0.188} [component_container_isolated-3] [DEBUG] [1762964979.437067295] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.437524478] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.437575625] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.437613949] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.437659405] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 0.999998 0.000339 -0.002136 0.001984 [component_container_isolated-3] -0.000338 1.000000 0.000057 0.002309 [component_container_isolated-3] 0.002136 -0.000056 0.999998 -0.009852 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.437685656] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.013,-0.022} {0.012,-0.284,-0.171} [component_container_isolated-3] [DEBUG] [1762964979.437733687] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.437777751] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.437817467] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.983060 0.000246 0.183282 -0.007410 [component_container_isolated-3] -0.000421 1.000000 0.000914 0.061188 [component_container_isolated-3] -0.183282 -0.000976 0.983060 0.010249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.437842405] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.001,0.001,-0.007} {-0.057,10.561,-0.025} [component_container_isolated-3] [DEBUG] [1762964979.437876881] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.012,0.016} {-0.036,10.845,0.149} [component_container_isolated-3] [DEBUG] [1762964979.437956623] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.451680382] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.451746098] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.451799269] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.451861809] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000130 -0.000122 -0.000028 [component_container_isolated-3] 0.000130 1.000000 0.000013 -0.000413 [component_container_isolated-3] 0.000122 -0.000013 1.000000 -0.000594 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.451896655] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.020,-0.006} {-0.055,-0.116,-0.156} [component_container_isolated-3] [DEBUG] [1762964979.451997608] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.452068012] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.452121785] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981520 0.000082 0.191358 -0.006196 [component_container_isolated-3] -0.001914 0.999954 0.009387 0.061465 [component_container_isolated-3] -0.191348 -0.009579 0.981476 0.016518 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.452154938] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.559,11.031,-0.112} [component_container_isolated-3] [DEBUG] [1762964979.452194203] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.019,0.005} {-0.473,11.148,0.046} [component_container_isolated-3] [DEBUG] [1762964979.452247064] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.472744239] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.472809233] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.472849370] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.472894135] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 0.999998 0.000339 -0.002136 0.001984 [component_container_isolated-3] -0.000338 1.000000 0.000057 0.002309 [component_container_isolated-3] 0.002136 -0.000056 0.999998 -0.009852 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.472944091] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.009,0.016,-0.032} {0.009,-0.406,-0.190} [component_container_isolated-3] [DEBUG] [1762964979.473002342] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.473049632] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.473089528] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.983060 0.000246 0.183282 -0.007410 [component_container_isolated-3] -0.000421 1.000000 0.000914 0.061188 [component_container_isolated-3] -0.183282 -0.000976 0.983060 0.010249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.473111120] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.001,0.001,-0.007} {-0.057,10.561,-0.025} [component_container_isolated-3] [DEBUG] [1762964979.473141488] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.026} {-0.029,10.967,0.169} [component_container_isolated-3] [DEBUG] [1762964979.473194779] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.473763175] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.473808892] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.473844781] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.473888284] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000121 0.000209 -0.000040 [component_container_isolated-3] -0.000121 1.000000 0.000109 0.000389 [component_container_isolated-3] -0.000209 -0.000109 1.000000 0.001047 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.473912550] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.023,0.011} {0.166,0.225,0.263} [component_container_isolated-3] [DEBUG] [1762964979.473995669] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.474040895] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.474080090] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 0.000386 0.203388 -0.006493 [component_container_isolated-3] 0.002005 0.999931 -0.011550 0.061212 [component_container_isolated-3] -0.203379 0.011716 0.979030 0.018472 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.474103585] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.686,11.735,0.117} [component_container_isolated-3] [DEBUG] [1762964979.474134324] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.024,-0.011} {0.465,11.512,-0.153} [component_container_isolated-3] [DEBUG] [1762964979.474182937] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.479555577] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.479619078] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.479662651] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.479719069] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000114 -0.000008 -0.000229 [component_container_isolated-3] 0.000114 1.000000 0.000026 -0.000504 [component_container_isolated-3] 0.000008 -0.000026 1.000000 0.000239 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.479750820] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.020,-0.006} {-0.057,-0.116,-0.150} [component_container_isolated-3] [DEBUG] [1762964979.479814592] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.479871751] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.479939260] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981522 -0.000035 0.191350 -0.006218 [component_container_isolated-3] -0.001800 0.999954 0.009413 0.061385 [component_container_isolated-3] -0.191342 -0.009583 0.981477 0.016511 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.479973054] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.559,11.031,-0.105} [component_container_isolated-3] [DEBUG] [1762964979.480018752] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.019,0.005} {-0.473,11.148,0.046} [component_container_isolated-3] [DEBUG] [1762964979.480094186] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.480591916] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.480643845] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.480683010] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.480726423] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000064 0.000076 0.000022 [component_container_isolated-3] 0.000064 1.000000 -0.000082 -0.000189 [component_container_isolated-3] -0.000076 0.000082 1.000000 0.000034 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.480751581] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.000} {-0.150,0.031,-0.098} [component_container_isolated-3] [DEBUG] [1762964979.480799733] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.480842364] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.480882060] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879468 -0.000169 0.475957 -0.001078 [component_container_isolated-3] -0.004595 0.999950 0.008845 0.059888 [component_container_isolated-3] -0.475935 -0.009966 0.879424 0.017820 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.480907008] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.649,28.420,-0.299} [component_container_isolated-3] [DEBUG] [1762964979.480973084] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.446,28.390,-0.188} [component_container_isolated-3] [DEBUG] [1762964979.481026907] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.499114410] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.499204622] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.499246141] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.499295135] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000080 -0.000555 0.000819 [component_container_isolated-3] 0.000080 1.000000 0.000011 0.000403 [component_container_isolated-3] 0.000555 -0.000011 1.000000 -0.002282 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.499320654] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.022,0.008} {0.166,0.193,0.267} [component_container_isolated-3] [DEBUG] [1762964979.499374366] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.499421616] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.499461843] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979211 0.000306 0.202845 -0.006475 [component_container_isolated-3] 0.002078 0.999931 -0.011540 0.061353 [component_container_isolated-3] -0.202834 0.011722 0.979143 0.017593 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.499485068] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.686,11.703,0.122} [component_container_isolated-3] [DEBUG] [1762964979.499516267] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.024,-0.010} {0.465,11.512,-0.153} [component_container_isolated-3] [DEBUG] [1762964979.499573627] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.500448608] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.500502661] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.500545893] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.500594667] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000146 -0.000100 0.000028 [component_container_isolated-3] 0.000146 1.000000 -0.000133 -0.000171 [component_container_isolated-3] 0.000100 0.000133 1.000000 -0.000043 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.500625315] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.000} {-0.142,0.025,-0.090} [component_container_isolated-3] [DEBUG] [1762964979.500676934] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.500720116] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.500757417] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879516 -0.000234 0.475869 -0.001084 [component_container_isolated-3] -0.004449 0.999952 0.008713 0.059853 [component_container_isolated-3] -0.475849 -0.009780 0.879473 0.017823 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.500781864] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.415,-0.290} [component_container_isolated-3] [DEBUG] [1762964979.500815528] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.446,28.390,-0.188} [component_container_isolated-3] [DEBUG] [1762964979.500867969] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.508164563] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.508231691] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.508272800] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.508317886] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000162 -0.000088 -0.000051 [component_container_isolated-3] -0.000162 1.000000 -0.000101 0.000702 [component_container_isolated-3] 0.000088 0.000101 1.000000 0.000010 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.508342924] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.021,-0.006} {-0.051,-0.121,-0.159} [component_container_isolated-3] [DEBUG] [1762964979.508398580] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.508448215] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.508486227] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981539 0.000144 0.191264 -0.006225 [component_container_isolated-3] -0.001961 0.999955 0.009312 0.061485 [component_container_isolated-3] -0.191254 -0.009515 0.981495 0.016510 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.508509572] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.555,11.026,-0.114} [component_container_isolated-3] [DEBUG] [1762964979.508542194] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.019,0.005} {-0.473,11.148,0.046} [component_container_isolated-3] [DEBUG] [1762964979.508592991] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.515605143] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.515703691] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.515775949] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.515852986] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000050 0.000083 0.000250 [component_container_isolated-3] 0.000050 1.000000 -0.000369 -0.001392 [component_container_isolated-3] -0.000083 0.000369 1.000000 0.000076 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.515894936] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.009,0.014,-0.032} {0.030,-0.402,-0.188} [component_container_isolated-3] [DEBUG] [1762964979.515998715] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.516073868] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.516129565] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000199 0.185199 -0.006930 [component_container_isolated-3] -0.000335 1.000000 0.000703 0.061265 [component_container_isolated-3] -0.185199 -0.000753 0.982701 0.015581 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.516166685] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.002} {-0.044,10.673,-0.020} [component_container_isolated-3] [DEBUG] [1762964979.516211100] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.013,0.031} {-0.037,11.074,0.171} [component_container_isolated-3] [DEBUG] [1762964979.516290271] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.523767671] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.523821424] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.523863605] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.523907939] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000146 -0.000100 0.000028 [component_container_isolated-3] 0.000146 1.000000 -0.000133 -0.000171 [component_container_isolated-3] 0.000100 0.000133 1.000000 -0.000043 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.523975739] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.000} {-0.135,0.020,-0.081} [component_container_isolated-3] [DEBUG] [1762964979.524028029] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.524078104] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.524117439] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879516 -0.000234 0.475869 -0.001084 [component_container_isolated-3] -0.004449 0.999952 0.008713 0.059853 [component_container_isolated-3] -0.475849 -0.009780 0.879473 0.017823 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.524140824] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.415,-0.290} [component_container_isolated-3] [DEBUG] [1762964979.524171052] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.458,28.396,-0.197} [component_container_isolated-3] [DEBUG] [1762964979.524222470] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.536468747] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.536542328] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.536584468] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.536631438] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000010 0.000486 -0.000022 [component_container_isolated-3] -0.000010 1.000000 0.000276 0.000215 [component_container_isolated-3] -0.000486 -0.000276 1.000000 0.001503 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.536657167] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.022,0.010} {0.150,0.221,0.267} [component_container_isolated-3] [DEBUG] [1762964979.536707794] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.536754373] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.536793227] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979112 0.000259 0.203320 -0.006378 [component_container_isolated-3] 0.002074 0.999934 -0.011262 0.061474 [component_container_isolated-3] -0.203310 0.011449 0.979048 0.017717 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.536815670] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.670,11.731,0.121} [component_container_isolated-3] [DEBUG] [1762964979.536845968] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.024,-0.011} {0.465,11.512,-0.153} [component_container_isolated-3] [DEBUG] [1762964979.536895162] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.545201314] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.545283041] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.545338877] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.545397179] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000152 0.000117 0.000217 [component_container_isolated-3] 0.000152 1.000000 -0.000102 -0.000651 [component_container_isolated-3] -0.000116 0.000102 1.000000 0.000550 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.545429340] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.020,-0.005} {-0.045,-0.114,-0.150} [component_container_isolated-3] [DEBUG] [1762964979.545491629] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.545546594] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.545589987] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981516 0.000014 0.191378 -0.006194 [component_container_isolated-3] -0.001810 0.999956 0.009209 0.061412 [component_container_isolated-3] -0.191370 -0.009385 0.981473 0.016622 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.545621597] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.548,11.033,-0.106} [component_container_isolated-3] [DEBUG] [1762964979.545663567] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.019,0.005} {-0.473,11.148,0.046} [component_container_isolated-3] [DEBUG] [1762964979.545739733] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.547659138] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.547715095] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.547761273] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.547808493] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 0.000104 0.000193 [component_container_isolated-3] 0.000003 1.000000 -0.000154 -0.000087 [component_container_isolated-3] -0.000104 0.000154 1.000000 0.000365 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.547835796] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.014,-0.032} {0.039,-0.396,-0.187} [component_container_isolated-3] [DEBUG] [1762964979.547888336] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.547958841] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.547999378] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982682 0.000224 0.185301 -0.006827 [component_container_isolated-3] -0.000331 1.000000 0.000549 0.061279 [component_container_isolated-3] -0.185301 -0.000601 0.982682 0.016429 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.548024055] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.001} {-0.035,10.679,-0.019} [component_container_isolated-3] [DEBUG] [1762964979.548057990] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.013,0.032} {-0.037,11.074,0.171} [component_container_isolated-3] [DEBUG] [1762964979.548109078] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.563142718] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.563195890] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.563234504] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.563277145] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000152 0.000117 0.000217 [component_container_isolated-3] 0.000152 1.000000 -0.000102 -0.000651 [component_container_isolated-3] -0.000116 0.000102 1.000000 0.000550 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.563302143] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.019,-0.005} {-0.039,-0.108,-0.141} [component_container_isolated-3] [DEBUG] [1762964979.563349804] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.563396623] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.563437241] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981516 0.000014 0.191378 -0.006194 [component_container_isolated-3] -0.001810 0.999956 0.009209 0.061412 [component_container_isolated-3] -0.191370 -0.009385 0.981473 0.016622 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.563462579] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.548,11.033,-0.106} [component_container_isolated-3] [DEBUG] [1762964979.563496093] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.018,0.004} {-0.481,11.142,0.037} [component_container_isolated-3] [DEBUG] [1762964979.563548042] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.567705292] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.567765717] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.567810102] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.567858113] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000021 0.000190 -0.000682 [component_container_isolated-3] 0.000021 1.000000 -0.000193 -0.000572 [component_container_isolated-3] -0.000190 0.000193 1.000000 0.000826 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.567889463] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.023,0.011} {0.161,0.232,0.268} [component_container_isolated-3] [DEBUG] [1762964979.567970117] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.568016165] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.568053346] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979074 0.000278 0.203506 -0.006357 [component_container_isolated-3] 0.002097 0.999932 -0.011455 0.061476 [component_container_isolated-3] -0.203496 0.011642 0.979007 0.018065 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.568076661] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.000} {0.681,11.741,0.123} [component_container_isolated-3] [DEBUG] [1762964979.568110235] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.024,-0.012} {0.465,11.512,-0.153} [component_container_isolated-3] [DEBUG] [1762964979.568159459] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.568498587] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.568531409] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.568562920] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.568603748] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 0.000104 0.000193 [component_container_isolated-3] 0.000003 1.000000 -0.000154 -0.000087 [component_container_isolated-3] -0.000104 0.000154 1.000000 0.000365 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.568628956] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.014,-0.031} {0.048,-0.390,-0.187} [component_container_isolated-3] [DEBUG] [1762964979.568676236] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.568720000] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.568756209] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982682 0.000224 0.185301 -0.006827 [component_container_isolated-3] -0.000331 1.000000 0.000549 0.061279 [component_container_isolated-3] -0.185301 -0.000601 0.982682 0.016429 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.568782138] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.001} {-0.035,10.679,-0.019} [component_container_isolated-3] [DEBUG] [1762964979.568815502] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.031} {-0.046,11.069,0.171} [component_container_isolated-3] [DEBUG] [1762964979.568857312] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.569533633] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.569586394] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.569627493] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.569671857] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000063 0.000179 0.000125 [component_container_isolated-3] -0.000063 1.000000 0.000010 -0.000032 [component_container_isolated-3] -0.000179 -0.000010 1.000000 0.000178 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.569698528] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.135,0.030,-0.085} [component_container_isolated-3] [DEBUG] [1762964979.569747963] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.569794852] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.569834358] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 -0.000183 0.476026 -0.001052 [component_container_isolated-3] -0.004513 0.999952 0.008723 0.059830 [component_container_isolated-3] -0.476005 -0.009819 0.879388 0.017826 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.569858394] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.425,-0.294} [component_container_isolated-3] [DEBUG] [1762964979.569892238] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.458,28.396,-0.197} [component_container_isolated-3] [DEBUG] [1762964979.569973063] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.589365858] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.589417096] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.589455710] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.589498321] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000063 0.000179 0.000125 [component_container_isolated-3] -0.000063 1.000000 0.000010 -0.000032 [component_container_isolated-3] -0.000179 -0.000010 1.000000 0.000178 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.589523710] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.136,0.040,-0.089} [component_container_isolated-3] [DEBUG] [1762964979.589573124] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.589618621] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.589658056] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 -0.000183 0.476026 -0.001052 [component_container_isolated-3] -0.004513 0.999952 0.008723 0.059830 [component_container_isolated-3] -0.476005 -0.009819 0.879388 0.017826 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.589681260] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.425,-0.294} [component_container_isolated-3] [DEBUG] [1762964979.589711719] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.001} {-0.456,28.386,-0.193} [component_container_isolated-3] [DEBUG] [1762964979.589760762] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.595426442] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.595481087] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.595520853] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.595563574] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000152 0.000117 0.000217 [component_container_isolated-3] 0.000152 1.000000 -0.000102 -0.000651 [component_container_isolated-3] -0.000116 0.000102 1.000000 0.000550 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.595588602] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.019,-0.004} {-0.033,-0.101,-0.133} [component_container_isolated-3] [DEBUG] [1762964979.595637105] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.595680658] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.595721536] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981516 0.000014 0.191378 -0.006194 [component_container_isolated-3] -0.001810 0.999956 0.009209 0.061412 [component_container_isolated-3] -0.191370 -0.009385 0.981473 0.016622 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.595746574] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.548,11.033,-0.106} [component_container_isolated-3] [DEBUG] [1762964979.595779426] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.017,0.004} {-0.488,11.135,0.029} [component_container_isolated-3] [DEBUG] [1762964979.595829743] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.609476304] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.609539715] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.609578379] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.609622804] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 0.000104 0.000193 [component_container_isolated-3] 0.000003 1.000000 -0.000154 -0.000087 [component_container_isolated-3] -0.000104 0.000154 1.000000 0.000365 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.609647962] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.014,-0.031} {0.057,-0.384,-0.187} [component_container_isolated-3] [DEBUG] [1762964979.609699821] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.609745558] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.609784493] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982682 0.000224 0.185301 -0.006827 [component_container_isolated-3] -0.000331 1.000000 0.000549 0.061279 [component_container_isolated-3] -0.185301 -0.000601 0.982682 0.016429 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.609809180] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.001} {-0.035,10.679,-0.019} [component_container_isolated-3] [DEBUG] [1762964979.609841612] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.031} {-0.055,11.063,0.171} [component_container_isolated-3] [DEBUG] [1762964979.609892058] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.617322739] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.617381140] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.617421217] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.617467485] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000003 -0.000103 -0.000186 [component_container_isolated-3] -0.000003 1.000000 -0.000008 -0.000166 [component_container_isolated-3] 0.000103 0.000008 1.000000 -0.000162 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.617492333] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.023,0.011} {0.161,0.226,0.268} [component_container_isolated-3] [DEBUG] [1762964979.617541246] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.617582575] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.617617933] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 0.000283 0.203406 -0.006401 [component_container_isolated-3] 0.002092 0.999932 -0.011463 0.061455 [component_container_isolated-3] -0.203395 0.011649 0.979027 0.018139 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.617639905] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.000} {0.682,11.736,0.122} [component_container_isolated-3] [DEBUG] [1762964979.617669912] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.025,-0.012} {0.465,11.512,-0.153} [component_container_isolated-3] [DEBUG] [1762964979.617720328] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.622383193] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.622433419] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.622469749] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.622511629] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000003 -0.000103 -0.000186 [component_container_isolated-3] -0.000003 1.000000 -0.000008 -0.000166 [component_container_isolated-3] 0.000103 0.000008 1.000000 -0.000162 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.622535725] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.023,0.010} {0.162,0.220,0.267} [component_container_isolated-3] [DEBUG] [1762964979.622581191] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.622624244] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.622663378] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 0.000283 0.203406 -0.006401 [component_container_isolated-3] 0.002092 0.999932 -0.011463 0.061455 [component_container_isolated-3] -0.203395 0.011649 0.979027 0.018139 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.622686272] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.000} {0.682,11.736,0.122} [component_container_isolated-3] [DEBUG] [1762964979.622718654] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.025,-0.011} {0.465,11.518,-0.152} [component_container_isolated-3] [DEBUG] [1762964979.622771605] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.630869710] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.630955885] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.630998376] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.631042941] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000151 -0.000011 -0.000213 [component_container_isolated-3] -0.000151 1.000000 0.000044 0.000310 [component_container_isolated-3] 0.000011 -0.000044 1.000000 0.000035 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.631068550] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.001} {-0.138,0.039,-0.097} [component_container_isolated-3] [DEBUG] [1762964979.631121491] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.631167709] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.631208046] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879436 -0.000071 0.476017 -0.001050 [component_container_isolated-3] -0.004664 0.999951 0.008766 0.059852 [component_container_isolated-3] -0.475994 -0.009930 0.879393 0.017838 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.631232734] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.647,28.424,-0.304} [component_container_isolated-3] [DEBUG] [1762964979.631266127] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.456,28.386,-0.193} [component_container_isolated-3] [DEBUG] [1762964979.631315512] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.636594183] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.636650500] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.636688603] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.636731856] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 0.000104 0.000193 [component_container_isolated-3] 0.000003 1.000000 -0.000154 -0.000087 [component_container_isolated-3] -0.000104 0.000154 1.000000 0.000365 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.636756954] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.014,-0.030} {0.065,-0.378,-0.187} [component_container_isolated-3] [DEBUG] [1762964979.636803883] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.636846505] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.636881912] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982682 0.000224 0.185301 -0.006827 [component_container_isolated-3] -0.000331 1.000000 0.000549 0.061279 [component_container_isolated-3] -0.185301 -0.000601 0.982682 0.016429 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.636906299] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.001} {-0.035,10.679,-0.019} [component_container_isolated-3] [DEBUG] [1762964979.636964660] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.031} {-0.064,11.057,0.170} [component_container_isolated-3] [DEBUG] [1762964979.637017842] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.648032678] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.648097151] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.648136416] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.648179628] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000009 -0.000128 0.000095 [component_container_isolated-3] -0.000009 1.000000 0.000017 -0.000198 [component_container_isolated-3] 0.000128 -0.000017 1.000000 -0.000463 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.648204355] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.018,-0.005} {-0.034,-0.108,-0.133} [component_container_isolated-3] [DEBUG] [1762964979.648256255] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.648300459] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.648337480] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 0.000020 0.191252 -0.006176 [component_container_isolated-3] -0.001818 0.999956 0.009227 0.061339 [component_container_isolated-3] -0.191244 -0.009404 0.981498 0.016601 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.648360614] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.549,11.025,-0.106} [component_container_isolated-3] [DEBUG] [1762964979.648395711] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.017,0.004} {-0.488,11.135,0.029} [component_container_isolated-3] [DEBUG] [1762964979.648495361] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.661915851] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.662006614] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.662048915] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.662092078] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000151 -0.000011 -0.000213 [component_container_isolated-3] -0.000151 1.000000 0.000044 0.000310 [component_container_isolated-3] 0.000011 -0.000044 1.000000 0.000035 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.662117546] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.141,0.039,-0.106} [component_container_isolated-3] [DEBUG] [1762964979.662166670] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.662212598] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.662256572] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879436 -0.000071 0.476017 -0.001050 [component_container_isolated-3] -0.004664 0.999951 0.008766 0.059852 [component_container_isolated-3] -0.475994 -0.009930 0.879393 0.017838 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.662280798] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.647,28.424,-0.304} [component_container_isolated-3] [DEBUG] [1762964979.662311557] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.449,28.386,-0.183} [component_container_isolated-3] [DEBUG] [1762964979.662383624] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.685479372] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.685539086] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.685578511] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.685621954] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000092 0.000281 -0.000141 [component_container_isolated-3] 0.000092 1.000000 0.000087 -0.000428 [component_container_isolated-3] -0.000281 -0.000087 1.000000 0.001125 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.685646621] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.023,0.012} {0.157,0.236,0.273} [component_container_isolated-3] [DEBUG] [1762964979.685693761] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.685735310] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.685775086] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979037 0.000175 0.203681 -0.006352 [component_container_isolated-3] 0.002188 0.999933 -0.011376 0.061340 [component_container_isolated-3] -0.203669 0.011583 0.978971 0.018675 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.685798401] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,0.000} {0.678,11.752,0.128} [component_container_isolated-3] [DEBUG] [1762964979.685829350] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.025,-0.012} {0.465,11.518,-0.152} [component_container_isolated-3] [DEBUG] [1762964979.685879265] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.690002991] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.690054529] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.690097371] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.690140854] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000151 -0.000011 -0.000213 [component_container_isolated-3] -0.000151 1.000000 0.000044 0.000310 [component_container_isolated-3] 0.000011 -0.000044 1.000000 0.000035 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.690165591] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.143,0.038,-0.115} [component_container_isolated-3] [DEBUG] [1762964979.690212170] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.690251916] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.690287775] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879436 -0.000071 0.476017 -0.001050 [component_container_isolated-3] -0.004664 0.999951 0.008766 0.059852 [component_container_isolated-3] -0.475994 -0.009930 0.879393 0.017838 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.690310127] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.647,28.424,-0.304} [component_container_isolated-3] [DEBUG] [1762964979.690340635] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.001} {-0.442,28.387,-0.173} [component_container_isolated-3] [DEBUG] [1762964979.690388958] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.695432259] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.695499558] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.695540787] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.695585873] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000169 0.000047 -0.000426 [component_container_isolated-3] -0.000169 1.000000 0.000047 0.001069 [component_container_isolated-3] -0.000047 -0.000047 1.000000 0.000090 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.695611001] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.019,-0.005} {-0.037,-0.106,-0.143} [component_container_isolated-3] [DEBUG] [1762964979.695660996] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.695707305] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.695747541] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000176 0.191299 -0.006217 [component_container_isolated-3] -0.001987 0.999955 0.009273 0.061552 [component_container_isolated-3] -0.191288 -0.009482 0.981488 0.016607 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.695772850] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.554,11.028,-0.116} [component_container_isolated-3] [DEBUG] [1762964979.695804350] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.018,0.004} {-0.488,11.135,0.029} [component_container_isolated-3] [DEBUG] [1762964979.695853814] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.699709698] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.699769673] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.699808547] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.699852882] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000049 -0.000249 0.000219 [component_container_isolated-3] 0.000049 1.000000 0.000028 -0.000087 [component_container_isolated-3] 0.000249 -0.000028 1.000000 -0.001366 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.699877569] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.014,-0.032} {0.064,-0.392,-0.184} [component_container_isolated-3] [DEBUG] [1762964979.699953373] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.700002086] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.700043095] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982728 0.000171 0.185056 -0.006855 [component_container_isolated-3] -0.000283 1.000000 0.000577 0.061280 [component_container_isolated-3] -0.185056 -0.000620 0.982728 0.016459 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.700067281] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.001} {-0.036,10.664,-0.016} [component_container_isolated-3] [DEBUG] [1762964979.700101346] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.032} {-0.064,11.057,0.170} [component_container_isolated-3] [DEBUG] [1762964979.700151632] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.700775253] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.700823656] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.700863021] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.700906774] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000169 0.000047 -0.000426 [component_container_isolated-3] -0.000169 1.000000 0.000047 0.001069 [component_container_isolated-3] -0.000047 -0.000047 1.000000 0.000090 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.700971959] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.021,-0.005} {-0.040,-0.103,-0.152} [component_container_isolated-3] [DEBUG] [1762964979.701025381] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.701075767] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.701117126] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000176 0.191299 -0.006217 [component_container_isolated-3] -0.001987 0.999955 0.009273 0.061552 [component_container_isolated-3] -0.191288 -0.009482 0.981488 0.016607 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.701141683] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.554,11.028,-0.116} [component_container_isolated-3] [DEBUG] [1762964979.701173754] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.019,0.004} {-0.484,11.132,0.038} [component_container_isolated-3] [DEBUG] [1762964979.701224100] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.705672416] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.705721880] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.705758881] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.705801672] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000049 -0.000249 0.000219 [component_container_isolated-3] 0.000049 1.000000 0.000028 -0.000087 [component_container_isolated-3] 0.000249 -0.000028 1.000000 -0.001366 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.705826460] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.033} {0.062,-0.406,-0.181} [component_container_isolated-3] [DEBUG] [1762964979.705871947] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.705913746] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.705988860] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982728 0.000171 0.185056 -0.006855 [component_container_isolated-3] -0.000283 1.000000 0.000577 0.061280 [component_container_isolated-3] -0.185056 -0.000620 0.982728 0.016459 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.706013096] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.001} {-0.036,10.664,-0.016} [component_container_isolated-3] [DEBUG] [1762964979.706046811] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.034} {-0.063,11.071,0.168} [component_container_isolated-3] [DEBUG] [1762964979.706103278] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.711593223] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.711649170] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.711686341] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.711728111] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000017 -0.000062 0.000571 [component_container_isolated-3] -0.000017 1.000000 -0.000052 0.000128 [component_container_isolated-3] 0.000062 0.000052 1.000000 -0.000613 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.711751205] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.023,0.011} {0.160,0.233,0.272} [component_container_isolated-3] [DEBUG] [1762964979.711797012] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.711837259] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.711875672] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979050 0.000202 0.203620 -0.006286 [component_container_isolated-3] 0.002170 0.999932 -0.011428 0.061304 [component_container_isolated-3] -0.203608 0.011630 0.978983 0.018773 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.711898786] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,0.000} {0.681,11.748,0.127} [component_container_isolated-3] [DEBUG] [1762964979.711965103] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.025,-0.011} {0.465,11.518,-0.152} [component_container_isolated-3] [DEBUG] [1762964979.712020689] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.717126821] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.717185212] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.717221672] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.717263482] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000017 -0.000062 0.000571 [component_container_isolated-3] -0.000017 1.000000 -0.000052 0.000128 [component_container_isolated-3] 0.000062 0.000052 1.000000 -0.000613 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.717289712] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.023,0.010} {0.163,0.229,0.271} [component_container_isolated-3] [DEBUG] [1762964979.717338084] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.717381717] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.717419690] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979050 0.000202 0.203620 -0.006286 [component_container_isolated-3] 0.002170 0.999932 -0.011428 0.061304 [component_container_isolated-3] -0.203608 0.011630 0.978983 0.018773 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.717442063] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,0.000} {0.681,11.748,0.127} [component_container_isolated-3] [DEBUG] [1762964979.717473994] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.025,-0.011} {0.462,11.521,-0.151} [component_container_isolated-3] [DEBUG] [1762964979.717530562] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.722538205] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.722600534] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.722640851] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.722685236] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000151 -0.000011 -0.000213 [component_container_isolated-3] -0.000151 1.000000 0.000044 0.000310 [component_container_isolated-3] 0.000011 -0.000044 1.000000 0.000035 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.722710694] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.146,0.037,-0.123} [component_container_isolated-3] [DEBUG] [1762964979.722758406] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.722801919] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.722842446] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879436 -0.000071 0.476017 -0.001050 [component_container_isolated-3] -0.004664 0.999951 0.008766 0.059852 [component_container_isolated-3] -0.475994 -0.009930 0.879393 0.017838 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.722866482] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.647,28.424,-0.304} [component_container_isolated-3] [DEBUG] [1762964979.722896710] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.002} {-0.434,28.388,-0.164} [component_container_isolated-3] [DEBUG] [1762964979.722974007] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.730689031] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.730747633] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.730789323] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.730832535] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000169 0.000047 -0.000426 [component_container_isolated-3] -0.000169 1.000000 0.000047 0.001069 [component_container_isolated-3] -0.000047 -0.000047 1.000000 0.000090 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.730858535] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.022,-0.004} {-0.042,-0.100,-0.162} [component_container_isolated-3] [DEBUG] [1762964979.730908019] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.730987742] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.731025103] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000176 0.191299 -0.006217 [component_container_isolated-3] -0.001987 0.999955 0.009273 0.061552 [component_container_isolated-3] -0.191288 -0.009482 0.981488 0.016607 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.731050151] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.554,11.028,-0.116} [component_container_isolated-3] [DEBUG] [1762964979.731084066] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.020,0.004} {-0.479,11.130,0.048} [component_container_isolated-3] [DEBUG] [1762964979.731137898] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.743025862] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.743090735] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.743129409] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.743173463] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000003 -0.000249 -0.000015 [component_container_isolated-3] -0.000003 1.000000 0.000050 -0.000020 [component_container_isolated-3] 0.000249 -0.000050 1.000000 -0.000549 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.743197740] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.034} {0.059,-0.421,-0.181} [component_container_isolated-3] [DEBUG] [1762964979.743245120] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.743289054] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.743328309] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982774 0.000164 0.184812 -0.006898 [component_container_isolated-3] -0.000285 1.000000 0.000627 0.061279 [component_container_isolated-3] -0.184812 -0.000669 0.982774 0.016338 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.743351804] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.001} {-0.039,10.650,-0.017} [component_container_isolated-3] [DEBUG] [1762964979.743386009] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.034} {-0.063,11.071,0.168} [component_container_isolated-3] [DEBUG] [1762964979.743437558] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.763054602] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.763113514] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.763152669] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.763196232] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000017 -0.000062 0.000571 [component_container_isolated-3] -0.000017 1.000000 -0.000052 0.000128 [component_container_isolated-3] 0.000062 0.000052 1.000000 -0.000613 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.763221681] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.023,0.010} {0.166,0.225,0.270} [component_container_isolated-3] [DEBUG] [1762964979.763270654] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.763317454] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.763357119] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979050 0.000202 0.203620 -0.006286 [component_container_isolated-3] 0.002170 0.999932 -0.011428 0.061304 [component_container_isolated-3] -0.203608 0.011630 0.978983 0.018773 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.763381175] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,0.000} {0.681,11.748,0.127} [component_container_isolated-3] [DEBUG] [1762964979.763413106] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.025,-0.010} {0.459,11.525,-0.150} [component_container_isolated-3] [DEBUG] [1762964979.763462821] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.766797339] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.766898723] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.766976912] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.767030945] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000003 -0.000249 -0.000015 [component_container_isolated-3] -0.000003 1.000000 0.000050 -0.000020 [component_container_isolated-3] 0.000249 -0.000050 1.000000 -0.000549 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.767063117] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.034} {0.056,-0.435,-0.182} [component_container_isolated-3] [DEBUG] [1762964979.767118753] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.767168779] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.767208444] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982774 0.000164 0.184812 -0.006898 [component_container_isolated-3] -0.000285 1.000000 0.000627 0.061279 [component_container_isolated-3] -0.184812 -0.000669 0.982774 0.016338 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.767233031] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.001} {-0.039,10.650,-0.017} [component_container_isolated-3] [DEBUG] [1762964979.767265543] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.034} {-0.060,11.085,0.168} [component_container_isolated-3] [DEBUG] [1762964979.767316401] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.772001538] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.772065550] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.772104936] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.772147767] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000169 0.000047 -0.000426 [component_container_isolated-3] -0.000169 1.000000 0.000047 0.001069 [component_container_isolated-3] -0.000047 -0.000047 1.000000 0.000090 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.772172224] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.023,-0.004} {-0.045,-0.098,-0.172} [component_container_isolated-3] [DEBUG] [1762964979.772219454] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.772262306] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.772297744] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000176 0.191299 -0.006217 [component_container_isolated-3] -0.001987 0.999955 0.009273 0.061552 [component_container_isolated-3] -0.191288 -0.009482 0.981488 0.016607 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.772320527] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.000} {-0.554,11.028,-0.116} [component_container_isolated-3] [DEBUG] [1762964979.772352528] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.021,0.003} {-0.475,11.127,0.058} [component_container_isolated-3] [DEBUG] [1762964979.772406311] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.773408455] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.773460574] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.773503216] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.773548072] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000241 -0.000014 -0.000280 [component_container_isolated-3] 0.000241 1.000000 -0.000054 -0.000213 [component_container_isolated-3] 0.000014 0.000054 1.000000 0.000060 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.773574161] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.143,0.037,-0.109} [component_container_isolated-3] [DEBUG] [1762964979.773650026] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.773696325] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.773733245] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879443 -0.000257 0.476005 -0.001102 [component_container_isolated-3] -0.004423 0.999952 0.008712 0.059833 [component_container_isolated-3] -0.475984 -0.009767 0.879400 0.017893 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.773757481] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.636,28.423,-0.288} [component_container_isolated-3] [DEBUG] [1762964979.773789182] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.002} {-0.434,28.388,-0.164} [component_container_isolated-3] [DEBUG] [1762964979.773849116] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.791697783] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.791761835] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.791800018] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.791843010] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000017 -0.000062 0.000571 [component_container_isolated-3] -0.000017 1.000000 -0.000052 0.000128 [component_container_isolated-3] 0.000062 0.000052 1.000000 -0.000613 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.791868088] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.023,0.009} {0.169,0.222,0.269} [component_container_isolated-3] [DEBUG] [1762964979.791916551] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.791986004] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.792026341] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979050 0.000202 0.203620 -0.006286 [component_container_isolated-3] 0.002170 0.999932 -0.011428 0.061304 [component_container_isolated-3] -0.203608 0.011630 0.978983 0.018773 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.792050086] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,0.000} {0.681,11.748,0.127} [component_container_isolated-3] [DEBUG] [1762964979.792083420] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.024,-0.009} {0.457,11.528,-0.149} [component_container_isolated-3] [DEBUG] [1762964979.792134347] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.804136468] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.804210620] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.804252329] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.804299349] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000003 -0.000249 -0.000015 [component_container_isolated-3] -0.000003 1.000000 0.000050 -0.000020 [component_container_isolated-3] 0.000249 -0.000050 1.000000 -0.000549 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.804326100] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.035} {0.054,-0.449,-0.182} [component_container_isolated-3] [DEBUG] [1762964979.804407065] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.804463633] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.804509741] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.804419719] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.804560267] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000183 0.000016 -0.000403 [component_container_isolated-3] 0.000183 1.000000 -0.000117 -0.000730 [component_container_isolated-3] -0.000016 0.000117 1.000000 0.000146 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.804642585] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.804650039] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.022,-0.004} {-0.038,-0.097,-0.161} [component_container_isolated-3] [DEBUG] [1762964979.804697359] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982774 0.000164 0.184812 -0.006898 [component_container_isolated-3] -0.000285 1.000000 0.000627 0.061279 [component_container_isolated-3] -0.184812 -0.000669 0.982774 0.016338 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.804778234] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.001} {-0.039,10.650,-0.017} [component_container_isolated-3] [DEBUG] [1762964979.804807329] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.035} {-0.057,11.099,0.168} [component_container_isolated-3] [DEBUG] [1762964979.804752294] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.804855251] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.804892893] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.804948519] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981529 0.000019 0.191315 -0.006342 [component_container_isolated-3] -0.001804 0.999956 0.009156 0.061493 [component_container_isolated-3] -0.191306 -0.009332 0.981486 0.016662 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.804969599] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.000} {-0.545,11.029,-0.105} [component_container_isolated-3] [DEBUG] [1762964979.804992222] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.021,0.003} {-0.475,11.127,0.058} [component_container_isolated-3] [DEBUG] [1762964979.805035555] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.813278377] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.813333041] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.813374751] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.813419607] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000132 0.000025 0.000457 [component_container_isolated-3] -0.000132 1.000000 0.000073 0.000045 [component_container_isolated-3] -0.000025 -0.000073 1.000000 -0.000109 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.813445536] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.147,0.038,-0.117} [component_container_isolated-3] [DEBUG] [1762964979.813501723] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.813546920] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.813585904] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 -0.000176 0.476027 -0.001065 [component_container_isolated-3] -0.004555 0.999951 0.008785 0.059830 [component_container_isolated-3] -0.476005 -0.009894 0.879387 0.017876 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.813611162] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.425,-0.297} [component_container_isolated-3] [DEBUG] [1762964979.813648874] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.001} {-0.434,28.388,-0.164} [component_container_isolated-3] [DEBUG] [1762964979.813704741] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.823378195] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.823435264] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.823477224] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.823524434] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000132 0.000025 0.000457 [component_container_isolated-3] -0.000132 1.000000 0.000073 0.000045 [component_container_isolated-3] -0.000025 -0.000073 1.000000 -0.000109 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.823550214] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.151,0.040,-0.124} [component_container_isolated-3] [DEBUG] [1762964979.823603435] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.823792055] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.823833795] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 -0.000176 0.476027 -0.001065 [component_container_isolated-3] -0.004555 0.999951 0.008785 0.059830 [component_container_isolated-3] -0.476005 -0.009894 0.879387 0.017876 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.823856138] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.425,-0.297} [component_container_isolated-3] [DEBUG] [1762964979.823886716] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.001} {-0.426,28.386,-0.155} [component_container_isolated-3] [DEBUG] [1762964979.823965156] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.829038385] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.829101696] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.829140830] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.829185977] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000003 -0.000249 -0.000015 [component_container_isolated-3] -0.000003 1.000000 0.000050 -0.000020 [component_container_isolated-3] 0.000249 -0.000050 1.000000 -0.000549 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.829210984] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.035} {0.051,-0.463,-0.182} [component_container_isolated-3] [DEBUG] [1762964979.829258986] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.829306156] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.829347054] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982774 0.000164 0.184812 -0.006898 [component_container_isolated-3] -0.000285 1.000000 0.000627 0.061279 [component_container_isolated-3] -0.184812 -0.000669 0.982774 0.016338 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.829371310] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.001} {-0.039,10.650,-0.017} [component_container_isolated-3] [DEBUG] [1762964979.829404314] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.036} {-0.054,11.114,0.168} [component_container_isolated-3] [DEBUG] [1762964979.829454369] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.833736938] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.833793466] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.833835346] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.833880983] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000022 -0.000303 -0.000178 [component_container_isolated-3] 0.000022 1.000000 0.000011 -0.000339 [component_container_isolated-3] 0.000303 -0.000011 1.000000 -0.000771 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.833905950] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.023,0.008} {0.168,0.204,0.270} [component_container_isolated-3] [DEBUG] [1762964979.833987857] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.834032763] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.834068260] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979112 0.000179 0.203323 -0.006314 [component_container_isolated-3] 0.002188 0.999932 -0.011418 0.061199 [component_container_isolated-3] -0.203311 0.011624 0.979045 0.018678 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.834090443] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.680,11.731,0.128} [component_container_isolated-3] [DEBUG] [1762964979.834121382] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.025,-0.008} {0.457,11.528,-0.149} [component_container_isolated-3] [DEBUG] [1762964979.834175465] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.850792159] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.850828869] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.850857484] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.850891048] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000022 -0.000303 -0.000178 [component_container_isolated-3] 0.000022 1.000000 0.000011 -0.000339 [component_container_isolated-3] 0.000303 -0.000011 1.000000 -0.000771 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.850910084] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.024,0.008} {0.168,0.187,0.271} [component_container_isolated-3] [DEBUG] [1762964979.850979006] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.851012921] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.851040493] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979112 0.000179 0.203323 -0.006314 [component_container_isolated-3] 0.002188 0.999932 -0.011418 0.061199 [component_container_isolated-3] -0.203311 0.011624 0.979045 0.018678 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.851057606] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.680,11.731,0.128} [component_container_isolated-3] [DEBUG] [1762964979.851082874] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.025,-0.008} {0.457,11.546,-0.150} [component_container_isolated-3] [DEBUG] [1762964979.851124734] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.852068557] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.852118843] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.852157857] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.852201701] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000032 0.000250 0.000389 [component_container_isolated-3] -0.000032 1.000000 0.000058 0.000248 [component_container_isolated-3] -0.000250 -0.000058 1.000000 0.001202 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.852226508] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.022,-0.003} {-0.042,-0.082,-0.163} [component_container_isolated-3] [DEBUG] [1762964979.852273989] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.852317392] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.852354002] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981481 0.000039 0.191559 -0.006269 [component_container_isolated-3] -0.001838 0.999956 0.009214 0.061506 [component_container_isolated-3] -0.191551 -0.009396 0.981438 0.017104 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.852379541] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.548,11.043,-0.107} [component_container_isolated-3] [DEBUG] [1762964979.852414427] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.021,0.003} {-0.475,11.127,0.058} [component_container_isolated-3] [DEBUG] [1762964979.852471617] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.870112597] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.870178573] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.870220653] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.870264767] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000132 0.000025 0.000457 [component_container_isolated-3] -0.000132 1.000000 0.000073 0.000045 [component_container_isolated-3] -0.000025 -0.000073 1.000000 -0.000109 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.870289665] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.004,0.001} {-0.155,0.041,-0.132} [component_container_isolated-3] [DEBUG] [1762964979.870337757] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.870378965] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.870414233] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 -0.000176 0.476027 -0.001065 [component_container_isolated-3] -0.004555 0.999951 0.008785 0.059830 [component_container_isolated-3] -0.476005 -0.009894 0.879387 0.017876 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.870436495] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.425,-0.297} [component_container_isolated-3] [DEBUG] [1762964979.870469158] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.005,-0.001} {-0.418,28.385,-0.146} [component_container_isolated-3] [DEBUG] [1762964979.870519093] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.874827861] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.874894379] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.874962118] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.875009438] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000068 0.000372 -0.000407 [component_container_isolated-3] -0.000068 1.000000 -0.000118 0.000394 [component_container_isolated-3] -0.000372 0.000118 1.000000 0.002017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.875035127] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.014,-0.033} {0.057,-0.442,-0.186} [component_container_isolated-3] [DEBUG] [1762964979.875084151] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.875128456] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.875167370] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 0.000253 0.185177 -0.006866 [component_container_isolated-3] -0.000353 1.000000 0.000509 0.061349 [component_container_isolated-3] -0.185177 -0.000566 0.982705 0.017046 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.875191766] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.000} {-0.033,10.671,-0.021} [component_container_isolated-3] [DEBUG] [1762964979.875226192] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.034} {-0.054,11.114,0.168} [component_container_isolated-3] [DEBUG] [1762964979.875280456] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.881501276] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.881560249] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.881600696] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.881647555] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000019 -0.000162 -0.000405 [component_container_isolated-3] 0.000019 1.000000 0.000058 -0.000382 [component_container_isolated-3] 0.000162 -0.000058 1.000000 -0.000803 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.881673896] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.022,-0.004} {-0.045,-0.092,-0.162} [component_container_isolated-3] [DEBUG] [1762964979.881726346] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.881772955] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.881809545] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981512 0.000009 0.191401 -0.006356 [component_container_isolated-3] -0.001817 0.999955 0.009273 0.061447 [component_container_isolated-3] -0.191392 -0.009449 0.981468 0.017139 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.881832689] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.552,11.034,-0.106} [component_container_isolated-3] [DEBUG] [1762964979.881863398] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.020,0.003} {-0.475,11.127,0.058} [component_container_isolated-3] [DEBUG] [1762964979.881913924] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.893424467] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.893488539] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.893537302] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.893591526] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000016 -0.000045 0.000103 [component_container_isolated-3] -0.000016 1.000000 -0.000132 0.000236 [component_container_isolated-3] 0.000045 0.000132 1.000000 -0.000197 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.893623577] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.023,0.007} {0.175,0.184,0.270} [component_container_isolated-3] [DEBUG] [1762964979.893681037] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.893731493] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.893773042] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979121 0.000222 0.203278 -0.006318 [component_container_isolated-3] 0.002171 0.999931 -0.011550 0.061160 [component_container_isolated-3] -0.203267 0.011750 0.979053 0.018606 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.893800835] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.688,11.728,0.127} [component_container_isolated-3] [DEBUG] [1762964979.893836904] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.025,-0.008} {0.457,11.546,-0.150} [component_container_isolated-3] [DEBUG] [1762964979.893897670] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.897801455] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.897867401] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.897908800] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.897980858] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000024 -0.000035 -0.000067 [component_container_isolated-3] -0.000024 1.000000 -0.000111 0.000189 [component_container_isolated-3] 0.000035 0.000111 1.000000 0.000073 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.898007519] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.004,0.001} {-0.149,0.039,-0.133} [component_container_isolated-3] [DEBUG] [1762964979.898057494] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.898101569] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.898137587] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879447 -0.000102 0.475996 -0.001050 [component_container_isolated-3] -0.004579 0.999952 0.008674 0.059849 [component_container_isolated-3] -0.475974 -0.009807 0.879405 0.017889 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.898160581] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.423,-0.298} [component_container_isolated-3] [DEBUG] [1762964979.898192763] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.005,-0.001} {-0.418,28.385,-0.146} [component_container_isolated-3] [DEBUG] [1762964979.898242618] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.905559421] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.905622853] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.905665905] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.905710951] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000013 -0.000157 0.000960 [component_container_isolated-3] 0.000013 1.000000 -0.000145 -0.000113 [component_container_isolated-3] 0.000157 0.000145 1.000000 -0.001056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.905737221] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.022,-0.005} {-0.037,-0.101,-0.161} [component_container_isolated-3] [DEBUG] [1762964979.905785754] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.905830760] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.905868722] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 0.000024 0.191247 -0.006261 [component_container_isolated-3] -0.001803 0.999957 0.009128 0.061389 [component_container_isolated-3] -0.191238 -0.009304 0.981500 0.016803 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.905893379] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.000} {-0.543,11.025,-0.105} [component_container_isolated-3] [DEBUG] [1762964979.905944407] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.020,0.004} {-0.475,11.127,0.058} [component_container_isolated-3] [DEBUG] [1762964979.906002057] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.913588455] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.913654782] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.913697283] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.913743190] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000063 -0.000095 -0.000072 [component_container_isolated-3] -0.000063 1.000000 -0.000022 0.000302 [component_container_isolated-3] 0.000095 0.000022 1.000000 -0.000128 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.913769591] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.014,-0.033} {0.059,-0.447,-0.189} [component_container_isolated-3] [DEBUG] [1762964979.913819987] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.913867848] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.913908446] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982723 0.000319 0.185083 -0.006911 [component_container_isolated-3] -0.000416 1.000000 0.000487 0.061460 [component_container_isolated-3] -0.185083 -0.000556 0.982723 0.017163 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.913964222] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.000} {-0.032,10.666,-0.024} [component_container_isolated-3] [DEBUG] [1762964979.913997105] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.013,0.034} {-0.054,11.114,0.168} [component_container_isolated-3] [DEBUG] [1762964979.914050397] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.916454999] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.916513411] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.916554479] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.916598774] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000015 0.000016 0.000069 [component_container_isolated-3] 0.000015 1.000000 -0.000073 -0.000040 [component_container_isolated-3] -0.000016 0.000073 1.000000 0.000071 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.916624493] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.023,0.007} {0.179,0.185,0.271} [component_container_isolated-3] [DEBUG] [1762964979.916673266] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.916752878] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.916795299] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979118 0.000222 0.203293 -0.006307 [component_container_isolated-3] 0.002186 0.999930 -0.011623 0.061133 [component_container_isolated-3] -0.203282 0.011825 0.979049 0.018576 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.916819105] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.692,11.729,0.128} [component_container_isolated-3] [DEBUG] [1762964979.916849362] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.025,-0.008} {0.457,11.546,-0.150} [component_container_isolated-3] [DEBUG] [1762964979.916899678] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.929612747] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.929681629] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.929724260] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.929770298] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000058 -0.000069 -0.000048 [component_container_isolated-3] 0.000058 1.000000 0.000122 -0.000160 [component_container_isolated-3] 0.000069 -0.000122 1.000000 -0.000113 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.929797340] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.004,0.001} {-0.156,0.035,-0.130} [component_container_isolated-3] [DEBUG] [1762964979.929847345] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.929890608] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.929957105] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879480 -0.000211 0.475936 -0.001056 [component_container_isolated-3] -0.004520 0.999951 0.008796 0.059845 [component_container_isolated-3] -0.475914 -0.009888 0.879436 0.017883 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.929983235] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.644,28.419,-0.294} [component_container_isolated-3] [DEBUG] [1762964979.930016448] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.005,-0.001} {-0.418,28.385,-0.146} [component_container_isolated-3] [DEBUG] [1762964979.930068568] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.943125263] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.943180849] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.943224803] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.943275520] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 0.000012 0.000234 [component_container_isolated-3] 0.000003 1.000000 0.000150 -0.000077 [component_container_isolated-3] -0.000012 -0.000150 1.000000 -0.000293 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.943302472] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.014,-0.034} {0.050,-0.447,-0.189} [component_container_isolated-3] [DEBUG] [1762964979.943352527] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.943396872] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.943433371] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982721 0.000288 0.185095 -0.006934 [component_container_isolated-3] -0.000413 1.000000 0.000637 0.061506 [component_container_isolated-3] -0.185095 -0.000703 0.982720 0.017228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.943456305] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.000} {-0.041,10.667,-0.024} [component_container_isolated-3] [DEBUG] [1762964979.943487695] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.035} {-0.054,11.114,0.168} [component_container_isolated-3] [DEBUG] [1762964979.943537861] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.949673228] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.949735858] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.949777748] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.949824237] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000020 -0.000181 -0.000050 [component_container_isolated-3] 0.000020 1.000000 0.000030 0.000032 [component_container_isolated-3] 0.000181 -0.000030 1.000000 -0.000413 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.949849926] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.022,-0.005} {-0.039,-0.111,-0.160} [component_container_isolated-3] [DEBUG] [1762964979.949900101] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.949992027] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.950030921] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981577 -0.000002 0.191069 -0.006271 [component_container_isolated-3] -0.001781 0.999957 0.009158 0.061358 [component_container_isolated-3] -0.191061 -0.009330 0.981534 0.016555 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.950055488] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.545,11.015,-0.104} [component_container_isolated-3] [DEBUG] [1762964979.950089363] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.020,0.004} {-0.475,11.127,0.058} [component_container_isolated-3] [DEBUG] [1762964979.950143657] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.954951007] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.955007585] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.955047001] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.955091275] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000067 0.000078 0.000084 [component_container_isolated-3] 0.000067 1.000000 0.000039 -0.000408 [component_container_isolated-3] -0.000078 -0.000039 1.000000 0.000423 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.955116824] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.024,0.008} {0.177,0.190,0.275} [component_container_isolated-3] [DEBUG] [1762964979.955165437] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.955208038] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.955243245] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979102 0.000149 0.203370 -0.006278 [component_container_isolated-3] 0.002254 0.999930 -0.011584 0.061009 [component_container_isolated-3] -0.203357 0.011800 0.979033 0.018596 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.955266279] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.691,11.733,0.132} [component_container_isolated-3] [DEBUG] [1762964979.955299894] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.025,-0.008} {0.457,11.546,-0.150} [component_container_isolated-3] [DEBUG] [1762964979.955352664] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.970609111] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.970679054] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.970725062] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.970770118] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000054 0.000031 -0.000052 [component_container_isolated-3] -0.000054 1.000000 -0.000009 0.000057 [component_container_isolated-3] -0.000031 0.000009 1.000000 0.000029 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.970907991] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.155,0.037,-0.133} [component_container_isolated-3] [DEBUG] [1762964979.971029113] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.971077605] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.971118073] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879465 -0.000159 0.475963 -0.001055 [component_container_isolated-3] -0.004575 0.999951 0.008788 0.059847 [component_container_isolated-3] -0.475941 -0.009906 0.879421 0.017886 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.971142319] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.421,-0.298} [component_container_isolated-3] [DEBUG] [1762964979.971175001] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.005,-0.001} {-0.418,28.385,-0.146} [component_container_isolated-3] [DEBUG] [1762964979.971224766] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.980127538] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.980189286] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.980231367] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.980276112] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000095 0.000035 0.000386 [component_container_isolated-3] -0.000095 1.000000 -0.000023 0.000057 [component_container_isolated-3] -0.000035 0.000023 1.000000 -0.000017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.980302903] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.022,-0.005} {-0.037,-0.109,-0.165} [component_container_isolated-3] [DEBUG] [1762964979.980351997] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.980395671] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.980432180] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981570 0.000095 0.191103 -0.006156 [component_container_isolated-3] -0.001875 0.999957 0.009135 0.061334 [component_container_isolated-3] -0.191094 -0.009325 0.981528 0.016430 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.980455665] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.544,11.017,-0.109} [component_container_isolated-3] [DEBUG] [1762964979.980489239] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.021,0.004} {-0.475,11.127,0.058} [component_container_isolated-3] [DEBUG] [1762964979.980541810] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.986574220] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.986646638] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.986686655] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.986734576] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000081 -0.000037 -0.000237 [component_container_isolated-3] 0.000081 1.000000 -0.000073 -0.000463 [component_container_isolated-3] 0.000037 0.000073 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.986760776] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.014,-0.034} {0.054,-0.449,-0.185} [component_container_isolated-3] [DEBUG] [1762964979.986809740] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.986853053] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.986889622] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982728 0.000222 0.185058 -0.006991 [component_container_isolated-3] -0.000332 1.000000 0.000565 0.061487 [component_container_isolated-3] -0.185058 -0.000616 0.982727 0.017288 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.986913278] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.000} {-0.036,10.665,-0.019} [component_container_isolated-3] [DEBUG] [1762964979.986985135] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.012,0.035} {-0.054,11.114,0.168} [component_container_isolated-3] [DEBUG] [1762964979.987040050] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964979.994431325] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964979.994494776] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964979.994534713] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964979.994578166] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000067 0.000078 0.000084 [component_container_isolated-3] 0.000067 1.000000 0.000039 -0.000408 [component_container_isolated-3] -0.000078 -0.000039 1.000000 0.000423 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964979.994603083] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.024,0.008} {0.175,0.194,0.279} [component_container_isolated-3] [DEBUG] [1762964979.994650594] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964979.994693346] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964979.994728202] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979102 0.000149 0.203370 -0.006278 [component_container_isolated-3] 0.002254 0.999930 -0.011584 0.061009 [component_container_isolated-3] -0.203357 0.011800 0.979033 0.018596 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964979.994750695] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.691,11.733,0.132} [component_container_isolated-3] [DEBUG] [1762964979.994780322] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.025,-0.008} {0.458,11.541,-0.154} [component_container_isolated-3] [DEBUG] [1762964979.994830067] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.015828168] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.015893453] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.015974177] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.016024262] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000042 -0.000055 0.000043 [component_container_isolated-3] 0.000042 1.000000 -0.000146 -0.000057 [component_container_isolated-3] 0.000055 0.000146 1.000000 -0.000004 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.016050302] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.004,0.001} {-0.147,0.034,-0.131} [component_container_isolated-3] [DEBUG] [1762964980.016126708] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.016176423] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.016217972] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879491 -0.000126 0.475915 -0.001053 [component_container_isolated-3] -0.004532 0.999952 0.008641 0.059841 [component_container_isolated-3] -0.475893 -0.009757 0.879449 0.017896 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.016242419] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.636,28.418,-0.295} [component_container_isolated-3] [DEBUG] [1762964980.016273008] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.005,-0.001} {-0.418,28.385,-0.146} [component_container_isolated-3] [DEBUG] [1762964980.016322181] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.016441469] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.016492356] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.016529998] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.016578701] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000081 -0.000037 -0.000237 [component_container_isolated-3] 0.000081 1.000000 -0.000073 -0.000463 [component_container_isolated-3] 0.000037 0.000073 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.016605432] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.013,-0.034} {0.058,-0.451,-0.180} [component_container_isolated-3] [DEBUG] [1762964980.016655578] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.016701937] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.016742755] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982728 0.000222 0.185058 -0.006991 [component_container_isolated-3] -0.000332 1.000000 0.000565 0.061487 [component_container_isolated-3] -0.185058 -0.000616 0.982727 0.017288 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.016766771] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.000} {-0.036,10.665,-0.019} [component_container_isolated-3] [DEBUG] [1762964980.016798651] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.012,0.035} {-0.059,11.116,0.163} [component_container_isolated-3] [DEBUG] [1762964980.016848927] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.027999492] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.028066881] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.028106697] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.028152825] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000086 0.000258 -0.001111 [component_container_isolated-3] -0.000086 1.000000 0.000294 0.000587 [component_container_isolated-3] -0.000258 -0.000294 1.000000 0.001025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.028178574] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.004,0.022,-0.004} {-0.054,-0.094,-0.170} [component_container_isolated-3] [DEBUG] [1762964980.028226857] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.028273937] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.028314424] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981521 0.000123 0.191356 -0.006303 [component_container_isolated-3] -0.001963 0.999954 0.009429 0.061430 [component_container_isolated-3] -0.191346 -0.009630 0.981475 0.016531 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.028339642] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.562,11.031,-0.115} [component_container_isolated-3] [DEBUG] [1762964980.028374048] [zed_multi.right]: +++ Diff [map -> odom] - {0.005,-0.021,0.003} {-0.475,11.127,0.058} [component_container_isolated-3] [DEBUG] [1762964980.028424955] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.033816572] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.033885613] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.033960847] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.034009600] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000081 -0.000037 -0.000237 [component_container_isolated-3] 0.000081 1.000000 -0.000073 -0.000463 [component_container_isolated-3] 0.000037 0.000073 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.034036021] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.013,-0.034} {0.063,-0.453,-0.175} [component_container_isolated-3] [DEBUG] [1762964980.034086156] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.034132615] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.034173794] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982728 0.000222 0.185058 -0.006991 [component_container_isolated-3] -0.000332 1.000000 0.000565 0.061487 [component_container_isolated-3] -0.185058 -0.000616 0.982727 0.017288 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.034198972] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.000} {-0.036,10.665,-0.019} [component_container_isolated-3] [DEBUG] [1762964980.034232646] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.011,0.035} {-0.064,11.118,0.159} [component_container_isolated-3] [DEBUG] [1762964980.034283273] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.040645132] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.040697693] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.040735796] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.040782084] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000147 -0.000038 -0.000407 [component_container_isolated-3] -0.000147 1.000000 -0.000005 0.000573 [component_container_isolated-3] 0.000038 0.000005 1.000000 -0.000398 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.040807282] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.024,0.008} {0.175,0.192,0.270} [component_container_isolated-3] [DEBUG] [1762964980.040854602] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.040900230] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.040977357] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979110 0.000293 0.203333 -0.006322 [component_container_isolated-3] 0.002107 0.999931 -0.011589 0.061021 [component_container_isolated-3] -0.203322 0.011775 0.979041 0.018555 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.041003236] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.689,11.731,0.123} [component_container_isolated-3] [DEBUG] [1762964980.041033464] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.025,-0.008} {0.458,11.541,-0.154} [component_container_isolated-3] [DEBUG] [1762964980.041094440] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.042116583] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.042167861] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.042207727] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.042252041] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000071 0.000090 -0.000018 [component_container_isolated-3] -0.000071 1.000000 0.000219 0.000168 [component_container_isolated-3] -0.000090 -0.000219 1.000000 0.000131 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.042278311] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.004,0.001} {-0.160,0.039,-0.135} [component_container_isolated-3] [DEBUG] [1762964980.042327145] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.042371059] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.042411135] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879449 -0.000168 0.475994 -0.001046 [component_container_isolated-3] -0.004604 0.999950 0.008860 0.059863 [component_container_isolated-3] -0.475971 -0.009983 0.879404 0.017900 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.042436173] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.650,28.423,-0.300} [component_container_isolated-3] [DEBUG] [1762964980.042467513] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.005,-0.001} {-0.418,28.385,-0.146} [component_container_isolated-3] [DEBUG] [1762964980.042516566] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.045486408] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.045548166] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.045587701] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.045630253] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000147 -0.000038 -0.000407 [component_container_isolated-3] -0.000147 1.000000 -0.000005 0.000573 [component_container_isolated-3] 0.000038 0.000005 1.000000 -0.000398 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.045655200] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.023,0.007} {0.175,0.190,0.262} [component_container_isolated-3] [DEBUG] [1762964980.045703172] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.045747096] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.045782694] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979110 0.000293 0.203333 -0.006322 [component_container_isolated-3] 0.002107 0.999931 -0.011589 0.061021 [component_container_isolated-3] -0.203322 0.011775 0.979041 0.018555 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.045804896] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.689,11.731,0.123} [component_container_isolated-3] [DEBUG] [1762964980.045836366] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.024,-0.008} {0.460,11.544,-0.146} [component_container_isolated-3] [DEBUG] [1762964980.045891101] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.056552932] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.056619089] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.056660458] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.056705554] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000152 -0.000239 0.000823 [component_container_isolated-3] 0.000152 1.000000 -0.000196 -0.000581 [component_container_isolated-3] 0.000239 0.000196 1.000000 -0.001208 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.056731814] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.003,0.022,-0.006} {-0.043,-0.108,-0.162} [component_container_isolated-3] [DEBUG] [1762964980.056781729] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.056826745] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.056862614] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981566 0.000011 0.191122 -0.006266 [component_container_isolated-3] -0.001809 0.999956 0.009234 0.061364 [component_container_isolated-3] -0.191113 -0.009409 0.981523 0.016210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.056886900] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.549,11.018,-0.106} [component_container_isolated-3] [DEBUG] [1762964980.056937597] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.021,0.004} {-0.475,11.127,0.058} [component_container_isolated-3] [DEBUG] [1762964980.056997061] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.061982522] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.062042226] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.062079567] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.062122269] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000152 -0.000239 0.000823 [component_container_isolated-3] 0.000152 1.000000 -0.000196 -0.000581 [component_container_isolated-3] 0.000239 0.000196 1.000000 -0.001208 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.062148128] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.021,-0.007} {-0.032,-0.122,-0.153} [component_container_isolated-3] [DEBUG] [1762964980.062196761] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.062240404] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.062280421] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981566 0.000011 0.191122 -0.006266 [component_container_isolated-3] -0.001809 0.999956 0.009234 0.061364 [component_container_isolated-3] -0.191113 -0.009409 0.981523 0.016210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.062304076] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.549,11.018,-0.106} [component_container_isolated-3] [DEBUG] [1762964980.062337530] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.020,0.006} {-0.488,11.141,0.049} [component_container_isolated-3] [DEBUG] [1762964980.062390962] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.070415206] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.070471574] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.070518413] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.070566174] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000107 0.000045 0.000002 [component_container_isolated-3] 0.000107 1.000000 -0.000069 -0.000179 [component_container_isolated-3] -0.000045 0.000069 1.000000 -0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.070592595] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.004,0.001} {-0.156,0.041,-0.129} [component_container_isolated-3] [DEBUG] [1762964980.070642951] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.070686103] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.070721541] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879427 -0.000230 0.476034 -0.001044 [component_container_isolated-3] -0.004497 0.999951 0.008791 0.059853 [component_container_isolated-3] -0.476012 -0.009872 0.879383 0.017916 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.070744675] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.643,28.425,-0.293} [component_container_isolated-3] [DEBUG] [1762964980.070776316] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.005,-0.001} {-0.418,28.385,-0.146} [component_container_isolated-3] [DEBUG] [1762964980.070860466] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.083305754] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.083378182] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.083419441] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.083465940] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000023 0.000118 -0.000307 [component_container_isolated-3] 0.000023 1.000000 0.000080 -0.000124 [component_container_isolated-3] -0.000118 -0.000080 1.000000 0.000087 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.083492921] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.009,0.013,-0.033} {0.058,-0.446,-0.174} [component_container_isolated-3] [DEBUG] [1762964980.083543127] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.083591339] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.083632959] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000185 0.185174 -0.007098 [component_container_isolated-3] -0.000309 1.000000 0.000644 0.061461 [component_container_isolated-3] -0.185174 -0.000691 0.982705 0.017362 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.083659109] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.000} {-0.040,10.671,-0.018} [component_container_isolated-3] [DEBUG] [1762964980.083690469] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.011,0.034} {-0.064,11.118,0.159} [component_container_isolated-3] [DEBUG] [1762964980.083742027] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.088167088] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.088222824] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.088260576] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.088302767] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000152 -0.000239 0.000823 [component_container_isolated-3] 0.000152 1.000000 -0.000196 -0.000581 [component_container_isolated-3] 0.000239 0.000196 1.000000 -0.001208 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.088327955] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.021,-0.008} {-0.020,-0.135,-0.144} [component_container_isolated-3] [DEBUG] [1762964980.088376037] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.088422726] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.088462492] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981566 0.000011 0.191122 -0.006266 [component_container_isolated-3] -0.001809 0.999956 0.009234 0.061364 [component_container_isolated-3] -0.191113 -0.009409 0.981523 0.016210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.088486678] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.549,11.018,-0.106} [component_container_isolated-3] [DEBUG] [1762964980.088520072] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.019,0.007} {-0.501,11.154,0.040} [component_container_isolated-3] [DEBUG] [1762964980.088575067] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.090156648] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.090238734] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.090288309] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.090340579] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000068 0.000176 -0.000179 [component_container_isolated-3] -0.000068 1.000000 0.000042 0.000558 [component_container_isolated-3] -0.000176 -0.000042 1.000000 0.000504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.090370696] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.022,0.008} {0.173,0.200,0.258} [component_container_isolated-3] [DEBUG] [1762964980.090425802] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.090471980] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.090509602] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979074 0.000351 0.203505 -0.006359 [component_container_isolated-3] 0.002042 0.999931 -0.011547 0.061162 [component_container_isolated-3] -0.203495 0.011720 0.979006 0.018620 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.090533127] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.686,11.741,0.119} [component_container_isolated-3] [DEBUG] [1762964980.090564547] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.024,-0.008} {0.460,11.544,-0.146} [component_container_isolated-3] [DEBUG] [1762964980.090671471] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.094947838] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.095013022] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.095053950] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.095100299] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000002 0.000010 0.000164 [component_container_isolated-3] 0.000002 1.000000 -0.000140 -0.000064 [component_container_isolated-3] -0.000010 0.000140 1.000000 0.000020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.095125898] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.004,0.001} {-0.148,0.042,-0.129} [component_container_isolated-3] [DEBUG] [1762964980.095175673] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.095218034] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.095254303] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879422 -0.000165 0.476043 -0.001017 [component_container_isolated-3] -0.004495 0.999952 0.008651 0.059837 [component_container_isolated-3] -0.476021 -0.009748 0.879380 0.017923 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.095277447] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.635,28.426,-0.293} [component_container_isolated-3] [DEBUG] [1762964980.095308687] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.005,-0.001} {-0.418,28.385,-0.146} [component_container_isolated-3] [DEBUG] [1762964980.095359373] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.102532943] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.102590543] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.102629007] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.102674884] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000068 0.000176 -0.000179 [component_container_isolated-3] -0.000068 1.000000 0.000042 0.000558 [component_container_isolated-3] -0.000176 -0.000042 1.000000 0.000504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.102699652] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.022,0.008} {0.171,0.210,0.254} [component_container_isolated-3] [DEBUG] [1762964980.102747703] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.102795675] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.102837565] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979074 0.000351 0.203505 -0.006359 [component_container_isolated-3] 0.002042 0.999931 -0.011547 0.061162 [component_container_isolated-3] -0.203495 0.011720 0.979006 0.018620 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.102860238] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.686,11.741,0.119} [component_container_isolated-3] [DEBUG] [1762964980.102890546] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.023,-0.009} {0.463,11.533,-0.142} [component_container_isolated-3] [DEBUG] [1762964980.102967182] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.112619707] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.112687065] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.112727933] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.112774953] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000002 0.000050 -0.000178 [component_container_isolated-3] -0.000002 1.000000 -0.000073 0.000120 [component_container_isolated-3] -0.000050 0.000073 1.000000 0.000337 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.112801313] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.009,0.013,-0.033} {0.062,-0.444,-0.174} [component_container_isolated-3] [DEBUG] [1762964980.112850618] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.112893780] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.112955989] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 0.000200 0.185223 -0.007180 [component_container_isolated-3] -0.000312 1.000000 0.000572 0.061455 [component_container_isolated-3] -0.185223 -0.000620 0.982696 0.017518 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.112982359] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.000} {-0.036,10.674,-0.018} [component_container_isolated-3] [DEBUG] [1762964980.113013839] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.011,0.034} {-0.064,11.118,0.159} [component_container_isolated-3] [DEBUG] [1762964980.113119651] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.124074763] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.124132012] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.124173411] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.124221814] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000152 -0.000239 0.000823 [component_container_isolated-3] 0.000152 1.000000 -0.000196 -0.000581 [component_container_isolated-3] 0.000239 0.000196 1.000000 -0.001208 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.124253765] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.020,-0.009} {-0.009,-0.149,-0.136} [component_container_isolated-3] [DEBUG] [1762964980.124306576] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.124357343] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.124390346] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981566 0.000011 0.191122 -0.006266 [component_container_isolated-3] -0.001809 0.999956 0.009234 0.061364 [component_container_isolated-3] -0.191113 -0.009409 0.981523 0.016210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.124407689] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.549,11.018,-0.106} [component_container_isolated-3] [DEBUG] [1762964980.124429721] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.019,0.008} {-0.514,11.168,0.031} [component_container_isolated-3] [DEBUG] [1762964980.124469697] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.129732428] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.129787533] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.129828191] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.129876212] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000023 -0.000103 -0.000108 [component_container_isolated-3] -0.000023 1.000000 -0.000026 0.000049 [component_container_isolated-3] 0.000103 0.000026 1.000000 -0.000088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.129903935] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.004,0.001} {-0.146,0.036,-0.130} [component_container_isolated-3] [DEBUG] [1762964980.129980341] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.130026469] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.130067207] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879471 -0.000133 0.475952 -0.001013 [component_container_isolated-3] -0.004517 0.999952 0.008626 0.059831 [component_container_isolated-3] -0.475931 -0.009736 0.879429 0.017922 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.130090922] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.634,28.420,-0.294} [component_container_isolated-3] [DEBUG] [1762964980.130121220] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.005,-0.001} {-0.418,28.385,-0.146} [component_container_isolated-3] [DEBUG] [1762964980.130172488] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.145281513] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.145342850] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.145385441] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.145432992] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000219 -0.000043 0.000508 [component_container_isolated-3] 0.000219 1.000000 0.000081 -0.001235 [component_container_isolated-3] 0.000043 -0.000081 1.000000 -0.000206 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.145540537] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.012,-0.033} {0.057,-0.446,-0.162} [component_container_isolated-3] [DEBUG] [1762964980.145608908] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.145666698] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.145706104] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 -0.000030 0.185181 -0.007205 [component_container_isolated-3] -0.000093 1.000000 0.000653 0.061029 [component_container_isolated-3] -0.185181 -0.000659 0.982704 0.017574 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.145729007] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.038,10.672,-0.005} [component_container_isolated-3] [DEBUG] [1762964980.145760117] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.010,0.035} {-0.064,11.118,0.159} [component_container_isolated-3] [DEBUG] [1762964980.145818428] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.150422521] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.150487936] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.150526099] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.150568910] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000068 0.000176 -0.000179 [component_container_isolated-3] -0.000068 1.000000 0.000042 0.000558 [component_container_isolated-3] -0.000176 -0.000042 1.000000 0.000504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.150592776] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.021,0.009} {0.168,0.220,0.250} [component_container_isolated-3] [DEBUG] [1762964980.151321728] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.151451706] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.151498315] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979074 0.000351 0.203505 -0.006359 [component_container_isolated-3] 0.002042 0.999931 -0.011547 0.061162 [component_container_isolated-3] -0.203495 0.011720 0.979006 0.018620 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.151522091] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.686,11.741,0.119} [component_container_isolated-3] [DEBUG] [1762964980.151547489] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.023,-0.009} {0.466,11.523,-0.138} [component_container_isolated-3] [DEBUG] [1762964980.151589579] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.162155518] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.162215903] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.162255349] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.162300655] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000219 -0.000043 0.000508 [component_container_isolated-3] 0.000219 1.000000 0.000081 -0.001235 [component_container_isolated-3] 0.000043 -0.000081 1.000000 -0.000206 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.162326204] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.010,-0.034} {0.053,-0.449,-0.149} [component_container_isolated-3] [DEBUG] [1762964980.162374296] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.162418360] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.162458056] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 -0.000030 0.185181 -0.007205 [component_container_isolated-3] -0.000093 1.000000 0.000653 0.061029 [component_container_isolated-3] -0.185181 -0.000659 0.982704 0.017574 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.162482823] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.038,10.672,-0.005} [component_container_isolated-3] [DEBUG] [1762964980.162516908] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.009,0.035} {-0.062,11.120,0.146} [component_container_isolated-3] [DEBUG] [1762964980.162568316] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.168124928] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.168179963] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.168222975] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.168267250] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000152 -0.000239 0.000823 [component_container_isolated-3] 0.000152 1.000000 -0.000196 -0.000581 [component_container_isolated-3] 0.000239 0.000196 1.000000 -0.001208 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.168292157] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.019,-0.010} {0.002,-0.163,-0.127} [component_container_isolated-3] [DEBUG] [1762964980.168346461] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.168390956] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.168426534] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981566 0.000011 0.191122 -0.006266 [component_container_isolated-3] -0.001809 0.999956 0.009234 0.061364 [component_container_isolated-3] -0.191113 -0.009409 0.981523 0.016210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.168448847] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.549,11.018,-0.106} [component_container_isolated-3] [DEBUG] [1762964980.168479996] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.018,0.010} {-0.526,11.182,0.022} [component_container_isolated-3] [DEBUG] [1762964980.168531815] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.168915217] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.168997865] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.169040637] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.169085382] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000042 0.000013 0.000002 [component_container_isolated-3] -0.000042 1.000000 -0.000033 0.000081 [component_container_isolated-3] -0.000013 0.000033 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.169109859] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.004,0.001} {-0.144,0.037,-0.132} [component_container_isolated-3] [DEBUG] [1762964980.169160556] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.169202025] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.169239276] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879465 -0.000080 0.475964 -0.001005 [component_container_isolated-3] -0.004559 0.999953 0.008592 0.059835 [component_container_isolated-3] -0.475942 -0.009726 0.879423 0.017927 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.169262180] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.634,28.421,-0.297} [component_container_isolated-3] [DEBUG] [1762964980.169292297] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.005,-0.001} {-0.418,28.385,-0.146} [component_container_isolated-3] [DEBUG] [1762964980.169349206] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.183451137] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.183519839] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.183559404] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.183605111] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000068 0.000176 -0.000179 [component_container_isolated-3] -0.000068 1.000000 0.000042 0.000558 [component_container_isolated-3] -0.000176 -0.000042 1.000000 0.000504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.183633466] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.021,0.009} {0.166,0.230,0.247} [component_container_isolated-3] [DEBUG] [1762964980.183684964] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.183731202] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.183770918] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979074 0.000351 0.203505 -0.006359 [component_container_isolated-3] 0.002042 0.999931 -0.011547 0.061162 [component_container_isolated-3] -0.203495 0.011720 0.979006 0.018620 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.183794102] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.686,11.741,0.119} [component_container_isolated-3] [DEBUG] [1762964980.183825532] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.022,-0.010} {0.469,11.513,-0.134} [component_container_isolated-3] [DEBUG] [1762964980.183874877] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.209525463] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.209591008] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.209630083] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.209674388] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000068 0.000176 -0.000179 [component_container_isolated-3] -0.000068 1.000000 0.000042 0.000558 [component_container_isolated-3] -0.000176 -0.000042 1.000000 0.000504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.209699435] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.020,0.010} {0.163,0.241,0.243} [component_container_isolated-3] [DEBUG] [1762964980.209747317] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.209794317] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.209832820] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979074 0.000351 0.203505 -0.006359 [component_container_isolated-3] 0.002042 0.999931 -0.011547 0.061162 [component_container_isolated-3] -0.203495 0.011720 0.979006 0.018620 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.209855834] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.001,0.000} {0.686,11.741,0.119} [component_container_isolated-3] [DEBUG] [1762964980.209886503] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.022,-0.011} {0.473,11.503,-0.130} [component_container_isolated-3] [DEBUG] [1762964980.209964431] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.213809394] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.213875190] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.213915567] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.213986112] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000042 -0.000007 -0.000237 [component_container_isolated-3] -0.000042 1.000000 0.000310 0.000050 [component_container_isolated-3] 0.000007 -0.000310 1.000000 -0.000069 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.214011761] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.162,0.036,-0.135} [component_container_isolated-3] [DEBUG] [1762964980.214073639] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.214121801] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.214160856] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879468 -0.000191 0.475958 -0.001041 [component_container_isolated-3] -0.004601 0.999950 0.008902 0.059848 [component_container_isolated-3] -0.475936 -0.010019 0.879423 0.017925 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.214184250] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.653,28.420,-0.300} [component_container_isolated-3] [DEBUG] [1762964980.214214688] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.001} {-0.418,28.385,-0.146} [component_container_isolated-3] [DEBUG] [1762964980.214263341] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.216743017] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.216791920] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.216826466] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.216870370] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000026 0.000249 0.000155 [component_container_isolated-3] -0.000026 1.000000 0.000207 -0.000096 [component_container_isolated-3] -0.000249 -0.000207 1.000000 0.000952 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.216902732] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.019,-0.009} {-0.010,-0.148,-0.128} [component_container_isolated-3] [DEBUG] [1762964980.216972435] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.217010758] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.217053039] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981519 -0.000003 0.191366 -0.006174 [component_container_isolated-3] -0.001837 0.999954 0.009440 0.061325 [component_container_isolated-3] -0.191357 -0.009617 0.981474 0.016255 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.217083688] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.561,11.032,-0.107} [component_container_isolated-3] [DEBUG] [1762964980.217115879] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.018,0.009} {-0.526,11.182,0.022} [component_container_isolated-3] [DEBUG] [1762964980.217185712] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.222571488] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.222635520] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.222673994] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.222717937] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000184 -0.000034 0.000075 [component_container_isolated-3] -0.000184 1.000000 0.000079 0.000703 [component_container_isolated-3] 0.000034 -0.000079 1.000000 -0.000038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.222743005] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.011,-0.034} {0.048,-0.451,-0.160} [component_container_isolated-3] [DEBUG] [1762964980.222792460] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.222838698] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.222878815] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 0.000137 0.185147 -0.007191 [component_container_isolated-3] -0.000277 1.000000 0.000732 0.061000 [component_container_isolated-3] -0.185147 -0.000771 0.982711 0.017602 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.222902971] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.045,10.670,-0.016} [component_container_isolated-3] [DEBUG] [1762964980.222967855] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.010,0.035} {-0.062,11.120,0.146} [component_container_isolated-3] [DEBUG] [1762964980.223023531] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.235611481] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.235667458] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.235707294] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.235750256] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000112 -0.000079 0.000153 [component_container_isolated-3] -0.000112 1.000000 -0.000187 0.000216 [component_container_isolated-3] 0.000079 0.000187 1.000000 -0.000125 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.235777949] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.005,0.001} {-0.151,0.032,-0.141} [component_container_isolated-3] [DEBUG] [1762964980.235829608] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.235874764] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.235915772] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879505 -0.000003 0.475889 -0.001044 [component_container_isolated-3] -0.004712 0.999951 0.008715 0.059889 [component_container_isolated-3] -0.475866 -0.009907 0.879462 0.017918 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.235965317] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.416,-0.307} [component_container_isolated-3] [DEBUG] [1762964980.235998661] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.005,-0.001} {-0.418,28.385,-0.146} [component_container_isolated-3] [DEBUG] [1762964980.236048997] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.245805690] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.245866045] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.245907364] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.245980042] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000184 -0.000170 -0.000015 [component_container_isolated-3] -0.000184 1.000000 -0.000070 0.000799 [component_container_isolated-3] 0.000170 0.000070 1.000000 -0.000657 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.246006673] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.020,-0.010} {-0.006,-0.158,-0.139} [component_container_isolated-3] [DEBUG] [1762964980.246056799] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.246101575] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.246137313] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981551 0.000191 0.191199 -0.006147 [component_container_isolated-3] -0.002020 0.999954 0.009370 0.061462 [component_container_isolated-3] -0.191188 -0.009583 0.981507 0.016146 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.246162681] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.559,11.022,-0.118} [component_container_isolated-3] [DEBUG] [1762964980.246197217] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.019,0.009} {-0.526,11.182,0.022} [component_container_isolated-3] [DEBUG] [1762964980.246247864] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.251694536] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.251753739] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.251795078] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.251839252] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000041 -0.000004 0.000009 [component_container_isolated-3] 0.000041 1.000000 -0.000042 -0.000328 [component_container_isolated-3] 0.000004 0.000042 1.000000 0.000018 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.251864621] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.011,-0.034} {0.051,-0.451,-0.157} [component_container_isolated-3] [DEBUG] [1762964980.251913374] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.251994849] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.252031870] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 0.000104 0.185144 -0.007188 [component_container_isolated-3] -0.000236 1.000000 0.000690 0.060929 [component_container_isolated-3] -0.185144 -0.000722 0.982711 0.017635 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.252055255] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.042,10.670,-0.014} [component_container_isolated-3] [DEBUG] [1762964980.252088819] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.010,0.035} {-0.062,11.120,0.146} [component_container_isolated-3] [DEBUG] [1762964980.252146689] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.273762671] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.273813568] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.273857341] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.273902437] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000019 0.000009 0.000041 [component_container_isolated-3] 0.000019 1.000000 -0.000214 -0.000049 [component_container_isolated-3] -0.000009 0.000214 1.000000 -0.000027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.273957252] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.005,0.000} {-0.139,0.032,-0.140} [component_container_isolated-3] [DEBUG] [1762964980.274011185] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.274056973] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.274093041] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879501 0.000082 0.475897 -0.001046 [component_container_isolated-3] -0.004693 0.999953 0.008501 0.059905 [component_container_isolated-3] -0.475874 -0.009710 0.879460 0.017913 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.274115304] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.633,28.416,-0.306} [component_container_isolated-3] [DEBUG] [1762964980.274147395] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.005,-0.001} {-0.418,28.385,-0.146} [component_container_isolated-3] [DEBUG] [1762964980.274202010] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.288876845] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.288950085] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.288990222] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.289034466] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000184 -0.000170 -0.000015 [component_container_isolated-3] -0.000184 1.000000 -0.000070 0.000799 [component_container_isolated-3] 0.000170 0.000070 1.000000 -0.000657 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.289059534] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.021,-0.011} {-0.002,-0.168,-0.149} [component_container_isolated-3] [DEBUG] [1762964980.289108638] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.289150999] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.289190083] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981551 0.000191 0.191199 -0.006147 [component_container_isolated-3] -0.002020 0.999954 0.009370 0.061462 [component_container_isolated-3] -0.191188 -0.009583 0.981507 0.016146 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.289214340] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.559,11.022,-0.118} [component_container_isolated-3] [DEBUG] [1762964980.289247904] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.020,0.010} {-0.528,11.191,0.033} [component_container_isolated-3] [DEBUG] [1762964980.289298961] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.297392879] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.297449757] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.297494583] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.297540981] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000055 -0.000108 0.000220 [component_container_isolated-3] -0.000055 1.000000 0.000088 0.000637 [component_container_isolated-3] 0.000108 -0.000088 1.000000 -0.000762 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.297567272] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.011,-0.034} {0.045,-0.457,-0.160} [component_container_isolated-3] [DEBUG] [1762964980.297617618] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.297662233] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.297699444] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982731 0.000141 0.185038 -0.007178 [component_container_isolated-3] -0.000291 1.000000 0.000779 0.060991 [component_container_isolated-3] -0.185037 -0.000819 0.982731 0.017500 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.297722739] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.000} {-0.048,10.663,-0.017} [component_container_isolated-3] [DEBUG] [1762964980.297757094] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.010,0.036} {-0.062,11.120,0.146} [component_container_isolated-3] [DEBUG] [1762964980.297807861] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.301630321] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.301692319] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.301735151] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.301782512] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000015 -0.000667 0.000675 [component_container_isolated-3] -0.000015 1.000000 -0.000039 0.000346 [component_container_isolated-3] 0.000667 0.000039 1.000000 -0.002586 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.301809012] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.020,0.007} {0.166,0.202,0.242} [component_container_isolated-3] [DEBUG] [1762964980.302053599] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.302123723] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.302156045] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979209 0.000373 0.202852 -0.006512 [component_container_isolated-3] 0.002019 0.999931 -0.011587 0.061333 [component_container_isolated-3] -0.202842 0.011756 0.979141 0.017490 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.302174711] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.688,11.703,0.118} [component_container_isolated-3] [DEBUG] [1762964980.302198196] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.021,-0.009} {0.473,11.503,-0.130} [component_container_isolated-3] [DEBUG] [1762964980.302237110] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.306950061] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.307011748] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.307053789] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.307097422] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000055 -0.000108 0.000220 [component_container_isolated-3] -0.000055 1.000000 0.000088 0.000637 [component_container_isolated-3] 0.000108 -0.000088 1.000000 -0.000762 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.307122470] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.012,-0.035} {0.040,-0.463,-0.164} [component_container_isolated-3] [DEBUG] [1762964980.307172085] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.307214906] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.307250254] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982731 0.000141 0.185038 -0.007178 [component_container_isolated-3] -0.000291 1.000000 0.000779 0.060991 [component_container_isolated-3] -0.185037 -0.000819 0.982731 0.017500 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.307273148] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.000} {-0.048,10.663,-0.017} [component_container_isolated-3] [DEBUG] [1762964980.307306050] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.011,0.036} {-0.056,11.127,0.149} [component_container_isolated-3] [DEBUG] [1762964980.307357228] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.309287525] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.309341387] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.309381745] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.309385872] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.309468180] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.309430007] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000101 0.000096 0.000042 [component_container_isolated-3] 0.000101 1.000000 0.000204 -0.000129 [component_container_isolated-3] -0.000096 -0.000204 1.000000 0.000083 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.309530709] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.004,0.001} {-0.151,0.038,-0.134} [component_container_isolated-3] [DEBUG] [1762964980.309508827] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.309629297] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000184 -0.000170 -0.000015 [component_container_isolated-3] -0.000184 1.000000 -0.000070 0.000799 [component_container_isolated-3] 0.000170 0.000070 1.000000 -0.000657 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.309664374] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.022,-0.011} {0.002,-0.178,-0.160} [component_container_isolated-3] [DEBUG] [1762964980.309588870] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.309716854] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.309765718] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.309795675] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.309834479] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.309886178] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.309806656] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879455 -0.000104 0.475982 -0.001053 [component_container_isolated-3] -0.004593 0.999952 0.008704 0.059913 [component_container_isolated-3] -0.475960 -0.009841 0.879412 0.017898 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.309984395] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.641,28.422,-0.299} [component_container_isolated-3] [DEBUG] [1762964980.310020214] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.005,-0.001} {-0.418,28.385,-0.146} [component_container_isolated-3] [DEBUG] [1762964980.309843406] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981551 0.000191 0.191199 -0.006147 [component_container_isolated-3] -0.002020 0.999954 0.009370 0.061462 [component_container_isolated-3] -0.191188 -0.009583 0.981507 0.016146 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.310097792] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.001,0.001,-0.001} {-0.559,11.022,-0.118} [component_container_isolated-3] [DEBUG] [1762964980.310135975] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.020,0.011} {-0.530,11.201,0.043} [component_container_isolated-3] [DEBUG] [1762964980.309962554] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.310078856] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.310200288] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.310259140] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000015 -0.000667 0.000675 [component_container_isolated-3] -0.000015 1.000000 -0.000039 0.000346 [component_container_isolated-3] 0.000667 0.000039 1.000000 -0.002586 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.310356386] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.020,0.005} {0.168,0.164,0.241} [component_container_isolated-3] [DEBUG] [1762964980.310409698] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.310451958] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.310487937] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979209 0.000373 0.202852 -0.006512 [component_container_isolated-3] 0.002019 0.999931 -0.011587 0.061333 [component_container_isolated-3] -0.202842 0.011756 0.979141 0.017490 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.310510370] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.688,11.703,0.118} [component_container_isolated-3] [DEBUG] [1762964980.310540948] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.021,-0.006} {0.471,11.541,-0.129} [component_container_isolated-3] [DEBUG] [1762964980.310590653] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.322577054] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.322626308] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.322664572] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.322707243] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000101 0.000096 0.000042 [component_container_isolated-3] 0.000101 1.000000 0.000204 -0.000129 [component_container_isolated-3] -0.000096 -0.000204 1.000000 0.000083 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.322731950] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.004,0.001} {-0.162,0.044,-0.128} [component_container_isolated-3] [DEBUG] [1762964980.322777688] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.322821692] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.322861087] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879455 -0.000104 0.475982 -0.001053 [component_container_isolated-3] -0.004593 0.999952 0.008704 0.059913 [component_container_isolated-3] -0.475960 -0.009841 0.879412 0.017898 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.322885033] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.641,28.422,-0.299} [component_container_isolated-3] [DEBUG] [1762964980.322916302] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.005,-0.001} {-0.409,28.379,-0.153} [component_container_isolated-3] [DEBUG] [1762964980.323007757] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.332252522] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.332305083] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.332344778] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.332389444] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000055 -0.000108 0.000220 [component_container_isolated-3] -0.000055 1.000000 0.000088 0.000637 [component_container_isolated-3] 0.000108 -0.000088 1.000000 -0.000762 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.332415053] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.036} {0.035,-0.469,-0.167} [component_container_isolated-3] [DEBUG] [1762964980.332462984] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.332508521] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.332548768] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982731 0.000141 0.185038 -0.007178 [component_container_isolated-3] -0.000291 1.000000 0.000779 0.060991 [component_container_isolated-3] -0.185037 -0.000819 0.982731 0.017500 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.332573706] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.000} {-0.048,10.663,-0.017} [component_container_isolated-3] [DEBUG] [1762964980.332607520] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.037} {-0.051,11.133,0.152} [component_container_isolated-3] [DEBUG] [1762964980.332660662] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.333837619] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.333886002] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.333961977] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.334007995] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000027 -0.000079 0.000104 [component_container_isolated-3] 0.000027 1.000000 -0.000009 -0.000390 [component_container_isolated-3] 0.000079 0.000009 1.000000 0.000239 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.334032521] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.020,0.005} {0.168,0.160,0.242} [component_container_isolated-3] [DEBUG] [1762964980.334082617] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.334127403] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.334166818] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979225 0.000349 0.202774 -0.006484 [component_container_isolated-3] 0.002045 0.999931 -0.011596 0.061379 [component_container_isolated-3] -0.202764 0.011770 0.979157 0.017361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.334189682] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {0.000,0.002,-0.001} {0.689,11.699,0.120} [component_container_isolated-3] [DEBUG] [1762964980.334221963] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.022,-0.007} {0.471,11.541,-0.129} [component_container_isolated-3] [DEBUG] [1762964980.334270636] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.348540438] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.348622405] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.348665186] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.348712817] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000173 0.000029 -0.000928 [component_container_isolated-3] 0.000173 1.000000 -0.000165 -0.000753 [component_container_isolated-3] -0.000029 0.000165 1.000000 0.000971 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.348739128] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.021,-0.010} {0.012,-0.176,-0.150} [component_container_isolated-3] [DEBUG] [1762964980.348804693] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.348972804] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.349017840] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 0.000053 0.191227 -0.006283 [component_container_isolated-3] -0.001847 0.999956 0.009205 0.061374 [component_container_isolated-3] -0.191218 -0.009388 0.981503 0.016355 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.349038620] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.548,11.024,-0.108} [component_container_isolated-3] [DEBUG] [1762964980.349062044] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.020,0.010} {-0.530,11.201,0.043} [component_container_isolated-3] [DEBUG] [1762964980.349103043] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.353548202] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.353606683] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.353644796] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.353687077] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000101 0.000096 0.000042 [component_container_isolated-3] 0.000101 1.000000 0.000204 -0.000129 [component_container_isolated-3] -0.000096 -0.000204 1.000000 0.000083 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.353712075] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.004,0.001} {-0.174,0.049,-0.123} [component_container_isolated-3] [DEBUG] [1762964980.353760026] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.353804662] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.353844638] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879455 -0.000104 0.475982 -0.001053 [component_container_isolated-3] -0.004593 0.999952 0.008704 0.059913 [component_container_isolated-3] -0.475960 -0.009841 0.879412 0.017898 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.353868834] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.641,28.422,-0.299} [component_container_isolated-3] [DEBUG] [1762964980.353900995] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.001} {-0.401,28.374,-0.159} [component_container_isolated-3] [DEBUG] [1762964980.353978964] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.356344983] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.356405759] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.356446677] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.356492094] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000122 0.000622 -0.001016 [component_container_isolated-3] 0.000122 1.000000 0.000283 -0.000645 [component_container_isolated-3] -0.000622 -0.000283 1.000000 0.002221 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.356517883] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.021,0.007} {0.152,0.195,0.249} [component_container_isolated-3] [DEBUG] [1762964980.356568630] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.356612714] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.356650546] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979099 0.000172 0.203383 -0.006560 [component_container_isolated-3] 0.002175 0.999934 -0.011312 0.061265 [component_container_isolated-3] -0.203372 0.011518 0.979034 0.017994 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.356672508] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.000} {0.674,11.734,0.127} [component_container_isolated-3] [DEBUG] [1762964980.356702616] [zed_multi.left]: +++ Diff [map -> odom] - {0.004,0.022,-0.008} {0.471,11.541,-0.129} [component_container_isolated-3] [DEBUG] [1762964980.356750848] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.374692302] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.374759650] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.374800649] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.374844943] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000167 -0.000038 0.000134 [component_container_isolated-3] -0.000167 1.000000 0.000145 0.000764 [component_container_isolated-3] 0.000038 -0.000145 1.000000 -0.000261 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.374870993] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.022,-0.011} {0.003,-0.178,-0.160} [component_container_isolated-3] [DEBUG] [1762964980.374955374] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.375005660] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.375047721] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981553 0.000189 0.191190 -0.006297 [component_container_isolated-3] -0.002014 0.999954 0.009350 0.061496 [component_container_isolated-3] -0.191180 -0.009562 0.981508 0.016370 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.375073961] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.558,11.022,-0.118} [component_container_isolated-3] [DEBUG] [1762964980.375106393] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.020,0.010} {-0.530,11.201,0.043} [component_container_isolated-3] [DEBUG] [1762964980.375162680] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.378814334] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.378882735] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.378961515] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.379012593] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 0.000105 -0.000164 [component_container_isolated-3] 0.000003 1.000000 -0.000114 -0.000297 [component_container_isolated-3] -0.000105 0.000114 1.000000 0.000526 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.379040356] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.012,-0.035} {0.042,-0.463,-0.167} [component_container_isolated-3] [DEBUG] [1762964980.379093417] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.379140557] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.379179501] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000160 0.185141 -0.007167 [component_container_isolated-3] -0.000288 1.000000 0.000665 0.060976 [component_container_isolated-3] -0.185140 -0.000707 0.982712 0.017538 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.379203187] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.041,10.669,-0.017} [component_container_isolated-3] [DEBUG] [1762964980.379235989] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.011,0.037} {-0.051,11.133,0.152} [component_container_isolated-3] [DEBUG] [1762964980.379285323] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.384952797] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.385015667] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.385056575] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.385099597] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000167 -0.000038 0.000134 [component_container_isolated-3] -0.000167 1.000000 0.000145 0.000764 [component_container_isolated-3] 0.000038 -0.000145 1.000000 -0.000261 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.385124665] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.023,-0.011} {-0.005,-0.180,-0.169} [component_container_isolated-3] [DEBUG] [1762964980.385172887] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.385215939] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.385251618] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981553 0.000189 0.191190 -0.006297 [component_container_isolated-3] -0.002014 0.999954 0.009350 0.061496 [component_container_isolated-3] -0.191180 -0.009562 0.981508 0.016370 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.385275162] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.001} {-0.558,11.022,-0.118} [component_container_isolated-3] [DEBUG] [1762964980.385308115] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.021,0.010} {-0.520,11.204,0.053} [component_container_isolated-3] [DEBUG] [1762964980.385362660] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.392661038] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.392724128] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.392764636] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.392810904] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000248 0.000084 0.001598 [component_container_isolated-3] -0.000248 1.000000 -0.000412 0.001070 [component_container_isolated-3] -0.000084 0.000412 1.000000 0.000510 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.392836282] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.020,0.008} {0.176,0.200,0.235} [component_container_isolated-3] [DEBUG] [1762964980.392886428] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.392969246] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.393008361] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 -0.000025 0.203480 -0.006566 [component_container_isolated-3] 0.002453 0.999929 -0.011679 0.060596 [component_container_isolated-3] -0.203465 0.011934 0.979010 0.018191 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.393030914] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.000} {0.698,11.740,0.144} [component_container_isolated-3] [DEBUG] [1762964980.393061933] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.020,-0.008} {0.474,11.542,-0.098} [component_container_isolated-3] [DEBUG] [1762964980.393115325] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.394160501] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.394213202] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.394256565] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.394309786] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000007 -0.000048 -0.000112 [component_container_isolated-3] 0.000007 1.000000 -0.000128 -0.000074 [component_container_isolated-3] 0.000048 0.000128 1.000000 0.000181 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.394336798] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {0.000,0.004,0.001} {-0.167,0.046,-0.122} [component_container_isolated-3] [DEBUG] [1762964980.394388166] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.394432300] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.394470403] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879478 -0.000049 0.475940 -0.001048 [component_container_isolated-3] -0.004585 0.999953 0.008576 0.059907 [component_container_isolated-3] -0.475918 -0.009725 0.879436 0.017925 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.394493167] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.634,28.419,-0.299} [component_container_isolated-3] [DEBUG] [1762964980.394524136] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.001} {-0.401,28.374,-0.159} [component_container_isolated-3] [DEBUG] [1762964980.394572308] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.413155848] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.413210623] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.413249337] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.413298100] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000012 0.000002 -0.000088 [component_container_isolated-3] 0.000012 1.000000 -0.000095 0.000186 [component_container_isolated-3] -0.000002 0.000095 1.000000 0.000132 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.413323248] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.012,-0.035} {0.047,-0.463,-0.166} [component_container_isolated-3] [DEBUG] [1762964980.413372782] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.413418299] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.413454378] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000166 0.185142 -0.007168 [component_container_isolated-3] -0.000276 1.000000 0.000570 0.060989 [component_container_isolated-3] -0.185142 -0.000612 0.982712 0.017581 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.413477863] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.036,10.669,-0.016} [component_container_isolated-3] [DEBUG] [1762964980.413510636] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.011,0.037} {-0.051,11.133,0.152} [component_container_isolated-3] [DEBUG] [1762964980.413565039] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.422296504] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.422356880] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.422396125] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.422444417] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000007 -0.000048 -0.000112 [component_container_isolated-3] 0.000007 1.000000 -0.000128 -0.000074 [component_container_isolated-3] 0.000048 0.000128 1.000000 0.000181 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.422470687] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.159,0.044,-0.122} [component_container_isolated-3] [DEBUG] [1762964980.422523428] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.422570848] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.422609512] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879478 -0.000049 0.475940 -0.001048 [component_container_isolated-3] -0.004585 0.999953 0.008576 0.059907 [component_container_isolated-3] -0.475918 -0.009725 0.879436 0.017925 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.422634279] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.634,28.419,-0.299} [component_container_isolated-3] [DEBUG] [1762964980.422664407] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.001} {-0.408,28.376,-0.160} [component_container_isolated-3] [DEBUG] [1762964980.422712950] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.435100236] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.435177364] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.435223392] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.435275691] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000001 -0.000025 -0.000306 [component_container_isolated-3] 0.000001 1.000000 -0.000001 0.000002 [component_container_isolated-3] 0.000025 0.000001 1.000000 0.000023 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.435307061] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.020,0.008} {0.176,0.199,0.235} [component_container_isolated-3] [DEBUG] [1762964980.435366795] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.435424105] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.435469782] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 -0.000026 0.203456 -0.006651 [component_container_isolated-3] 0.002454 0.999929 -0.011681 0.060434 [component_container_isolated-3] -0.203441 0.011936 0.979014 0.018294 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.435500150] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.000} {0.698,11.738,0.144} [component_container_isolated-3] [DEBUG] [1762964980.435538624] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.020,-0.008} {0.474,11.542,-0.098} [component_container_isolated-3] [DEBUG] [1762964980.435598618] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.443539173] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.443598536] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.443639845] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.443685202] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000004 0.000348 0.000597 [component_container_isolated-3] -0.000004 1.000000 0.000041 -0.000205 [component_container_isolated-3] -0.000348 -0.000041 1.000000 -0.000098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.443712594] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.022,-0.011} {-0.007,-0.160,-0.169} [component_container_isolated-3] [DEBUG] [1762964980.443761598] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.443806092] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.443845919] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981488 0.000100 0.191526 -0.006493 [component_container_isolated-3] -0.001840 0.999959 0.008911 0.061320 [component_container_isolated-3] -0.191517 -0.009098 0.981447 0.017008 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.443870385] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,-0.000} {-0.531,11.041,-0.107} [component_container_isolated-3] [DEBUG] [1762964980.443901755] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.021,0.011} {-0.491,11.203,0.064} [component_container_isolated-3] [DEBUG] [1762964980.443982319] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.449741398] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.449803416] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.449840998] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.449885282] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000201 -0.000135 0.000182 [component_container_isolated-3] -0.000201 1.000000 0.000175 0.000922 [component_container_isolated-3] 0.000135 -0.000175 1.000000 -0.000279 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.449909619] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.035} {0.037,-0.471,-0.177} [component_container_isolated-3] [DEBUG] [1762964980.449993008] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.450039016] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.450078872] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982737 0.000331 0.185010 -0.007147 [component_container_isolated-3] -0.000477 1.000000 0.000745 0.061288 [component_container_isolated-3] -0.185010 -0.000821 0.982736 0.017557 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.450102798] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.048,10.662,-0.028} [component_container_isolated-3] [DEBUG] [1762964980.450134749] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.037} {-0.051,11.133,0.152} [component_container_isolated-3] [DEBUG] [1762964980.450184444] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.460252211] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.460305092] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.460345018] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.460388912] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000007 -0.000048 -0.000112 [component_container_isolated-3] 0.000007 1.000000 -0.000128 -0.000074 [component_container_isolated-3] 0.000048 0.000128 1.000000 0.000181 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.460413529] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.152,0.041,-0.121} [component_container_isolated-3] [DEBUG] [1762964980.460462502] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.460505144] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.460541102] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879478 -0.000049 0.475940 -0.001048 [component_container_isolated-3] -0.004585 0.999953 0.008576 0.059907 [component_container_isolated-3] -0.475918 -0.009725 0.879436 0.017925 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.460564487] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.634,28.419,-0.299} [component_container_isolated-3] [DEBUG] [1762964980.460597380] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.001} {-0.416,28.379,-0.160} [component_container_isolated-3] [DEBUG] [1762964980.460648778] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.470769696] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.470839019] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.470879466] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.470969508] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000007 -0.000105 0.000122 [component_container_isolated-3] 0.000007 1.000000 0.000028 0.000030 [component_container_isolated-3] 0.000105 -0.000028 1.000000 -0.000352 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.470996319] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.019,0.007} {0.174,0.193,0.236} [component_container_isolated-3] [DEBUG] [1762964980.471045443] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.471088275] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.471128221] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979105 -0.000038 0.203354 -0.006686 [component_container_isolated-3] 0.002459 0.999929 -0.011653 0.060347 [component_container_isolated-3] -0.203339 0.011909 0.979036 0.018351 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.471152107] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,-0.000} {0.697,11.732,0.144} [component_container_isolated-3] [DEBUG] [1762964980.471182335] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.020,-0.008} {0.474,11.542,-0.098} [component_container_isolated-3] [DEBUG] [1762964980.471230697] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.483915822] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.484007868] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.484048355] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.484091949] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000051 -0.000234 0.000391 [component_container_isolated-3] -0.000051 1.000000 -0.000106 0.000253 [component_container_isolated-3] 0.000234 0.000106 1.000000 -0.000720 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.484116696] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.023,-0.012} {-0.001,-0.174,-0.172} [component_container_isolated-3] [DEBUG] [1762964980.484174226] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.484221376] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.484261553] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000170 0.191297 -0.006547 [component_container_isolated-3] -0.001889 0.999959 0.008805 0.061295 [component_container_isolated-3] -0.191288 -0.009004 0.981493 0.017084 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.484296780] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.526,11.028,-0.110} [component_container_isolated-3] [DEBUG] [1762964980.484327879] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.021,0.012} {-0.491,11.203,0.064} [component_container_isolated-3] [DEBUG] [1762964980.484378706] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.488913557] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.488988009] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.489028847] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.489073482] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000223 0.000103 -0.000134 [component_container_isolated-3] 0.000223 1.000000 -0.000084 -0.001094 [component_container_isolated-3] -0.000103 0.000084 1.000000 0.000406 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.489098139] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.012,-0.035} {0.042,-0.465,-0.165} [component_container_isolated-3] [DEBUG] [1762964980.489147514] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.489189925] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.489225092] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 0.000128 0.185111 -0.007149 [component_container_isolated-3] -0.000254 1.000000 0.000662 0.061174 [component_container_isolated-3] -0.185111 -0.000697 0.982718 0.017631 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.489247535] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.041,10.668,-0.015} [component_container_isolated-3] [DEBUG] [1762964980.489282131] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.011,0.037} {-0.051,11.133,0.152} [component_container_isolated-3] [DEBUG] [1762964980.489335753] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.494199392] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.494255729] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.494295685] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.494339579] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000007 -0.000048 -0.000112 [component_container_isolated-3] 0.000007 1.000000 -0.000128 -0.000074 [component_container_isolated-3] 0.000048 0.000128 1.000000 0.000181 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.494365168] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.145,0.038,-0.121} [component_container_isolated-3] [DEBUG] [1762964980.494415194] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.494459198] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.494498533] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879478 -0.000049 0.475940 -0.001048 [component_container_isolated-3] -0.004585 0.999953 0.008576 0.059907 [component_container_isolated-3] -0.475918 -0.009725 0.879436 0.017925 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.494522719] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.634,28.419,-0.299} [component_container_isolated-3] [DEBUG] [1762964980.494556574] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.424,28.382,-0.161} [component_container_isolated-3] [DEBUG] [1762964980.494609264] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.505162468] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.505222503] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.505262820] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.505308557] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000042 0.000057 -0.000135 [component_container_isolated-3] 0.000042 1.000000 -0.000141 -0.000167 [component_container_isolated-3] -0.000057 0.000141 1.000000 0.000193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.505334427] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.020,0.008} {0.182,0.196,0.238} [component_container_isolated-3] [DEBUG] [1762964980.505382679] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.505424519] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.505460097] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979094 -0.000051 0.203409 -0.006733 [component_container_isolated-3] 0.002502 0.999927 -0.011793 0.060210 [component_container_isolated-3] -0.203394 0.012056 0.979023 0.018425 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.505482299] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.706,11.736,0.146} [component_container_isolated-3] [DEBUG] [1762964980.505512717] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.020,-0.008} {0.474,11.542,-0.098} [component_container_isolated-3] [DEBUG] [1762964980.505571920] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.516959959] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.517021266] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.517059699] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.517103182] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000007 0.000233 -0.000142 [component_container_isolated-3] 0.000007 1.000000 0.000078 -0.000075 [component_container_isolated-3] -0.000233 -0.000078 1.000000 0.000873 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.517128230] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.022,-0.011} {-0.006,-0.160,-0.172} [component_container_isolated-3] [DEBUG] [1762964980.517176643] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.517223742] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.517263488] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981488 0.000148 0.191526 -0.006547 [component_container_isolated-3] -0.001884 0.999959 0.008882 0.061272 [component_container_isolated-3] -0.191517 -0.009079 0.981447 0.017380 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.517288216] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.530,11.041,-0.110} [component_container_isolated-3] [DEBUG] [1762964980.517321519] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.021,0.011} {-0.491,11.203,0.064} [component_container_isolated-3] [DEBUG] [1762964980.517376103] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.523544383] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.523611822] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.523650676] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.523695011] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000047 -0.000007 0.000188 [component_container_isolated-3] -0.000047 1.000000 -0.000078 0.000057 [component_container_isolated-3] 0.000007 0.000078 1.000000 -0.000210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.523720009] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.012,-0.035} {0.047,-0.465,-0.167} [component_container_isolated-3] [DEBUG] [1762964980.523768081] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.523809981] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.523849646] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982719 0.000188 0.185103 -0.007121 [component_container_isolated-3] -0.000301 1.000000 0.000583 0.061150 [component_container_isolated-3] -0.185103 -0.000629 0.982719 0.017642 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.523873131] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.667,-0.018} [component_container_isolated-3] [DEBUG] [1762964980.523906715] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.011,0.037} {-0.051,11.133,0.152} [component_container_isolated-3] [DEBUG] [1762964980.523992389] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.528825018] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.528893619] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.528979764] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.529027284] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000065 0.000063 -0.000280 [component_container_isolated-3] -0.000065 1.000000 0.000054 -0.000020 [component_container_isolated-3] -0.000063 -0.000054 1.000000 0.000181 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.529052342] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.020,0.008} {0.179,0.200,0.234} [component_container_isolated-3] [DEBUG] [1762964980.529101316] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.529142995] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.529182902] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979081 0.000002 0.203471 -0.006828 [component_container_isolated-3] 0.002438 0.999928 -0.011739 0.060117 [component_container_isolated-3] -0.203457 0.011989 0.979011 0.018524 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.529206066] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.702,11.739,0.143} [component_container_isolated-3] [DEBUG] [1762964980.529238007] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.020,-0.008} {0.474,11.542,-0.098} [component_container_isolated-3] [DEBUG] [1762964980.529288383] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.532039136] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.532103790] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.532143756] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.532187830] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000099 0.000036 0.000150 [component_container_isolated-3] 0.000099 1.000000 -0.000166 -0.000087 [component_container_isolated-3] -0.000036 0.000166 1.000000 0.000016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.532212958] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.135,0.040,-0.115} [component_container_isolated-3] [DEBUG] [1762964980.532261942] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.532305224] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.532345602] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879439 0.000063 0.476012 -0.001020 [component_container_isolated-3] -0.004715 0.999952 0.008578 0.059942 [component_container_isolated-3] -0.475989 -0.009788 0.879397 0.017921 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.532370479] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.424,-0.307} [component_container_isolated-3] [DEBUG] [1762964980.532402310] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.440,28.385,-0.176} [component_container_isolated-3] [DEBUG] [1762964980.532452135] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.535574718] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.535632769] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.535673627] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.535717722] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000047 -0.000007 0.000188 [component_container_isolated-3] -0.000047 1.000000 -0.000078 0.000057 [component_container_isolated-3] 0.000007 0.000078 1.000000 -0.000210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.535742509] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.012,-0.035} {0.051,-0.466,-0.170} [component_container_isolated-3] [DEBUG] [1762964980.535791032] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.535834044] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.535869301] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982719 0.000188 0.185103 -0.007121 [component_container_isolated-3] -0.000301 1.000000 0.000583 0.061150 [component_container_isolated-3] -0.185103 -0.000629 0.982719 0.017642 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.535893477] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.667,-0.018} [component_container_isolated-3] [DEBUG] [1762964980.535954263] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.011,0.037} {-0.054,11.133,0.155} [component_container_isolated-3] [DEBUG] [1762964980.536011142] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.546811999] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.546878967] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.546917881] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.546996101] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000015 -0.000303 0.000160 [component_container_isolated-3] -0.000015 1.000000 -0.000003 -0.000025 [component_container_isolated-3] 0.000303 0.000003 1.000000 -0.001094 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.547024064] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.022,-0.012} {-0.005,-0.178,-0.173} [component_container_isolated-3] [DEBUG] [1762964980.547078368] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.547127962] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.547167378] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 0.000164 0.191228 -0.006603 [component_container_isolated-3] -0.001897 0.999959 0.008880 0.061247 [component_container_isolated-3] -0.191219 -0.009079 0.981505 0.017300 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.547192616] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.530,11.024,-0.111} [component_container_isolated-3] [DEBUG] [1762964980.547224166] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.021,0.012} {-0.491,11.203,0.064} [component_container_isolated-3] [DEBUG] [1762964980.547274672] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.551565327] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.551630581] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.551667893] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.551711035] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000016 0.000137 0.000128 [component_container_isolated-3] -0.000016 1.000000 -0.000020 0.000036 [component_container_isolated-3] -0.000137 0.000020 1.000000 0.000317 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.551735371] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.020,0.008} {0.180,0.207,0.234} [component_container_isolated-3] [DEBUG] [1762964980.551782782] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.551827257] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.551866091] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979053 0.000021 0.203606 -0.006847 [component_container_isolated-3] 0.002424 0.999928 -0.011759 0.060039 [component_container_isolated-3] -0.203591 0.012006 0.978982 0.018673 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.551889416] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.703,11.747,0.142} [component_container_isolated-3] [DEBUG] [1762964980.551952386] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.020,-0.008} {0.474,11.542,-0.098} [component_container_isolated-3] [DEBUG] [1762964980.552007221] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.569316788] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.569374848] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.569414043] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.569457837] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000015 -0.000303 0.000160 [component_container_isolated-3] -0.000015 1.000000 -0.000003 -0.000025 [component_container_isolated-3] 0.000303 0.000003 1.000000 -0.001094 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.569482584] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.022,-0.013} {-0.005,-0.195,-0.174} [component_container_isolated-3] [DEBUG] [1762964980.569530516] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.569573358] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.569607613] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 0.000164 0.191228 -0.006603 [component_container_isolated-3] -0.001897 0.999959 0.008880 0.061247 [component_container_isolated-3] -0.191219 -0.009079 0.981505 0.017300 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.569630978] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.530,11.024,-0.111} [component_container_isolated-3] [DEBUG] [1762964980.569663129] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.021,0.013} {-0.491,11.221,0.065} [component_container_isolated-3] [DEBUG] [1762964980.569711992] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.569964084] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.570020902] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.570063624] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.570110864] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000181 -0.000031 -0.000269 [component_container_isolated-3] -0.000181 1.000000 0.000117 0.000202 [component_container_isolated-3] 0.000031 -0.000117 1.000000 -0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.570137425] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.142,0.038,-0.126} [component_container_isolated-3] [DEBUG] [1762964980.570187220] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.570229571] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.570266030] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879454 0.000167 0.475984 -0.001034 [component_container_isolated-3] -0.004896 0.999950 0.008696 0.060004 [component_container_isolated-3] -0.475959 -0.009978 0.879411 0.017928 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.570288313] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.650,28.422,-0.319} [component_container_isolated-3] [DEBUG] [1762964980.570323580] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.440,28.385,-0.176} [component_container_isolated-3] [DEBUG] [1762964980.570379868] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.579562985] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.579623872] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.579665982] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.579711930] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000097 0.000034 0.000054 [component_container_isolated-3] 0.000097 1.000000 -0.000007 -0.000287 [component_container_isolated-3] -0.000034 0.000007 1.000000 -0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.579736407] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.012,-0.035} {0.051,-0.464,-0.164} [component_container_isolated-3] [DEBUG] [1762964980.579784599] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.579829063] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.579864140] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 0.000094 0.185136 -0.007103 [component_container_isolated-3] -0.000204 1.000000 0.000576 0.061071 [component_container_isolated-3] -0.185136 -0.000604 0.982713 0.017644 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.579887034] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.035,10.669,-0.012} [component_container_isolated-3] [DEBUG] [1762964980.579917573] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.011,0.037} {-0.054,11.133,0.155} [component_container_isolated-3] [DEBUG] [1762964980.580007835] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.587977545] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.588028122] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.588065774] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.588109988] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000181 -0.000031 -0.000269 [component_container_isolated-3] -0.000181 1.000000 0.000117 0.000202 [component_container_isolated-3] 0.000031 -0.000117 1.000000 -0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.588135437] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.148,0.036,-0.136} [component_container_isolated-3] [DEBUG] [1762964980.588182196] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.588226911] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.588266477] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879454 0.000167 0.475984 -0.001034 [component_container_isolated-3] -0.004896 0.999950 0.008696 0.060004 [component_container_isolated-3] -0.475959 -0.009978 0.879411 0.017928 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.588290192] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.650,28.422,-0.319} [component_container_isolated-3] [DEBUG] [1762964980.588323005] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.428,28.386,-0.164} [component_container_isolated-3] [DEBUG] [1762964980.588381376] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.592397546] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.592463703] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.592505242] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.592549176] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000032 -0.000069 0.000074 [component_container_isolated-3] -0.000032 1.000000 0.000028 -0.000042 [component_container_isolated-3] 0.000069 -0.000028 1.000000 -0.000325 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.592573362] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.020,0.008} {0.179,0.203,0.232} [component_container_isolated-3] [DEBUG] [1762964980.592620392] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.592664757] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.592703390] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 0.000047 0.203538 -0.006874 [component_container_isolated-3] 0.002391 0.999928 -0.011731 0.059965 [component_container_isolated-3] -0.203524 0.011972 0.978997 0.018729 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.592725412] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.701,11.743,0.140} [component_container_isolated-3] [DEBUG] [1762964980.592754658] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.020,-0.008} {0.474,11.542,-0.098} [component_container_isolated-3] [DEBUG] [1762964980.592802680] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.594613719] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.594678172] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.594716044] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.594759026] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000015 -0.000303 0.000160 [component_container_isolated-3] -0.000015 1.000000 -0.000003 -0.000025 [component_container_isolated-3] 0.000303 0.000003 1.000000 -0.001094 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.594783112] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.022,-0.014} {-0.005,-0.213,-0.175} [component_container_isolated-3] [DEBUG] [1762964980.594830443] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.594874366] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.594914022] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 0.000164 0.191228 -0.006603 [component_container_isolated-3] -0.001897 0.999959 0.008880 0.061247 [component_container_isolated-3] -0.191219 -0.009079 0.981505 0.017300 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.594974568] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.530,11.024,-0.111} [component_container_isolated-3] [DEBUG] [1762964980.595007831] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.021,0.015} {-0.491,11.238,0.065} [component_container_isolated-3] [DEBUG] [1762964980.595062937] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.600257196] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.600311580] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.600349843] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.600394699] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000097 0.000034 0.000054 [component_container_isolated-3] 0.000097 1.000000 -0.000007 -0.000287 [component_container_isolated-3] -0.000034 0.000007 1.000000 -0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.600419376] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.012,-0.036} {0.052,-0.462,-0.159} [component_container_isolated-3] [DEBUG] [1762964980.600466095] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.600508326] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.600543864] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 0.000094 0.185136 -0.007103 [component_container_isolated-3] -0.000204 1.000000 0.000576 0.061071 [component_container_isolated-3] -0.185136 -0.000604 0.982713 0.017644 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.600568300] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.035,10.669,-0.012} [component_container_isolated-3] [DEBUG] [1762964980.600601854] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.011,0.037} {-0.056,11.131,0.149} [component_container_isolated-3] [DEBUG] [1762964980.600654886] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.624137873] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.624316183] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.624361309] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.624409992] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000083 -0.000410 0.000956 [component_container_isolated-3] 0.000083 1.000000 -0.000027 -0.000014 [component_container_isolated-3] 0.000410 0.000027 1.000000 -0.001485 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.624438407] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.020,0.006} {0.180,0.180,0.236} [component_container_isolated-3] [DEBUG] [1762964980.624488192] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.624530833] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.624568746] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979150 -0.000028 0.203137 -0.006781 [component_container_isolated-3] 0.002469 0.999928 -0.011759 0.059905 [component_container_isolated-3] -0.203122 0.012016 0.979080 0.018244 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.624591639] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,-0.000} {0.703,11.720,0.144} [component_container_isolated-3] [DEBUG] [1762964980.624621977] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.020,-0.007} {0.474,11.542,-0.098} [component_container_isolated-3] [DEBUG] [1762964980.624670159] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.628988226] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.629054161] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.629095150] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.629140266] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000068 0.000058 -0.000022 [component_container_isolated-3] 0.000068 1.000000 0.000248 0.000027 [component_container_isolated-3] -0.000058 -0.000248 1.000000 -0.000030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.629165785] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.163,0.040,-0.132} [component_container_isolated-3] [DEBUG] [1762964980.629215480] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.629262770] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.629303037] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 -0.000011 0.476035 -0.001056 [component_container_isolated-3] -0.004828 0.999948 0.008943 0.060045 [component_container_isolated-3] -0.476011 -0.010163 0.879381 0.017930 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.629327043] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.662,28.425,-0.315} [component_container_isolated-3] [DEBUG] [1762964980.629357741] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.428,28.386,-0.164} [component_container_isolated-3] [DEBUG] [1762964980.629406294] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.638296873] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.638359312] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.638397705] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.638440708] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000106 0.000011 -0.000292 [component_container_isolated-3] 0.000106 1.000000 -0.000142 -0.000349 [component_container_isolated-3] -0.000011 0.000142 1.000000 0.000753 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.638464593] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.022,-0.013} {0.003,-0.212,-0.169} [component_container_isolated-3] [DEBUG] [1762964980.638521151] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.638575104] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.638613317] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000087 0.191239 -0.006665 [component_container_isolated-3] -0.001791 0.999960 0.008738 0.061145 [component_container_isolated-3] -0.191230 -0.008920 0.981505 0.017450 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.638635700] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.521,11.025,-0.105} [component_container_isolated-3] [DEBUG] [1762964980.638665527] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.021,0.014} {-0.491,11.238,0.065} [component_container_isolated-3] [DEBUG] [1762964980.638714811] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.644620309] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.644682798] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.644723797] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.644768512] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000090 0.000082 -0.000285 [component_container_isolated-3] 0.000090 1.000000 0.000050 -0.000206 [component_container_isolated-3] -0.000082 -0.000050 1.000000 0.000379 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.644795123] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.012,-0.035} {0.049,-0.457,-0.154} [component_container_isolated-3] [DEBUG] [1762964980.644848224] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.644894673] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.644957954] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 -0.000004 0.185217 -0.007110 [component_container_isolated-3] -0.000114 1.000000 0.000626 0.060978 [component_container_isolated-3] -0.185217 -0.000636 0.982697 0.017721 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.644982801] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.674,-0.007} [component_container_isolated-3] [DEBUG] [1762964980.645013750] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.011,0.037} {-0.056,11.131,0.149} [component_container_isolated-3] [DEBUG] [1762964980.645074947] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.651397903] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.651465462] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.651506861] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.651553239] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000020 0.000286 -0.000491 [component_container_isolated-3] 0.000020 1.000000 0.000031 -0.000082 [component_container_isolated-3] -0.000286 -0.000031 1.000000 0.001310 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.651578417] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.020,0.008} {0.179,0.196,0.238} [component_container_isolated-3] [DEBUG] [1762964980.651627872] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.651674371] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.651714247] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 -0.000054 0.203417 -0.006746 [component_container_isolated-3] 0.002492 0.999928 -0.011728 0.059826 [component_container_isolated-3] -0.203402 0.011989 0.979022 0.018416 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.651738653] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,-0.000} {0.702,11.736,0.146} [component_container_isolated-3] [DEBUG] [1762964980.651772298] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.020,-0.008} {0.474,11.542,-0.098} [component_container_isolated-3] [DEBUG] [1762964980.651822594] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.653778780] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.653829456] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.653870294] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.653912836] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000106 0.000011 -0.000292 [component_container_isolated-3] 0.000106 1.000000 -0.000142 -0.000349 [component_container_isolated-3] -0.000011 0.000142 1.000000 0.000753 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.653966077] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.022,-0.013} {0.011,-0.211,-0.162} [component_container_isolated-3] [DEBUG] [1762964980.654016754] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.654062271] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.654101486] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000087 0.191239 -0.006665 [component_container_isolated-3] -0.001791 0.999960 0.008738 0.061145 [component_container_isolated-3] -0.191230 -0.008920 0.981505 0.017450 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.654126995] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.521,11.025,-0.105} [component_container_isolated-3] [DEBUG] [1762964980.654160559] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.021,0.013} {-0.500,11.237,0.059} [component_container_isolated-3] [DEBUG] [1762964980.654213309] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.661043433] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.661101204] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.661141661] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.661190755] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000127 0.000072 0.000356 [component_container_isolated-3] 0.000127 1.000000 -0.000128 -0.000184 [component_container_isolated-3] -0.000072 0.000128 1.000000 0.000094 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.661217836] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.002} {-0.155,0.044,-0.125} [component_container_isolated-3] [DEBUG] [1762964980.661272070] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.661354117] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.661394434] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879392 -0.000062 0.476099 -0.001015 [component_container_isolated-3] -0.004702 0.999950 0.008815 0.060060 [component_container_isolated-3] -0.476075 -0.009990 0.879348 0.017936 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.661417688] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.651,28.429,-0.306} [component_container_isolated-3] [DEBUG] [1762964980.661448206] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.428,28.386,-0.164} [component_container_isolated-3] [DEBUG] [1762964980.661498873] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.662595016] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.662643198] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.662680249] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.662723071] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000090 0.000082 -0.000285 [component_container_isolated-3] 0.000090 1.000000 0.000050 -0.000206 [component_container_isolated-3] -0.000082 -0.000050 1.000000 0.000379 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.662747247] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.011,-0.035} {0.046,-0.453,-0.149} [component_container_isolated-3] [DEBUG] [1762964980.662794467] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.662840255] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.662879590] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 -0.000004 0.185217 -0.007110 [component_container_isolated-3] -0.000114 1.000000 0.000626 0.060978 [component_container_isolated-3] -0.185217 -0.000636 0.982697 0.017721 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.662904107] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.674,-0.007} [component_container_isolated-3] [DEBUG] [1762964980.662969752] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.010,0.036} {-0.054,11.127,0.144} [component_container_isolated-3] [DEBUG] [1762964980.663023605] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.697505257] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.697561324] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.697598665] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.697641246] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000090 0.000082 -0.000285 [component_container_isolated-3] 0.000090 1.000000 0.000050 -0.000206 [component_container_isolated-3] -0.000082 -0.000050 1.000000 0.000379 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.697666034] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.011,-0.034} {0.043,-0.448,-0.143} [component_container_isolated-3] [DEBUG] [1762964980.697713655] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.697756176] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.697796292] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 -0.000004 0.185217 -0.007110 [component_container_isolated-3] -0.000114 1.000000 0.000626 0.060978 [component_container_isolated-3] -0.185217 -0.000636 0.982697 0.017721 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.697820288] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.674,-0.007} [component_container_isolated-3] [DEBUG] [1762964980.697853692] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.010,0.036} {-0.052,11.122,0.139} [component_container_isolated-3] [DEBUG] [1762964980.697906423] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.698896934] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.698979422] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.699022685] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.699068402] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000072 -0.000108 -0.000220 [component_container_isolated-3] -0.000072 1.000000 -0.000006 0.000130 [component_container_isolated-3] 0.000108 0.000006 1.000000 -0.000023 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.699093620] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.155,0.038,-0.129} [component_container_isolated-3] [DEBUG] [1762964980.699143125] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.699184664] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.699220362] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879443 0.000004 0.476004 -0.001014 [component_container_isolated-3] -0.004773 0.999950 0.008809 0.060090 [component_container_isolated-3] -0.475980 -0.010019 0.879399 0.017945 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.699246221] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.653,28.423,-0.311} [component_container_isolated-3] [DEBUG] [1762964980.699282481] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.428,28.386,-0.164} [component_container_isolated-3] [DEBUG] [1762964980.699338688] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.701722460] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.701782836] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.701823764] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.701868359] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000016 -0.000347 0.000173 [component_container_isolated-3] 0.000016 1.000000 0.000009 0.000241 [component_container_isolated-3] 0.000347 -0.000009 1.000000 -0.001450 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.701893778] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.020,0.006} {0.178,0.176,0.238} [component_container_isolated-3] [DEBUG] [1762964980.701964933] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.702008797] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.702046760] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979163 -0.000072 0.203078 -0.006807 [component_container_isolated-3] 0.002504 0.999928 -0.011720 0.059777 [component_container_isolated-3] -0.203062 0.011984 0.979092 0.018048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.702068601] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.701,11.716,0.147} [component_container_isolated-3] [DEBUG] [1762964980.702098869] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.020,-0.007} {0.474,11.542,-0.098} [component_container_isolated-3] [DEBUG] [1762964980.702149506] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.708522076] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.708580678] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.708622047] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.708667163] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000077 0.000288 0.000067 [component_container_isolated-3] 0.000077 1.000000 0.000175 -0.000170 [component_container_isolated-3] -0.000288 -0.000175 1.000000 0.000446 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.708693023] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.022,-0.012} {0.001,-0.195,-0.158} [component_container_isolated-3] [DEBUG] [1762964980.708742006] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.708814895] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.708857917] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981489 -0.000022 0.191521 -0.006667 [component_container_isolated-3] -0.001716 0.999959 0.008913 0.061054 [component_container_isolated-3] -0.191514 -0.009077 0.981448 0.017637 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.708882815] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.530,11.041,-0.100} [component_container_isolated-3] [DEBUG] [1762964980.708913774] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.021,0.013} {-0.500,11.237,0.059} [component_container_isolated-3] [DEBUG] [1762964980.708998636] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.738191708] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.738251372] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.738291889] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.738335883] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000088 -0.000024 0.000180 [component_container_isolated-3] 0.000088 1.000000 -0.000105 -0.000093 [component_container_isolated-3] 0.000024 0.000105 1.000000 0.000011 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.738361432] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.149,0.036,-0.124} [component_container_isolated-3] [DEBUG] [1762964980.738409324] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.738451454] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.738486411] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879455 -0.000023 0.475982 -0.000994 [component_container_isolated-3] -0.004685 0.999951 0.008704 0.060102 [component_container_isolated-3] -0.475959 -0.009885 0.879412 0.017952 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.738508854] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.644,28.422,-0.305} [component_container_isolated-3] [DEBUG] [1762964980.738543730] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.428,28.386,-0.164} [component_container_isolated-3] [DEBUG] [1762964980.738528772] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.738646306] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.738596661] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.738690521] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.738767167] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000126 -0.000021 0.000264 [component_container_isolated-3] 0.000126 1.000000 -0.000117 -0.000447 [component_container_isolated-3] 0.000021 0.000117 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.738792996] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.020,0.006} {0.185,0.175,0.246} [component_container_isolated-3] [DEBUG] [1762964980.738843743] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.738889000] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.738977128] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979167 -0.000171 0.203057 -0.006762 [component_container_isolated-3] 0.002629 0.999926 -0.011836 0.059633 [component_container_isolated-3] -0.203040 0.012124 0.979095 0.017962 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.739006855] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.709,11.715,0.154} [component_container_isolated-3] [DEBUG] [1762964980.739038315] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.020,-0.007} {0.474,11.542,-0.098} [component_container_isolated-3] [DEBUG] [1762964980.739092749] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.749093217] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.749163732] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.749213306] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.749270426] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000017 -0.000143 0.000269 [component_container_isolated-3] -0.000017 1.000000 0.000022 0.000135 [component_container_isolated-3] 0.000143 -0.000022 1.000000 -0.000650 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.749305863] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.022,-0.013} {-0.000,-0.203,-0.159} [component_container_isolated-3] [DEBUG] [1762964980.749374935] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.749441051] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.749491969] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981516 -0.000010 0.191381 -0.006677 [component_container_isolated-3] -0.001732 0.999959 0.008935 0.061005 [component_container_isolated-3] -0.191373 -0.009101 0.981475 0.017643 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.749521766] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.531,11.033,-0.101} [component_container_isolated-3] [DEBUG] [1762964980.749561181] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.021,0.014} {-0.500,11.237,0.059} [component_container_isolated-3] [DEBUG] [1762964980.749631084] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.754203557] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.754261628] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.754305010] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.754351399] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000125 -0.000039 -0.000206 [component_container_isolated-3] -0.000125 1.000000 -0.000007 -0.000060 [component_container_isolated-3] 0.000039 0.000007 1.000000 -0.000081 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.754376888] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.011,-0.034} {0.044,-0.450,-0.150} [component_container_isolated-3] [DEBUG] [1762964980.754426482] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.754470807] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.754506666] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 0.000120 0.185178 -0.007145 [component_container_isolated-3] -0.000238 1.000000 0.000619 0.060911 [component_container_isolated-3] -0.185178 -0.000652 0.982705 0.017755 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.754530211] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.038,10.672,-0.014} [component_container_isolated-3] [DEBUG] [1762964980.754564025] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.010,0.036} {-0.052,11.122,0.139} [component_container_isolated-3] [DEBUG] [1762964980.754617888] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.763153890] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.763211049] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.763253430] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.763298456] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000064 0.000021 -0.000034 [component_container_isolated-3] -0.000064 1.000000 -0.000018 0.000033 [component_container_isolated-3] -0.000021 0.000018 1.000000 -0.000026 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.763323874] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.148,0.038,-0.128} [component_container_isolated-3] [DEBUG] [1762964980.763372888] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.763414818] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.763453792] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879445 0.000042 0.476000 -0.000979 [component_container_isolated-3] -0.004749 0.999951 0.008686 0.060116 [component_container_isolated-3] -0.475977 -0.009899 0.879402 0.017952 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.763478620] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.423,-0.309} [component_container_isolated-3] [DEBUG] [1762964980.763512124] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.428,28.386,-0.164} [component_container_isolated-3] [DEBUG] [1762964980.763563642] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.774124882] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.774188433] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.774227848] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.774272233] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000202 -0.000052 -0.000590 [component_container_isolated-3] -0.000202 1.000000 0.000109 0.000374 [component_container_isolated-3] 0.000052 -0.000109 1.000000 -0.000195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.774296860] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.020,0.006} {0.178,0.172,0.234} [component_container_isolated-3] [DEBUG] [1762964980.774344351] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.774386040] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.774423392] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979178 0.000005 0.203006 -0.006831 [component_container_isolated-3] 0.002426 0.999928 -0.011728 0.059600 [component_container_isolated-3] -0.202991 0.011976 0.979107 0.017857 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.774447518] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.001} {0.701,11.712,0.142} [component_container_isolated-3] [DEBUG] [1762964980.774480731] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.019,-0.007} {0.474,11.542,-0.098} [component_container_isolated-3] [DEBUG] [1762964980.774530586] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.778185286] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.778248747] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.778287962] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.778332858] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000061 -0.000113 0.000349 [component_container_isolated-3] 0.000061 1.000000 -0.000113 -0.000578 [component_container_isolated-3] 0.000113 0.000113 1.000000 -0.000311 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.778358086] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.021,-0.013} {0.006,-0.210,-0.156} [component_container_isolated-3] [DEBUG] [1762964980.778406238] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.778452737] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.778493444] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 -0.000048 0.191270 -0.006635 [component_container_isolated-3] -0.001670 0.999960 0.008822 0.060795 [component_container_isolated-3] -0.191262 -0.008979 0.981498 0.017587 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.778518152] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.524,11.026,-0.097} [component_container_isolated-3] [DEBUG] [1762964980.778551926] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.020,0.014} {-0.500,11.237,0.059} [component_container_isolated-3] [DEBUG] [1762964980.778603144] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.779271220] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.779323950] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.779363736] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.779412730] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000202 -0.000052 -0.000590 [component_container_isolated-3] -0.000202 1.000000 0.000109 0.000374 [component_container_isolated-3] 0.000052 -0.000109 1.000000 -0.000195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.779439601] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.019,0.006} {0.172,0.169,0.222} [component_container_isolated-3] [DEBUG] [1762964980.779490268] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.779532148] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.779568878] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979178 0.000005 0.203006 -0.006831 [component_container_isolated-3] 0.002426 0.999928 -0.011728 0.059600 [component_container_isolated-3] -0.202991 0.011976 0.979107 0.017857 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.779591932] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.001} {0.701,11.712,0.142} [component_container_isolated-3] [DEBUG] [1762964980.779622942] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.019,-0.007} {0.483,11.545,-0.087} [component_container_isolated-3] [DEBUG] [1762964980.779672446] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.783310033] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.783369356] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.783410084] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.783456974] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000018 -0.000040 0.000056 [component_container_isolated-3] 0.000018 1.000000 0.000061 0.000287 [component_container_isolated-3] 0.000040 -0.000061 1.000000 0.000147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.783483554] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.011,-0.034} {0.040,-0.453,-0.149} [component_container_isolated-3] [DEBUG] [1762964980.783537006] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.783584958] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.783624604] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000090 0.185139 -0.007158 [component_container_isolated-3] -0.000220 1.000000 0.000680 0.060878 [component_container_isolated-3] -0.185139 -0.000709 0.982712 0.017804 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.783647277] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.041,10.669,-0.013} [component_container_isolated-3] [DEBUG] [1762964980.783678006] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.011,0.036} {-0.052,11.122,0.139} [component_container_isolated-3] [DEBUG] [1762964980.783750635] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.787518690] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.787575489] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.787618271] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.787668186] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000064 0.000021 -0.000034 [component_container_isolated-3] -0.000064 1.000000 -0.000018 0.000033 [component_container_isolated-3] -0.000021 0.000018 1.000000 -0.000026 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.787698814] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.147,0.039,-0.131} [component_container_isolated-3] [DEBUG] [1762964980.787742017] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.787775952] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.787804416] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879445 0.000042 0.476000 -0.000979 [component_container_isolated-3] -0.004749 0.999951 0.008686 0.060116 [component_container_isolated-3] -0.475977 -0.009899 0.879402 0.017952 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.787831147] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.423,-0.309} [component_container_isolated-3] [DEBUG] [1762964980.787867386] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.427,28.385,-0.160} [component_container_isolated-3] [DEBUG] [1762964980.787909567] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.809396953] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.809450295] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.809489630] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.809533343] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000018 0.000116 0.000282 [component_container_isolated-3] 0.000018 1.000000 -0.000049 0.000003 [component_container_isolated-3] -0.000116 0.000049 1.000000 0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.809558231] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.011,-0.034} {0.043,-0.446,-0.148} [component_container_isolated-3] [DEBUG] [1762964980.809606543] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.809653262] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.809692998] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982691 0.000082 0.185253 -0.007133 [component_container_isolated-3] -0.000202 1.000000 0.000631 0.060859 [component_container_isolated-3] -0.185252 -0.000658 0.982691 0.017837 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.809717886] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.038,10.676,-0.012} [component_container_isolated-3] [DEBUG] [1762964980.809751630] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.011,0.036} {-0.052,11.122,0.139} [component_container_isolated-3] [DEBUG] [1762964980.809831092] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.814818046] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.814883761] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.814950699] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.814998029] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000068 -0.000088 0.000110 [component_container_isolated-3] -0.000068 1.000000 -0.000006 0.000680 [component_container_isolated-3] 0.000088 0.000006 1.000000 -0.000244 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.815023909] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.022,-0.013} {0.007,-0.215,-0.159} [component_container_isolated-3] [DEBUG] [1762964980.815074435] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.815119351] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.815158877] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981554 0.000020 0.191184 -0.006601 [component_container_isolated-3] -0.001737 0.999960 0.008817 0.060785 [component_container_isolated-3] -0.191176 -0.008986 0.981515 0.017497 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.815184205] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.525,11.021,-0.101} [component_container_isolated-3] [DEBUG] [1762964980.815217008] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.021,0.014} {-0.500,11.237,0.059} [component_container_isolated-3] [DEBUG] [1762964980.815268045] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.818653200] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.818714417] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.818754333] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.818797766] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000149 -0.000066 -0.000069 [component_container_isolated-3] 0.000149 1.000000 -0.000030 -0.000137 [component_container_isolated-3] 0.000066 0.000030 1.000000 -0.000313 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.818821351] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.019,0.006} {0.174,0.166,0.231} [component_container_isolated-3] [DEBUG] [1762964980.818869293] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.818909129] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.818973101] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979191 -0.000135 0.202941 -0.006907 [component_container_isolated-3] 0.002574 0.999928 -0.011757 0.059561 [component_container_isolated-3] -0.202925 0.012035 0.979120 0.017701 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.818998089] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.001} {0.704,11.708,0.151} [component_container_isolated-3] [DEBUG] [1762964980.819031112] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.019,-0.007} {0.483,11.545,-0.087} [component_container_isolated-3] [DEBUG] [1762964980.819086227] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.835468142] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.835530441] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.835569907] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.835614231] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000081 -0.000018 -0.000157 [component_container_isolated-3] -0.000081 1.000000 0.000152 0.000049 [component_container_isolated-3] 0.000018 -0.000152 1.000000 -0.000016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.835640161] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.156,0.038,-0.136} [component_container_isolated-3] [DEBUG] [1762964980.835687802] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.835732177] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.835772403] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879453 0.000041 0.475985 -0.000987 [component_container_isolated-3] -0.004830 0.999949 0.008838 0.060138 [component_container_isolated-3] -0.475960 -0.010072 0.879409 0.017950 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.835796429] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.656,28.422,-0.315} [component_container_isolated-3] [DEBUG] [1762964980.835827439] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.427,28.385,-0.160} [component_container_isolated-3] [DEBUG] [1762964980.835876071] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.836575056] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.836627897] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.836670549] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.836714523] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000068 -0.000088 0.000110 [component_container_isolated-3] -0.000068 1.000000 -0.000006 0.000680 [component_container_isolated-3] 0.000088 0.000006 1.000000 -0.000244 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.836739761] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.022,-0.014} {0.007,-0.220,-0.163} [component_container_isolated-3] [DEBUG] [1762964980.836788744] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.836831867] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.836868316] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981554 0.000020 0.191184 -0.006601 [component_container_isolated-3] -0.001737 0.999960 0.008817 0.060785 [component_container_isolated-3] -0.191176 -0.008986 0.981515 0.017497 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.836893164] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.525,11.021,-0.101} [component_container_isolated-3] [DEBUG] [1762964980.836964450] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.022,0.014} {-0.499,11.242,0.063} [component_container_isolated-3] [DEBUG] [1762964980.837019134] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.845355365] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.845417573] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.845460616] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.845510711] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000024 -0.000070 -0.000059 [component_container_isolated-3] 0.000024 1.000000 -0.000137 0.000037 [component_container_isolated-3] 0.000070 0.000137 1.000000 -0.000011 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.845538144] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.011,-0.034} {0.051,-0.450,-0.147} [component_container_isolated-3] [DEBUG] [1762964980.845591646] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.845638716] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.845676368] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 0.000084 0.185184 -0.007126 [component_container_isolated-3] -0.000178 1.000000 0.000495 0.060844 [component_container_isolated-3] -0.185184 -0.000519 0.982704 0.017872 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.845699902] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.030,10.672,-0.010} [component_container_isolated-3] [DEBUG] [1762964980.845735100] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.011,0.036} {-0.052,11.122,0.139} [component_container_isolated-3] [DEBUG] [1762964980.845795565] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.859618123] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.859675823] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.859717833] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.859761467] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000058 0.000032 0.000092 [component_container_isolated-3] -0.000058 1.000000 -0.000090 -0.000021 [component_container_isolated-3] -0.000032 0.000090 1.000000 0.000206 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.859787416] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.019,0.006} {0.179,0.167,0.228} [component_container_isolated-3] [DEBUG] [1762964980.859835829] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.859881937] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.859917294] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979184 -0.000060 0.202973 -0.006933 [component_container_isolated-3] 0.002517 0.999927 -0.011847 0.059530 [component_container_isolated-3] -0.202957 0.012111 0.979113 0.017632 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.859963012] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.860018738] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.859963533] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.001} {0.709,11.710,0.147} [component_container_isolated-3] [DEBUG] [1762964980.860085866] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.019,-0.007} {0.483,11.545,-0.087} [component_container_isolated-3] [DEBUG] [1762964980.860062832] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.860149999] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.860175988] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000081 -0.000018 -0.000157 [component_container_isolated-3] -0.000081 1.000000 0.000152 0.000049 [component_container_isolated-3] 0.000018 -0.000152 1.000000 -0.000016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.860205154] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.164,0.037,-0.141} [component_container_isolated-3] [DEBUG] [1762964980.860257735] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.860301368] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.860338409] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879453 0.000041 0.475985 -0.000987 [component_container_isolated-3] -0.004830 0.999949 0.008838 0.060138 [component_container_isolated-3] -0.475960 -0.010072 0.879409 0.017950 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.860361202] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.656,28.422,-0.315} [component_container_isolated-3] [DEBUG] [1762964980.860392442] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.416,28.386,-0.155} [component_container_isolated-3] [DEBUG] [1762964980.860451665] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.885122169] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.885187023] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.885232069] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.885278348] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000036 -0.000010 -0.000123 [component_container_isolated-3] -0.000036 1.000000 0.000055 -0.000084 [component_container_isolated-3] 0.000010 -0.000055 1.000000 -0.000298 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.885303887] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.011,-0.035} {0.048,-0.451,-0.149} [component_container_isolated-3] [DEBUG] [1762964980.885353972] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.885402595] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.885439997] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000109 0.185173 -0.007138 [component_container_isolated-3] -0.000214 1.000000 0.000550 0.060824 [component_container_isolated-3] -0.185173 -0.000580 0.982706 0.017863 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.885463031] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.034,10.671,-0.013} [component_container_isolated-3] [DEBUG] [1762964980.885498268] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.011,0.036} {-0.052,11.122,0.139} [component_container_isolated-3] [DEBUG] [1762964980.885551910] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.891063155] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.891129332] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.891168797] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.891211839] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000022 0.000050 0.000187 [component_container_isolated-3] -0.000022 1.000000 -0.000011 -0.000035 [component_container_isolated-3] -0.000050 0.000011 1.000000 0.000010 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.891236396] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.019,0.006} {0.180,0.170,0.226} [component_container_isolated-3] [DEBUG] [1762964980.891283226] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.891326909] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.891385701] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.891430437] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.891479801] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000081 -0.000018 -0.000157 [component_container_isolated-3] -0.000081 1.000000 0.000152 0.000049 [component_container_isolated-3] 0.000018 -0.000152 1.000000 -0.000016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.891507714] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.173,0.036,-0.145} [component_container_isolated-3] [DEBUG] [1762964980.891560535] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.891605551] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.891643804] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879453 0.000041 0.475985 -0.000987 [component_container_isolated-3] -0.004830 0.999949 0.008838 0.060138 [component_container_isolated-3] -0.475960 -0.010072 0.879409 0.017950 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.891666758] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.656,28.422,-0.315} [component_container_isolated-3] [DEBUG] [1762964980.891697276] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.405,28.387,-0.149} [component_container_isolated-3] [DEBUG] [1762964980.891747112] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.891328903] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.891957032] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979174 -0.000036 0.203022 -0.006932 [component_container_isolated-3] 0.002495 0.999927 -0.011858 0.059499 [component_container_isolated-3] -0.203007 0.012117 0.979102 0.017581 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.891982491] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.001} {0.709,11.713,0.146} [component_container_isolated-3] [DEBUG] [1762964980.892005224] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.019,-0.007} {0.483,11.545,-0.087} [component_container_isolated-3] [DEBUG] [1762964980.892062915] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.898088582] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.898149849] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.898192661] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.898238278] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000072 0.000112 0.000297 [component_container_isolated-3] -0.000072 1.000000 0.000199 -0.000011 [component_container_isolated-3] -0.000112 -0.000199 1.000000 -0.000131 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.898264598] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.022,-0.014} {-0.004,-0.213,-0.167} [component_container_isolated-3] [DEBUG] [1762964980.898313281] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.898357806] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.898394697] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981533 0.000052 0.191294 -0.006510 [component_container_isolated-3] -0.001810 0.999958 0.009016 0.060783 [component_container_isolated-3] -0.191285 -0.009196 0.981492 0.017396 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.898418202] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.537,11.028,-0.106} [component_container_isolated-3] [DEBUG] [1762964980.898449061] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.022,0.014} {-0.499,11.242,0.063} [component_container_isolated-3] [DEBUG] [1762964980.898498836] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.906277862] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.906333228] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.906371741] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.906414944] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000072 0.000112 0.000297 [component_container_isolated-3] -0.000072 1.000000 0.000199 -0.000011 [component_container_isolated-3] -0.000112 -0.000199 1.000000 -0.000131 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.906440032] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.022,-0.014} {-0.016,-0.207,-0.172} [component_container_isolated-3] [DEBUG] [1762964980.906488845] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.906532668] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.906573266] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981533 0.000052 0.191294 -0.006510 [component_container_isolated-3] -0.001810 0.999958 0.009016 0.060783 [component_container_isolated-3] -0.191285 -0.009196 0.981492 0.017396 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.906598444] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.537,11.028,-0.106} [component_container_isolated-3] [DEBUG] [1762964980.906631477] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.022,0.015} {-0.487,11.236,0.067} [component_container_isolated-3] [DEBUG] [1762964980.906684639] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.921050364] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.921113324] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.921153481] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.921198226] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000014 0.000085 0.000091 [component_container_isolated-3] -0.000014 1.000000 0.000031 0.000119 [component_container_isolated-3] -0.000085 -0.000031 1.000000 -0.000166 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.921223665] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.019,0.006} {0.178,0.175,0.226} [component_container_isolated-3] [DEBUG] [1762964980.921272518] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.921315831] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.921358973] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979157 -0.000028 0.203106 -0.006929 [component_container_isolated-3] 0.002482 0.999927 -0.011826 0.059481 [component_container_isolated-3] -0.203090 0.012084 0.979085 0.017494 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.921383861] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.001} {0.707,11.718,0.145} [component_container_isolated-3] [DEBUG] [1762964980.921416583] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.019,-0.007} {0.483,11.545,-0.087} [component_container_isolated-3] [DEBUG] [1762964980.921468673] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.922110208] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.922156957] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.922190691] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.922226119] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000081 -0.000018 -0.000157 [component_container_isolated-3] -0.000081 1.000000 0.000152 0.000049 [component_container_isolated-3] 0.000018 -0.000152 1.000000 -0.000016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.922246358] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.182,0.035,-0.150} [component_container_isolated-3] [DEBUG] [1762964980.922285492] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.922319027] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.922345597] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879453 0.000041 0.475985 -0.000987 [component_container_isolated-3] -0.004830 0.999949 0.008838 0.060138 [component_container_isolated-3] -0.475960 -0.010072 0.879409 0.017950 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.922362590] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.656,28.422,-0.315} [component_container_isolated-3] [DEBUG] [1762964980.922383810] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.393,28.388,-0.144} [component_container_isolated-3] [DEBUG] [1762964980.922420069] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.924528125] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.924581177] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.924626383] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.924683903] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000024 -0.000020 -0.000239 [component_container_isolated-3] 0.000024 1.000000 0.000030 -0.000232 [component_container_isolated-3] 0.000020 -0.000030 1.000000 0.000168 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.924717257] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.011,-0.034} {0.046,-0.452,-0.148} [component_container_isolated-3] [DEBUG] [1762964980.924771240] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.924807369] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.924835112] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000080 0.185154 -0.007187 [component_container_isolated-3] -0.000190 1.000000 0.000581 0.060762 [component_container_isolated-3] -0.185154 -0.000606 0.982709 0.017888 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.924852645] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.035,10.670,-0.011} [component_container_isolated-3] [DEBUG] [1762964980.924889646] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.010,0.036} {-0.052,11.122,0.139} [component_container_isolated-3] [DEBUG] [1762964980.924975901] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.928443352] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.928506393] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.928544916] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.928588269] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000072 0.000112 0.000297 [component_container_isolated-3] -0.000072 1.000000 0.000199 -0.000011 [component_container_isolated-3] -0.000112 -0.000199 1.000000 -0.000131 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.928613347] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.022,-0.014} {-0.027,-0.200,-0.176} [component_container_isolated-3] [DEBUG] [1762964980.928660898] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.928704471] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.928739859] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981533 0.000052 0.191294 -0.006510 [component_container_isolated-3] -0.001810 0.999958 0.009016 0.060783 [component_container_isolated-3] -0.191285 -0.009196 0.981492 0.017396 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.928766670] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.537,11.028,-0.106} [component_container_isolated-3] [DEBUG] [1762964980.928806095] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.022,0.015} {-0.475,11.230,0.072} [component_container_isolated-3] [DEBUG] [1762964980.928877451] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.936607204] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.936785755] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.936826422] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.936869735] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000024 -0.000020 -0.000239 [component_container_isolated-3] 0.000024 1.000000 0.000030 -0.000232 [component_container_isolated-3] 0.000020 -0.000030 1.000000 0.000168 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.936894452] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.011,-0.034} {0.044,-0.453,-0.146} [component_container_isolated-3] [DEBUG] [1762964980.936985947] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.937033598] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.937073113] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000080 0.185154 -0.007187 [component_container_isolated-3] -0.000190 1.000000 0.000581 0.060762 [component_container_isolated-3] -0.185154 -0.000606 0.982709 0.017888 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.937099534] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.035,10.670,-0.011} [component_container_isolated-3] [DEBUG] [1762964980.937133338] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.010,0.036} {-0.051,11.123,0.137} [component_container_isolated-3] [DEBUG] [1762964980.937184817] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.961830424] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.961892673] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.961968528] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.962016459] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 0.999999 0.000052 0.000986 -0.001751 [component_container_isolated-3] -0.000052 1.000000 0.000177 -0.000968 [component_container_isolated-3] -0.000986 -0.000177 0.999999 0.004033 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.962042639] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.020,0.010} {0.168,0.232,0.223} [component_container_isolated-3] [DEBUG] [1762964980.962091793] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.962134174] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.962169632] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.978956 -0.000013 0.204071 -0.007144 [component_container_isolated-3] 0.002441 0.999929 -0.011647 0.059133 [component_container_isolated-3] -0.204056 0.011900 0.978887 0.019628 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.962195591] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.001} {0.696,11.774,0.143} [component_container_isolated-3] [DEBUG] [1762964980.962229386] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.020,-0.009} {0.483,11.545,-0.087} [component_container_isolated-3] [DEBUG] [1762964980.962280373] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.970596094] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.970657071] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.970699852] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.970746201] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000036 0.000227 -0.000572 [component_container_isolated-3] -0.000036 1.000000 -0.000005 0.000163 [component_container_isolated-3] -0.000227 0.000005 1.000000 0.000639 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.970772701] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.023,-0.013} {-0.027,-0.187,-0.178} [component_container_isolated-3] [DEBUG] [1762964980.970823779] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.970869897] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.970905846] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981489 0.000089 0.191517 -0.006513 [component_container_isolated-3] -0.001849 0.999958 0.009011 0.060800 [component_container_isolated-3] -0.191508 -0.009198 0.981448 0.017444 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.970957595] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.537,11.041,-0.108} [component_container_isolated-3] [DEBUG] [1762964980.970990728] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.022,0.014} {-0.475,11.230,0.072} [component_container_isolated-3] [DEBUG] [1762964980.971044260] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.972601364] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.972649616] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.972683461] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.972720151] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000021 0.000002 -0.000272 [component_container_isolated-3] 0.000021 1.000000 -0.000299 -0.000117 [component_container_isolated-3] -0.000002 0.000299 1.000000 -0.000101 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.972742223] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.165,0.035,-0.149} [component_container_isolated-3] [DEBUG] [1762964980.972801175] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.972839418] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.972867612] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879452 0.000165 0.475987 -0.001034 [component_container_isolated-3] -0.004809 0.999952 0.008539 0.060138 [component_container_isolated-3] -0.475963 -0.009799 0.879411 0.017985 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.972884685] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.422,-0.313} [component_container_isolated-3] [DEBUG] [1762964980.972915424] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.002} {-0.393,28.388,-0.144} [component_container_isolated-3] [DEBUG] [1762964980.973029662] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.981463388] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.981533913] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.981577466] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.981626439] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000127 -0.000114 0.000388 [component_container_isolated-3] -0.000127 1.000000 0.000017 0.000983 [component_container_isolated-3] 0.000114 -0.000017 1.000000 -0.000892 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.981653912] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.012,-0.035} {0.043,-0.459,-0.154} [component_container_isolated-3] [DEBUG] [1762964980.981707544] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.981754614] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.981795342] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982731 0.000201 0.185041 -0.007202 [component_container_isolated-3] -0.000317 1.000000 0.000598 0.060952 [component_container_isolated-3] -0.185041 -0.000646 0.982731 0.017668 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.981819899] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.038,10.664,-0.018} [component_container_isolated-3] [DEBUG] [1762964980.981856889] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.011,0.037} {-0.051,11.123,0.137} [component_container_isolated-3] [DEBUG] [1762964980.981901344] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.987678227] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.987740446] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.987779530] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.987822813] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000036 0.000227 -0.000572 [component_container_isolated-3] -0.000036 1.000000 -0.000005 0.000163 [component_container_isolated-3] -0.000227 0.000005 1.000000 0.000639 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.987847580] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.023,-0.013} {-0.027,-0.174,-0.180} [component_container_isolated-3] [DEBUG] [1762964980.987895261] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.987971547] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.988013637] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981489 0.000089 0.191517 -0.006513 [component_container_isolated-3] -0.001849 0.999958 0.009011 0.060800 [component_container_isolated-3] -0.191508 -0.009198 0.981448 0.017444 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.988038395] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.537,11.041,-0.108} [component_container_isolated-3] [DEBUG] [1762964980.988068793] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.022,0.013} {-0.475,11.217,0.074} [component_container_isolated-3] [DEBUG] [1762964980.988118768] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.992624493] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.992680079] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.992717972] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.992762406] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000127 -0.000114 0.000388 [component_container_isolated-3] -0.000127 1.000000 0.000017 0.000983 [component_container_isolated-3] 0.000114 -0.000017 1.000000 -0.000892 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.992789208] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.036} {0.042,-0.466,-0.161} [component_container_isolated-3] [DEBUG] [1762964980.992839363] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.992885351] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.992956778] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982731 0.000201 0.185041 -0.007202 [component_container_isolated-3] -0.000317 1.000000 0.000598 0.060952 [component_container_isolated-3] -0.185041 -0.000646 0.982731 0.017668 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.992983579] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.038,10.664,-0.018} [component_container_isolated-3] [DEBUG] [1762964980.993017173] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.038} {-0.048,11.130,0.145} [component_container_isolated-3] [DEBUG] [1762964980.993071236] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.994857197] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.994898997] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.994967968] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.995013946] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000074 0.000064 0.000368 [component_container_isolated-3] 0.000074 1.000000 0.000062 0.000079 [component_container_isolated-3] -0.000064 -0.000062 1.000000 0.000172 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.995034245] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.168,0.038,-0.144} [component_container_isolated-3] [DEBUG] [1762964980.995073450] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.995105411] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.995149635] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879422 0.000070 0.476044 -0.001018 [component_container_isolated-3] -0.004735 0.999952 0.008601 0.060151 [component_container_isolated-3] -0.476020 -0.009818 0.879380 0.017989 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.995176437] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.426,-0.308} [component_container_isolated-3] [DEBUG] [1762964980.995198529] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.393,28.388,-0.144} [component_container_isolated-3] [DEBUG] [1762964980.995238615] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964980.996425111] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964980.996474926] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964980.996512588] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964980.996557083] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 -0.000791 0.001130 [component_container_isolated-3] -0.000027 1.000000 0.000003 0.000887 [component_container_isolated-3] 0.000791 -0.000003 1.000000 -0.002614 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964980.996581720] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.019,0.007} {0.168,0.186,0.221} [component_container_isolated-3] [DEBUG] [1762964980.996628560] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964980.996669498] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964980.996708503] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979117 0.000013 0.203296 -0.007215 [component_container_isolated-3] 0.002405 0.999929 -0.011646 0.059166 [component_container_isolated-3] -0.203282 0.011892 0.979048 0.019122 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964980.996732168] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.001} {0.696,11.729,0.141} [component_container_isolated-3] [DEBUG] [1762964980.996764229] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.019,-0.007} {0.483,11.545,-0.087} [component_container_isolated-3] [DEBUG] [1762964980.996816198] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.001341430] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.001394652] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.001432444] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.001475907] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 -0.000791 0.001130 [component_container_isolated-3] -0.000027 1.000000 0.000003 0.000887 [component_container_isolated-3] 0.000791 -0.000003 1.000000 -0.002614 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.001502157] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.018,0.004} {0.167,0.141,0.219} [component_container_isolated-3] [DEBUG] [1762964981.001551892] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.001596477] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.001634600] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979117 0.000013 0.203296 -0.007215 [component_container_isolated-3] 0.002405 0.999929 -0.011646 0.059166 [component_container_isolated-3] -0.203282 0.011892 0.979048 0.019122 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.001657153] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.001} {0.696,11.729,0.141} [component_container_isolated-3] [DEBUG] [1762964981.001687070] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.018,-0.004} {0.483,11.590,-0.084} [component_container_isolated-3] [DEBUG] [1762964981.001735292] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.027979843] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.028036802] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.028080545] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.028127515] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000011 -0.000059 0.000020 [component_container_isolated-3] 0.000011 1.000000 0.000003 -0.000016 [component_container_isolated-3] 0.000059 -0.000003 1.000000 -0.000048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.028154296] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.168,0.035,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.028204011] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.028249087] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.028284555] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879450 0.000059 0.475991 -0.001008 [component_container_isolated-3] -0.004723 0.999952 0.008604 0.060160 [component_container_isolated-3] -0.475968 -0.009815 0.879408 0.017988 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.028307529] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.422,-0.308} [component_container_isolated-3] [DEBUG] [1762964981.028338137] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.393,28.388,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.028391449] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.032073832] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.032134828] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.032173753] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.032217516] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000127 -0.000114 0.000388 [component_container_isolated-3] -0.000127 1.000000 0.000017 0.000983 [component_container_isolated-3] 0.000114 -0.000017 1.000000 -0.000892 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.032242253] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.037} {0.041,-0.472,-0.168} [component_container_isolated-3] [DEBUG] [1762964981.032289824] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.032335431] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.032375227] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982731 0.000201 0.185041 -0.007202 [component_container_isolated-3] -0.000317 1.000000 0.000598 0.060952 [component_container_isolated-3] -0.185041 -0.000646 0.982731 0.017668 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.032399474] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.038,10.664,-0.018} [component_container_isolated-3] [DEBUG] [1762964981.032432366] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.039} {-0.046,11.136,0.152} [component_container_isolated-3] [DEBUG] [1762964981.032484626] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.041347983] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.041415432] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.041455007] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.041507187] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000036 0.000227 -0.000572 [component_container_isolated-3] -0.000036 1.000000 -0.000005 0.000163 [component_container_isolated-3] -0.000227 0.000005 1.000000 0.000639 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.041536593] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.023,-0.012} {-0.026,-0.161,-0.182} [component_container_isolated-3] [DEBUG] [1762964981.041588683] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.041635171] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.041672092] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981489 0.000089 0.191517 -0.006513 [component_container_isolated-3] -0.001849 0.999958 0.009011 0.060800 [component_container_isolated-3] -0.191508 -0.009198 0.981448 0.017444 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.041695106] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.537,11.041,-0.108} [component_container_isolated-3] [DEBUG] [1762964981.041727768] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.022,0.013} {-0.475,11.204,0.076} [component_container_isolated-3] [DEBUG] [1762964981.041780449] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.055522343] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.055577248] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.055615380] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.055658182] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000047 -0.000251 0.000758 [component_container_isolated-3] -0.000047 1.000000 -0.000076 0.000478 [component_container_isolated-3] 0.000251 0.000076 1.000000 -0.001171 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.055682459] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.003} {0.172,0.127,0.217} [component_container_isolated-3] [DEBUG] [1762964981.055728817] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.055771158] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.055810443] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979168 0.000074 0.203050 -0.007111 [component_container_isolated-3] 0.002355 0.999928 -0.011723 0.059300 [component_container_isolated-3] -0.203036 0.011957 0.979098 0.018422 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.055834669] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.700,11.715,0.138} [component_container_isolated-3] [DEBUG] [1762964981.055868434] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.018,-0.004} {0.483,11.590,-0.084} [component_container_isolated-3] [DEBUG] [1762964981.055948376] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.059747732] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.059805793] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.059843204] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.059886968] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000127 -0.000114 0.000388 [component_container_isolated-3] -0.000127 1.000000 0.000017 0.000983 [component_container_isolated-3] 0.000114 -0.000017 1.000000 -0.000892 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.059912216] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.038} {0.040,-0.479,-0.175} [component_container_isolated-3] [DEBUG] [1762964981.059980447] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.060027366] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.060066892] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982731 0.000201 0.185041 -0.007202 [component_container_isolated-3] -0.000317 1.000000 0.000598 0.060952 [component_container_isolated-3] -0.185041 -0.000646 0.982731 0.017668 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.060091509] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.038,10.664,-0.018} [component_container_isolated-3] [DEBUG] [1762964981.060124632] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.044,11.143,0.160} [component_container_isolated-3] [DEBUG] [1762964981.060177713] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.060765626] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.060816984] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.060858453] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.060905644] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000057 -0.000010 0.000152 [component_container_isolated-3] 0.000057 1.000000 0.000010 -0.000058 [component_container_isolated-3] 0.000010 -0.000010 1.000000 -0.000058 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.060962232] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.169,0.034,-0.141} [component_container_isolated-3] [DEBUG] [1762964981.061023058] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.061100726] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.061139430] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879455 0.000004 0.475982 -0.000983 [component_container_isolated-3] -0.004667 0.999952 0.008614 0.060161 [component_container_isolated-3] -0.475960 -0.009797 0.879413 0.017972 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.061162494] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.422,-0.304} [component_container_isolated-3] [DEBUG] [1762964981.061192842] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.393,28.388,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.061243990] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.064868572] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.064959505] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.064998951] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.065042033] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000047 -0.000251 0.000758 [component_container_isolated-3] -0.000047 1.000000 -0.000076 0.000478 [component_container_isolated-3] 0.000251 0.000076 1.000000 -0.001171 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.065065899] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.002} {0.176,0.112,0.214} [component_container_isolated-3] [DEBUG] [1762964981.065113770] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.065154137] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.065193142] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979168 0.000074 0.203050 -0.007111 [component_container_isolated-3] 0.002355 0.999928 -0.011723 0.059300 [component_container_isolated-3] -0.203036 0.011957 0.979098 0.018422 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.065217228] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.700,11.715,0.138} [component_container_isolated-3] [DEBUG] [1762964981.065254609] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.002} {0.479,11.604,-0.082} [component_container_isolated-3] [DEBUG] [1762964981.065312820] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.070696271] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.070780602] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.070840647] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.070902044] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000048 -0.000045 -0.000526 [component_container_isolated-3] -0.000048 1.000000 -0.000174 0.000402 [component_container_isolated-3] 0.000045 0.000174 1.000000 0.000454 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.070945197] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.023,-0.012} {-0.017,-0.164,-0.185} [component_container_isolated-3] [DEBUG] [1762964981.070997577] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.071057361] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.071093199] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981498 0.000169 0.191473 -0.006619 [component_container_isolated-3] -0.001896 0.999959 0.008837 0.060899 [component_container_isolated-3] -0.191463 -0.009036 0.981458 0.017604 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.071113328] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.528,11.038,-0.111} [component_container_isolated-3] [DEBUG] [1762964981.071135911] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.022,0.012} {-0.475,11.204,0.076} [component_container_isolated-3] [DEBUG] [1762964981.071178202] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.090411122] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.090478581] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.090519419] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.090563553] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000048 -0.000045 -0.000526 [component_container_isolated-3] -0.000048 1.000000 -0.000174 0.000402 [component_container_isolated-3] 0.000045 0.000174 1.000000 0.000454 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.090591166] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.024,-0.011} {-0.007,-0.166,-0.187} [component_container_isolated-3] [DEBUG] [1762964981.090641251] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.090686899] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.090729911] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981498 0.000169 0.191473 -0.006619 [component_container_isolated-3] -0.001896 0.999959 0.008837 0.060899 [component_container_isolated-3] -0.191463 -0.009036 0.981458 0.017604 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.090755730] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.528,11.038,-0.111} [component_container_isolated-3] [DEBUG] [1762964981.090789144] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.023,0.012} {-0.484,11.206,0.079} [component_container_isolated-3] [DEBUG] [1762964981.090840592] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.094813048] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.094875828] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.094916436] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.094992190] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 -0.000036 -0.000062 [component_container_isolated-3] -0.000037 1.000000 -0.000013 0.000040 [component_container_isolated-3] 0.000036 0.000013 1.000000 -0.000099 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.095019272] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.168,0.032,-0.143} [component_container_isolated-3] [DEBUG] [1762964981.095072704] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.095178807] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.095225737] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879472 0.000043 0.475951 -0.000975 [component_container_isolated-3] -0.004703 0.999952 0.008601 0.060167 [component_container_isolated-3] -0.475928 -0.009803 0.879430 0.017952 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.095252027] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.420,-0.306} [component_container_isolated-3] [DEBUG] [1762964981.095274019] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.393,28.388,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.095315097] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.111330282] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.111387121] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.111429552] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.111475189] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000094 0.000056 -0.000097 [component_container_isolated-3] -0.000094 1.000000 0.000086 0.000175 [component_container_isolated-3] -0.000056 -0.000086 1.000000 0.000249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.111501139] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.038} {0.036,-0.476,-0.181} [component_container_isolated-3] [DEBUG] [1762964981.111552136] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.111596421] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.111632459] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982720 0.000277 0.185096 -0.007205 [component_container_isolated-3] -0.000411 1.000000 0.000684 0.061061 [component_container_isolated-3] -0.185096 -0.000748 0.982720 0.017624 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.111656135] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.044,10.667,-0.024} [component_container_isolated-3] [DEBUG] [1762964981.111689288] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.044,11.143,0.160} [component_container_isolated-3] [DEBUG] [1762964981.111739294] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.118644581] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.118702542] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.118743540] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.118787744] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000015 0.000036 0.000073 [component_container_isolated-3] -0.000015 1.000000 0.000025 -0.000019 [component_container_isolated-3] -0.000036 -0.000025 1.000000 0.000252 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.118812993] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.002} {0.175,0.114,0.213} [component_container_isolated-3] [DEBUG] [1762964981.118860944] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.118901041] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.118965223] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979161 0.000084 0.203085 -0.007032 [component_container_isolated-3] 0.002341 0.999929 -0.011698 0.059348 [component_container_isolated-3] -0.203072 0.011930 0.979091 0.018304 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.118989850] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.698,11.717,0.137} [component_container_isolated-3] [DEBUG] [1762964981.119019577] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.003} {0.479,11.604,-0.082} [component_container_isolated-3] [DEBUG] [1762964981.119073941] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.135251767] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.135311120] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.135350185] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.135392886] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000035 0.000133 -0.000058 [component_container_isolated-3] -0.000035 1.000000 -0.000008 0.000106 [component_container_isolated-3] -0.000133 0.000008 1.000000 0.000157 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.135418435] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.168,0.040,-0.145} [component_container_isolated-3] [DEBUG] [1762964981.135465585] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.135511192] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.135550537] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879408 0.000077 0.476068 -0.000960 [component_container_isolated-3] -0.004739 0.999952 0.008593 0.060187 [component_container_isolated-3] -0.476045 -0.009813 0.879366 0.017954 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.135574723] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.427,-0.309} [component_container_isolated-3] [DEBUG] [1762964981.135607506] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.393,28.388,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.135673853] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.136514759] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.136564093] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.136601945] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.136645398] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000094 0.000056 -0.000097 [component_container_isolated-3] -0.000094 1.000000 0.000086 0.000175 [component_container_isolated-3] -0.000056 -0.000086 1.000000 0.000249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.136669374] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.037} {0.031,-0.473,-0.186} [component_container_isolated-3] [DEBUG] [1762964981.136716153] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.136759095] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.136795966] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982720 0.000277 0.185096 -0.007205 [component_container_isolated-3] -0.000411 1.000000 0.000684 0.061061 [component_container_isolated-3] -0.185096 -0.000748 0.982720 0.017624 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.136820843] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.044,10.667,-0.024} [component_container_isolated-3] [DEBUG] [1762964981.136858996] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.038,11.140,0.165} [component_container_isolated-3] [DEBUG] [1762964981.136904613] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.141878452] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.141963204] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.142002248] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.142044179] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000015 0.000036 0.000073 [component_container_isolated-3] -0.000015 1.000000 0.000025 -0.000019 [component_container_isolated-3] -0.000036 -0.000025 1.000000 0.000252 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.142067944] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.003} {0.173,0.116,0.212} [component_container_isolated-3] [DEBUG] [1762964981.142115445] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.142156293] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.142190488] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979161 0.000084 0.203085 -0.007032 [component_container_isolated-3] 0.002341 0.999929 -0.011698 0.059348 [component_container_isolated-3] -0.203072 0.011930 0.979091 0.018304 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.142211338] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.698,11.717,0.137} [component_container_isolated-3] [DEBUG] [1762964981.142242918] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.003} {0.481,11.602,-0.081} [component_container_isolated-3] [DEBUG] [1762964981.142294697] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.147089474] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.147164257] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.147204924] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.147249640] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000158 -0.000015 0.000015 [component_container_isolated-3] 0.000158 1.000000 0.000130 -0.000865 [component_container_isolated-3] 0.000015 -0.000130 1.000000 0.000015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.147275900] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.023,-0.011} {-0.014,-0.167,-0.178} [component_container_isolated-3] [DEBUG] [1762964981.147325454] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.147372164] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.147412962] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981501 -0.000011 0.191457 -0.006665 [component_container_isolated-3] -0.001738 0.999958 0.008967 0.060777 [component_container_isolated-3] -0.191450 -0.009133 0.981460 0.017664 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.147439222] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.533,11.037,-0.101} [component_container_isolated-3] [DEBUG] [1762964981.147470271] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.022,0.012} {-0.484,11.206,0.079} [component_container_isolated-3] [DEBUG] [1762964981.147520507] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.163702691] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.163765341] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.163803133] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.163845073] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000035 0.000133 -0.000058 [component_container_isolated-3] -0.000035 1.000000 -0.000008 0.000106 [component_container_isolated-3] -0.000133 0.000008 1.000000 0.000157 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.163869109] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.002} {-0.167,0.048,-0.147} [component_container_isolated-3] [DEBUG] [1762964981.163916219] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.163988908] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.164024946] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879408 0.000077 0.476068 -0.000960 [component_container_isolated-3] -0.004739 0.999952 0.008593 0.060187 [component_container_isolated-3] -0.476045 -0.009813 0.879366 0.017954 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.164049283] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.427,-0.309} [component_container_isolated-3] [DEBUG] [1762964981.164082396] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.393,28.381,-0.142} [component_container_isolated-3] [DEBUG] [1762964981.164134656] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.175454895] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.175511623] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.175550938] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.175595463] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000015 0.000036 0.000073 [component_container_isolated-3] -0.000015 1.000000 0.000025 -0.000019 [component_container_isolated-3] -0.000036 -0.000025 1.000000 0.000252 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.175619730] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.003} {0.172,0.118,0.211} [component_container_isolated-3] [DEBUG] [1762964981.175666740] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.175706946] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.175741342] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979161 0.000084 0.203085 -0.007032 [component_container_isolated-3] 0.002341 0.999929 -0.011698 0.059348 [component_container_isolated-3] -0.203072 0.011930 0.979091 0.018304 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.175762933] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.698,11.717,0.137} [component_container_isolated-3] [DEBUG] [1762964981.175792640] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.003} {0.483,11.600,-0.080} [component_container_isolated-3] [DEBUG] [1762964981.175840802] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.186529855] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.186594379] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.186634655] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.186679842] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000108 0.000142 0.000054 [component_container_isolated-3] 0.000108 1.000000 -0.000040 -0.000391 [component_container_isolated-3] -0.000142 0.000040 1.000000 0.000486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.186704759] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.037} {0.033,-0.464,-0.180} [component_container_isolated-3] [DEBUG] [1762964981.186753332] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.186800683] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.186841220] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982694 0.000179 0.185236 -0.007195 [component_container_isolated-3] -0.000303 1.000000 0.000643 0.061083 [component_container_isolated-3] -0.185236 -0.000688 0.982694 0.017673 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.186866729] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.040,10.675,-0.018} [component_container_isolated-3] [DEBUG] [1762964981.186899882] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.038} {-0.038,11.140,0.165} [component_container_isolated-3] [DEBUG] [1762964981.186985195] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.198282350] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.198343647] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.198388062] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.198433939] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000096 -0.000038 0.000318 [component_container_isolated-3] 0.000096 1.000000 -0.000078 -0.000390 [component_container_isolated-3] 0.000038 0.000078 1.000000 -0.000188 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.198459278] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.022,-0.011} {-0.010,-0.169,-0.173} [component_container_isolated-3] [DEBUG] [1762964981.198507750] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.198551915] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.198588354] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981508 -0.000090 0.191420 -0.006675 [component_container_isolated-3] -0.001642 0.999959 0.008888 0.060623 [component_container_isolated-3] -0.191413 -0.009038 0.981468 0.017705 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.198612230] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.528,11.035,-0.096} [component_container_isolated-3] [DEBUG] [1762964981.198646525] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.022,0.012} {-0.484,11.206,0.079} [component_container_isolated-3] [DEBUG] [1762964981.198698324] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.202064533] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.202128736] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.202167940] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.202211243] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000030 -0.000031 -0.000171 [component_container_isolated-3] 0.000030 1.000000 0.000059 -0.000101 [component_container_isolated-3] 0.000031 -0.000059 1.000000 0.000042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.202236191] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.002} {-0.171,0.046,-0.145} [component_container_isolated-3] [DEBUG] [1762964981.202283321] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.202327866] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.202367902] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879423 0.000022 0.476041 -0.000973 [component_container_isolated-3] -0.004709 0.999952 0.008652 0.060192 [component_container_isolated-3] -0.476017 -0.009850 0.879381 0.017968 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.202391968] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.426,-0.307} [component_container_isolated-3] [DEBUG] [1762964981.202425051] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.393,28.381,-0.142} [component_container_isolated-3] [DEBUG] [1762964981.202474726] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.206891611] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.206983327] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.207022582] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.207065804] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000096 -0.000038 0.000318 [component_container_isolated-3] 0.000096 1.000000 -0.000078 -0.000390 [component_container_isolated-3] 0.000038 0.000078 1.000000 -0.000188 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.207090662] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.022,-0.012} {-0.005,-0.172,-0.167} [component_container_isolated-3] [DEBUG] [1762964981.207139635] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.207182307] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.207222884] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981508 -0.000090 0.191420 -0.006675 [component_container_isolated-3] -0.001642 0.999959 0.008888 0.060623 [component_container_isolated-3] -0.191413 -0.009038 0.981468 0.017705 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.207247050] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.528,11.035,-0.096} [component_container_isolated-3] [DEBUG] [1762964981.207279893] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.022,0.012} {-0.490,11.208,0.073} [component_container_isolated-3] [DEBUG] [1762964981.207332393] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.214737686] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.214798231] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.214840512] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.214889846] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000065 -0.000213 0.000094 [component_container_isolated-3] 0.000065 1.000000 0.000039 -0.000445 [component_container_isolated-3] 0.000213 -0.000039 1.000000 -0.000276 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.214914664] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.037} {0.031,-0.477,-0.176} [component_container_isolated-3] [DEBUG] [1762964981.214984026] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.215028461] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.215065532] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982733 0.000107 0.185027 -0.007188 [component_container_isolated-3] -0.000238 1.000000 0.000683 0.061013 [component_container_isolated-3] -0.185027 -0.000715 0.982733 0.017652 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.215089077] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.042,10.663,-0.014} [component_container_isolated-3] [DEBUG] [1762964981.215120767] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.039} {-0.038,11.140,0.165} [component_container_isolated-3] [DEBUG] [1762964981.215171304] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.215593961] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.215641191] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.215679083] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.215721264] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000030 -0.000031 -0.000171 [component_container_isolated-3] 0.000030 1.000000 0.000059 -0.000101 [component_container_isolated-3] 0.000031 -0.000059 1.000000 0.000042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.215745641] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.002} {-0.174,0.044,-0.143} [component_container_isolated-3] [DEBUG] [1762964981.215796498] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.215840862] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.215879907] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879423 0.000022 0.476041 -0.000973 [component_container_isolated-3] -0.004709 0.999952 0.008652 0.060192 [component_container_isolated-3] -0.476017 -0.009850 0.879381 0.017968 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.215903592] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.426,-0.307} [component_container_isolated-3] [DEBUG] [1762964981.215963096] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.002} {-0.390,28.383,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.216015265] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.224749125] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.224812817] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.224854526] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.224899041] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000058 -0.000098 0.000030 [component_container_isolated-3] 0.000058 1.000000 -0.000130 -0.000193 [component_container_isolated-3] 0.000098 0.000130 1.000000 -0.000449 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.224948516] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.002} {0.179,0.113,0.215} [component_container_isolated-3] [DEBUG] [1762964981.225001116] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.225042515] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.225078254] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979181 0.000053 0.202989 -0.007018 [component_container_isolated-3] 0.002398 0.999927 -0.011829 0.059373 [component_container_isolated-3] -0.202975 0.012069 0.979110 0.018051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.225102069] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.706,11.711,0.140} [component_container_isolated-3] [DEBUG] [1762964981.225132477] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.003} {0.483,11.600,-0.080} [component_container_isolated-3] [DEBUG] [1762964981.225180008] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.234101646] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.234165478] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.234204332] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.234248777] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000058 -0.000098 0.000030 [component_container_isolated-3] 0.000058 1.000000 -0.000130 -0.000193 [component_container_isolated-3] 0.000098 0.000130 1.000000 -0.000449 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.234274196] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.002} {0.187,0.107,0.218} [component_container_isolated-3] [DEBUG] [1762964981.234322658] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.234364558] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.234404013] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979181 0.000053 0.202989 -0.007018 [component_container_isolated-3] 0.002398 0.999927 -0.011829 0.059373 [component_container_isolated-3] -0.202975 0.012069 0.979110 0.018051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.234428180] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.706,11.711,0.140} [component_container_isolated-3] [DEBUG] [1762964981.234459239] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.002} {0.474,11.606,-0.083} [component_container_isolated-3] [DEBUG] [1762964981.234508253] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.237725256] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.237783918] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.237824295] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.237869392] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000100 0.000048 -0.000570 [component_container_isolated-3] -0.000100 1.000000 -0.000036 0.000513 [component_container_isolated-3] -0.000048 0.000036 1.000000 0.000073 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.237894419] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.023,-0.012} {-0.003,-0.169,-0.173} [component_container_isolated-3] [DEBUG] [1762964981.237969823] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.238016002] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.238056589] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981499 0.000015 0.191467 -0.006796 [component_container_isolated-3] -0.001742 0.999959 0.008853 0.060612 [component_container_isolated-3] -0.191459 -0.009022 0.981459 0.017761 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.238082609] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.001} {-0.527,11.038,-0.102} [component_container_isolated-3] [DEBUG] [1762964981.238115742] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.022,0.012} {-0.490,11.208,0.073} [component_container_isolated-3] [DEBUG] [1762964981.238165788] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.243014297] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.243076095] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.243118055] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.243163682] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000004 0.000055 0.000208 [component_container_isolated-3] 0.000004 1.000000 0.000024 0.000479 [component_container_isolated-3] -0.000055 -0.000024 1.000000 -0.000513 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.243189672] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.015,-0.038} {0.029,-0.474,-0.176} [component_container_isolated-3] [DEBUG] [1762964981.243240259] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.243286727] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.243322846] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982723 0.000099 0.185081 -0.007163 [component_container_isolated-3] -0.000234 1.000000 0.000707 0.061054 [component_container_isolated-3] -0.185081 -0.000738 0.982723 0.017514 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.243347774] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.000} {-0.043,10.666,-0.014} [component_container_isolated-3] [DEBUG] [1762964981.243382320] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.038,11.140,0.165} [component_container_isolated-3] [DEBUG] [1762964981.243433969] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.263683961] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.263735540] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.263773141] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.263816604] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000036 -0.000034 0.000113 [component_container_isolated-3] -0.000036 1.000000 -0.000006 0.000025 [component_container_isolated-3] 0.000034 0.000006 1.000000 -0.000099 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.263841402] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.002} {-0.174,0.042,-0.145} [component_container_isolated-3] [DEBUG] [1762964981.263888141] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.263971420] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.264014963] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879440 0.000057 0.476011 -0.000970 [component_container_isolated-3] -0.004745 0.999951 0.008646 0.060198 [component_container_isolated-3] -0.475987 -0.009862 0.879397 0.017965 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.264039751] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.643,28.424,-0.309} [component_container_isolated-3] [DEBUG] [1762964981.264073355] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.002} {-0.390,28.383,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.264125334] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.273986887] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.274053825] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.274095705] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.274143937] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000007 0.000039 0.000463 [component_container_isolated-3] -0.000007 1.000000 -0.000068 0.000302 [component_container_isolated-3] -0.000039 0.000068 1.000000 0.000088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.274174596] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.023,-0.011} {0.001,-0.167,-0.174} [component_container_isolated-3] [DEBUG] [1762964981.274225904] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.274271200] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.274308972] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981492 0.000035 0.191506 -0.006792 [component_container_isolated-3] -0.001750 0.999960 0.008785 0.060659 [component_container_isolated-3] -0.191498 -0.008957 0.981452 0.017804 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.274335944] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.523,11.040,-0.102} [component_container_isolated-3] [DEBUG] [1762964981.274375389] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.022,0.012} {-0.490,11.208,0.073} [component_container_isolated-3] [DEBUG] [1762964981.274447347] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.291721396] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.291781330] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.291821697] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.291868918] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000036 -0.000034 0.000113 [component_container_isolated-3] -0.000036 1.000000 -0.000006 0.000025 [component_container_isolated-3] 0.000034 0.000006 1.000000 -0.000099 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.291895128] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.173,0.040,-0.147} [component_container_isolated-3] [DEBUG] [1762964981.291968207] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.292015818] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.292052528] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879440 0.000057 0.476011 -0.000970 [component_container_isolated-3] -0.004745 0.999951 0.008646 0.060198 [component_container_isolated-3] -0.475987 -0.009862 0.879397 0.017965 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.292074791] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.643,28.424,-0.309} [component_container_isolated-3] [DEBUG] [1762964981.292106181] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.002} {-0.389,28.385,-0.141} [component_container_isolated-3] [DEBUG] [1762964981.292155284] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.295906358] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.295998424] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.296040013] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.296085180] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000025 0.000029 -0.000318 [component_container_isolated-3] 0.000025 1.000000 -0.000079 -0.000577 [component_container_isolated-3] -0.000029 0.000079 1.000000 0.000466 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.296110448] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.037} {0.034,-0.472,-0.175} [component_container_isolated-3] [DEBUG] [1762964981.296159602] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.296203766] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.296268560] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 0.000089 0.185110 -0.007169 [component_container_isolated-3] -0.000208 1.000000 0.000628 0.060966 [component_container_isolated-3] -0.185110 -0.000656 0.982718 0.017519 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.296295732] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.000} {-0.038,10.668,-0.012} [component_container_isolated-3] [DEBUG] [1762964981.296329286] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.039} {-0.038,11.140,0.165} [component_container_isolated-3] [DEBUG] [1762964981.296383379] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.304893952] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.304982451] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.305023259] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.305067203] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000044 0.000044 -0.000342 [component_container_isolated-3] 0.000044 1.000000 -0.000013 -0.000288 [component_container_isolated-3] -0.000044 0.000013 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.305091870] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.002} {0.188,0.110,0.220} [component_container_isolated-3] [DEBUG] [1762964981.305140894] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.305182553] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.305218001] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979172 0.000013 0.203032 -0.006999 [component_container_isolated-3] 0.002442 0.999927 -0.011842 0.059350 [component_container_isolated-3] -0.203017 0.012091 0.979101 0.017956 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.305241175] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.708,11.713,0.143} [component_container_isolated-3] [DEBUG] [1762964981.305273347] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.003} {0.474,11.606,-0.083} [component_container_isolated-3] [DEBUG] [1762964981.305322801] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.312086508] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.312148366] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.312186930] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.312230123] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000044 0.000044 -0.000342 [component_container_isolated-3] 0.000044 1.000000 -0.000013 -0.000288 [component_container_isolated-3] -0.000044 0.000013 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.312255130] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.019,0.002} {0.188,0.112,0.223} [component_container_isolated-3] [DEBUG] [1762964981.312302451] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.312344952] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.312384417] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979172 0.000013 0.203032 -0.006999 [component_container_isolated-3] 0.002442 0.999927 -0.011842 0.059350 [component_container_isolated-3] -0.203017 0.012091 0.979101 0.017956 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.312408513] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.708,11.713,0.143} [component_container_isolated-3] [DEBUG] [1762964981.312441627] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.018,-0.003} {0.473,11.603,-0.086} [component_container_isolated-3] [DEBUG] [1762964981.312493245] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.316065677] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.316125151] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.316164817] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.316208550] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000141 -0.000063 0.000017 [component_container_isolated-3] -0.000141 1.000000 0.000095 0.000490 [component_container_isolated-3] 0.000063 -0.000095 1.000000 -0.000100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.316233227] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.023,-0.012} {-0.004,-0.170,-0.182} [component_container_isolated-3] [DEBUG] [1762964981.316280558] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.316325363] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.316365270] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 0.000155 0.191444 -0.006783 [component_container_isolated-3] -0.001890 0.999959 0.008880 0.060814 [component_container_isolated-3] -0.191435 -0.009077 0.981463 0.017817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.316390698] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.530,11.037,-0.110} [component_container_isolated-3] [DEBUG] [1762964981.316423451] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.023,0.012} {-0.490,11.208,0.073} [component_container_isolated-3] [DEBUG] [1762964981.316472695] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.318179294] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.318231864] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.318270438] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.318312458] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000036 -0.000034 0.000113 [component_container_isolated-3] -0.000036 1.000000 -0.000006 0.000025 [component_container_isolated-3] 0.000034 0.000006 1.000000 -0.000099 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.318336514] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.173,0.038,-0.149} [component_container_isolated-3] [DEBUG] [1762964981.318383825] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.318425234] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.318461032] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879440 0.000057 0.476011 -0.000970 [component_container_isolated-3] -0.004745 0.999951 0.008646 0.060198 [component_container_isolated-3] -0.475987 -0.009862 0.879397 0.017965 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.318485068] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.643,28.424,-0.309} [component_container_isolated-3] [DEBUG] [1762964981.318516759] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.389,28.387,-0.139} [component_container_isolated-3] [DEBUG] [1762964981.318568087] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.319671073] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.319723112] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.319762307] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.319806772] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000023 0.000060 0.000241 [component_container_isolated-3] 0.000023 1.000000 -0.000169 -0.000058 [component_container_isolated-3] -0.000060 0.000169 1.000000 0.000380 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.319831670] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.037} {0.043,-0.468,-0.173} [component_container_isolated-3] [DEBUG] [1762964981.319878419] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.319953592] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.319995182] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982707 0.000098 0.185169 -0.007123 [component_container_isolated-3] -0.000186 1.000000 0.000459 0.060916 [component_container_isolated-3] -0.185169 -0.000486 0.982707 0.017594 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.320020089] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.028,10.671,-0.011} [component_container_isolated-3] [DEBUG] [1762964981.320050247] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.038} {-0.038,11.140,0.165} [component_container_isolated-3] [DEBUG] [1762964981.320102176] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.324261750] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.324316735] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.324357002] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.324402359] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000141 -0.000063 0.000017 [component_container_isolated-3] -0.000141 1.000000 0.000095 0.000490 [component_container_isolated-3] 0.000063 -0.000095 1.000000 -0.000100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.324428208] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.024,-0.012} {-0.010,-0.174,-0.190} [component_container_isolated-3] [DEBUG] [1762964981.324477342] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.324519853] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.324554930] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 0.000155 0.191444 -0.006783 [component_container_isolated-3] -0.001890 0.999959 0.008880 0.060814 [component_container_isolated-3] -0.191435 -0.009077 0.981463 0.017817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.324579186] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.530,11.037,-0.110} [component_container_isolated-3] [DEBUG] [1762964981.324612370] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.023,0.012} {-0.483,11.212,0.081} [component_container_isolated-3] [DEBUG] [1762964981.324665471] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.329535772] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.329590947] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.329628529] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.329670740] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000023 0.000060 0.000241 [component_container_isolated-3] 0.000023 1.000000 -0.000169 -0.000058 [component_container_isolated-3] -0.000060 0.000169 1.000000 0.000380 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.329695427] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.014,-0.036} {0.053,-0.465,-0.172} [component_container_isolated-3] [DEBUG] [1762964981.329742136] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.329786561] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.329825355] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982707 0.000098 0.185169 -0.007123 [component_container_isolated-3] -0.000186 1.000000 0.000459 0.060916 [component_container_isolated-3] -0.185169 -0.000486 0.982707 0.017594 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.329848599] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.028,10.671,-0.011} [component_container_isolated-3] [DEBUG] [1762964981.329882023] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.013,0.038} {-0.048,11.136,0.164} [component_container_isolated-3] [DEBUG] [1762964981.329958990] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.364412548] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.364465439] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.364503723] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.364546574] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000141 -0.000063 0.000017 [component_container_isolated-3] -0.000141 1.000000 0.000095 0.000490 [component_container_isolated-3] 0.000063 -0.000095 1.000000 -0.000100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.364571432] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.024,-0.012} {-0.015,-0.177,-0.198} [component_container_isolated-3] [DEBUG] [1762964981.364617650] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.364685209] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.364727009] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 0.000155 0.191444 -0.006783 [component_container_isolated-3] -0.001890 0.999959 0.008880 0.060814 [component_container_isolated-3] -0.191435 -0.009077 0.981463 0.017817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.364750975] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.530,11.037,-0.110} [component_container_isolated-3] [DEBUG] [1762964981.364781994] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.024,0.012} {-0.476,11.216,0.090} [component_container_isolated-3] [DEBUG] [1762964981.364831058] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.369451431] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.369511466] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.369553035] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.369597340] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000024 -0.000037 0.000021 [component_container_isolated-3] 0.000024 1.000000 -0.000075 -0.000035 [component_container_isolated-3] 0.000037 0.000075 1.000000 -0.000029 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.369622027] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.019,0.002} {0.193,0.110,0.224} [component_container_isolated-3] [DEBUG] [1762964981.369670650] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.369712159] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.369747266] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979180 0.000005 0.202996 -0.006998 [component_container_isolated-3] 0.002465 0.999926 -0.011917 0.059332 [component_container_isolated-3] -0.202981 0.012170 0.979107 0.017866 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.369769168] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.001} {0.712,11.711,0.144} [component_container_isolated-3] [DEBUG] [1762964981.369801460] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.018,-0.003} {0.473,11.603,-0.086} [component_container_isolated-3] [DEBUG] [1762964981.369855633] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.371245918] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.371299551] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.371339818] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.371388090] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000010 -0.000002 0.000089 [component_container_isolated-3] 0.000010 1.000000 -0.000045 -0.000005 [component_container_isolated-3] 0.000002 0.000045 1.000000 0.000017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.371417326] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.170,0.038,-0.149} [component_container_isolated-3] [DEBUG] [1762964981.371467211] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.371507859] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.371543948] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879441 0.000069 0.476008 -0.000959 [component_container_isolated-3] -0.004734 0.999952 0.008601 0.060201 [component_container_isolated-3] -0.475985 -0.009818 0.879399 0.017962 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.371566340] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.423,-0.308} [component_container_isolated-3] [DEBUG] [1762964981.371597540] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.389,28.387,-0.139} [component_container_isolated-3] [DEBUG] [1762964981.371646373] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.387275712] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.387335235] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.387378818] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.387425938] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000073 0.000039 0.000254 [component_container_isolated-3] -0.000073 1.000000 0.000033 0.000571 [component_container_isolated-3] -0.000039 -0.000033 1.000000 -0.000012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.387451517] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.015,-0.036} {0.051,-0.463,-0.176} [component_container_isolated-3] [DEBUG] [1762964981.387500952] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.387545136] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.387581926] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982699 0.000163 0.185207 -0.007044 [component_container_isolated-3] -0.000259 1.000000 0.000493 0.060971 [component_container_isolated-3] -0.185207 -0.000532 0.982699 0.017608 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.387605311] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.031,10.673,-0.015} [component_container_isolated-3] [DEBUG] [1762964981.387639787] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.014,0.038} {-0.048,11.136,0.164} [component_container_isolated-3] [DEBUG] [1762964981.387737473] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.391676306] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.391742592] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.391783300] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.391829107] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000030 0.000132 0.000117 [component_container_isolated-3] -0.000030 1.000000 0.000141 0.000118 [component_container_isolated-3] -0.000132 -0.000141 1.000000 0.000315 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.391856239] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.002} {0.185,0.118,0.223} [component_container_isolated-3] [DEBUG] [1762964981.391908519] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.391986548] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.392026835] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979153 0.000006 0.203125 -0.006976 [component_container_isolated-3] 0.002437 0.999928 -0.011776 0.059334 [component_container_isolated-3] -0.203111 0.012025 0.979082 0.017772 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.392049248] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.001} {0.704,11.719,0.143} [component_container_isolated-3] [DEBUG] [1762964981.392079465] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.003} {0.473,11.603,-0.086} [component_container_isolated-3] [DEBUG] [1762964981.392128920] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.396776716] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.396839306] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.396878009] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.396941631] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000049 0.000024 -0.000135 [component_container_isolated-3] -0.000049 1.000000 0.000327 0.000109 [component_container_isolated-3] -0.000024 -0.000327 1.000000 -0.000017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.396970286] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.189,0.039,-0.152} [component_container_isolated-3] [DEBUG] [1762964981.397020061] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.397064906] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.397105123] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 -0.000043 0.476029 -0.000970 [component_container_isolated-3] -0.004783 0.999949 0.008928 0.060224 [component_container_isolated-3] -0.476005 -0.010129 0.879384 0.017946 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.397128428] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.660,28.425,-0.312} [component_container_isolated-3] [DEBUG] [1762964981.397158114] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.389,28.387,-0.139} [component_container_isolated-3] [DEBUG] [1762964981.397206847] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.402347856] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.402418260] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.402465480] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.402517309] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000073 0.000039 0.000254 [component_container_isolated-3] -0.000073 1.000000 0.000033 0.000571 [component_container_isolated-3] -0.000039 -0.000033 1.000000 -0.000012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.402546094] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.015,-0.036} {0.049,-0.460,-0.180} [component_container_isolated-3] [DEBUG] [1762964981.402601771] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.402690410] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.402741407] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982699 0.000163 0.185207 -0.007044 [component_container_isolated-3] -0.000259 1.000000 0.000493 0.060971 [component_container_isolated-3] -0.185207 -0.000532 0.982699 0.017608 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.402770473] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.031,10.673,-0.015} [component_container_isolated-3] [DEBUG] [1762964981.402809377] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.014,0.038} {-0.045,11.134,0.168} [component_container_isolated-3] [DEBUG] [1762964981.402860154] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.413093136] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.413159834] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.413203327] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.413248784] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000147 -0.000118 0.000050 [component_container_isolated-3] 0.000147 1.000000 0.000020 -0.000913 [component_container_isolated-3] 0.000118 -0.000020 1.000000 -0.000817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.413274984] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.023,-0.013} {-0.017,-0.184,-0.189} [component_container_isolated-3] [DEBUG] [1762964981.413323516] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.413368031] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.413403940] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981526 0.000007 0.191328 -0.006822 [component_container_isolated-3] -0.001742 0.999959 0.008900 0.060711 [component_container_isolated-3] -0.191320 -0.009069 0.981486 0.017645 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.413427295] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.529,11.030,-0.102} [component_container_isolated-3] [DEBUG] [1762964981.413459075] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.023,0.013} {-0.476,11.216,0.090} [component_container_isolated-3] [DEBUG] [1762964981.413508600] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.438198732] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.438267634] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.438309454] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.438353618] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000045 -0.000120 -0.000125 [component_container_isolated-3] -0.000045 1.000000 0.000003 0.000267 [component_container_isolated-3] 0.000120 -0.000003 1.000000 -0.000144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.438378025] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.002} {0.184,0.111,0.220} [component_container_isolated-3] [DEBUG] [1762964981.438427018] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.438469339] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.438504837] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979177 0.000050 0.203008 -0.006972 [component_container_isolated-3] 0.002390 0.999928 -0.011773 0.059377 [component_container_isolated-3] -0.202994 0.012013 0.979106 0.017705 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.438528582] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.001} {0.703,11.712,0.140} [component_container_isolated-3] [DEBUG] [1762964981.438561285] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.018,-0.003} {0.473,11.603,-0.086} [component_container_isolated-3] [DEBUG] [1762964981.438616199] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.440865485] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.440961629] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.441002356] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.441047152] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000073 0.000039 0.000254 [component_container_isolated-3] -0.000073 1.000000 0.000033 0.000571 [component_container_isolated-3] -0.000039 -0.000033 1.000000 -0.000012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.441072520] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.016,-0.036} {0.047,-0.458,-0.185} [component_container_isolated-3] [DEBUG] [1762964981.441121264] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.441164015] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.441199273] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982699 0.000163 0.185207 -0.007044 [component_container_isolated-3] -0.000259 1.000000 0.000493 0.060971 [component_container_isolated-3] -0.185207 -0.000532 0.982699 0.017608 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.441223649] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.031,10.673,-0.015} [component_container_isolated-3] [DEBUG] [1762964981.441257053] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.015,0.038} {-0.042,11.132,0.172} [component_container_isolated-3] [DEBUG] [1762964981.441263345] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.441379597] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.441318240] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.441434752] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.441524403] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000024 -0.000061 -0.000016 [component_container_isolated-3] 0.000024 1.000000 -0.000186 -0.000039 [component_container_isolated-3] 0.000061 0.000186 1.000000 0.000044 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.441550113] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.179,0.036,-0.150} [component_container_isolated-3] [DEBUG] [1762964981.441622441] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.441667988] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.441705489] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879459 0.000024 0.475976 -0.000970 [component_container_isolated-3] -0.004759 0.999950 0.008743 0.060231 [component_container_isolated-3] -0.475952 -0.009954 0.879415 0.017962 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.441727401] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.649,28.421,-0.310} [component_container_isolated-3] [DEBUG] [1762964981.441757869] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.389,28.387,-0.139} [component_container_isolated-3] [DEBUG] [1762964981.441805771] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.451965884] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.452030357] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.452070714] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.452115610] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000045 -0.000120 -0.000125 [component_container_isolated-3] -0.000045 1.000000 0.000003 0.000267 [component_container_isolated-3] 0.000120 -0.000003 1.000000 -0.000144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.452140477] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.002} {0.184,0.104,0.217} [component_container_isolated-3] [DEBUG] [1762964981.452191816] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.452236581] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.452276357] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979177 0.000050 0.203008 -0.006972 [component_container_isolated-3] 0.002390 0.999928 -0.011773 0.059377 [component_container_isolated-3] -0.202994 0.012013 0.979106 0.017705 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.452300072] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.001} {0.703,11.712,0.140} [component_container_isolated-3] [DEBUG] [1762964981.452332284] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.018,-0.003} {0.474,11.610,-0.083} [component_container_isolated-3] [DEBUG] [1762964981.452381317] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.453110280] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.453164844] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.453206784] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.453251830] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000054 -0.000081 -0.000324 [component_container_isolated-3] 0.000054 1.000000 -0.000131 0.000060 [component_container_isolated-3] 0.000081 0.000131 1.000000 0.000302 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.453277599] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.024,-0.012} {-0.009,-0.189,-0.186} [component_container_isolated-3] [DEBUG] [1762964981.453327414] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.453371488] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.453409321] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 -0.000021 0.191249 -0.006876 [component_container_isolated-3] -0.001687 0.999960 0.008769 0.060686 [component_container_isolated-3] -0.191242 -0.008930 0.981502 0.017638 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.453434338] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.521,11.025,-0.098} [component_container_isolated-3] [DEBUG] [1762964981.453467321] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.023,0.013} {-0.476,11.216,0.090} [component_container_isolated-3] [DEBUG] [1762964981.453517197] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.457852887] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.457909395] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.457971213] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.458017802] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000024 -0.000061 -0.000016 [component_container_isolated-3] 0.000024 1.000000 -0.000186 -0.000039 [component_container_isolated-3] 0.000061 0.000186 1.000000 0.000044 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.458043912] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.168,0.032,-0.149} [component_container_isolated-3] [DEBUG] [1762964981.458094077] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.458139875] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.458179871] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879459 0.000024 0.475976 -0.000970 [component_container_isolated-3] -0.004759 0.999950 0.008743 0.060231 [component_container_isolated-3] -0.475952 -0.009954 0.879415 0.017962 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.458203777] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.649,28.421,-0.310} [component_container_isolated-3] [DEBUG] [1762964981.458234456] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.400,28.390,-0.141} [component_container_isolated-3] [DEBUG] [1762964981.458293779] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.462844730] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.462900697] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.462955772] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.463000437] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000054 -0.000081 -0.000324 [component_container_isolated-3] 0.000054 1.000000 -0.000131 0.000060 [component_container_isolated-3] 0.000081 0.000131 1.000000 0.000302 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.463025605] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.024,-0.012} {-0.001,-0.193,-0.183} [component_container_isolated-3] [DEBUG] [1762964981.463078006] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.463125416] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.463164741] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 -0.000021 0.191249 -0.006876 [component_container_isolated-3] -0.001687 0.999960 0.008769 0.060686 [component_container_isolated-3] -0.191242 -0.008930 0.981502 0.017638 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.463190160] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.521,11.025,-0.098} [component_container_isolated-3] [DEBUG] [1762964981.463222451] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.023,0.012} {-0.484,11.220,0.086} [component_container_isolated-3] [DEBUG] [1762964981.463282536] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.479363317] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.479417821] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.479458458] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.479503785] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000024 -0.000061 -0.000016 [component_container_isolated-3] 0.000024 1.000000 -0.000186 -0.000039 [component_container_isolated-3] 0.000061 0.000186 1.000000 0.000044 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.479528773] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.157,0.029,-0.147} [component_container_isolated-3] [DEBUG] [1762964981.479575983] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.479615969] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.479670914] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879459 0.000024 0.475976 -0.000970 [component_container_isolated-3] -0.004759 0.999950 0.008743 0.060231 [component_container_isolated-3] -0.475952 -0.009954 0.879415 0.017962 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.479694810] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.649,28.421,-0.310} [component_container_isolated-3] [DEBUG] [1762964981.479731289] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.411,28.394,-0.142} [component_container_isolated-3] [DEBUG] [1762964981.479788489] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.485320493] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.485379045] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.485418621] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.485464248] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 0.000085 -0.000660 [component_container_isolated-3] 0.000003 1.000000 0.000087 -0.000067 [component_container_isolated-3] -0.000085 -0.000087 1.000000 -0.000057 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.485489216] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.016,-0.037} {0.042,-0.453,-0.184} [component_container_isolated-3] [DEBUG] [1762964981.485536416] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.485581382] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.485621358] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982684 0.000144 0.185291 -0.007109 [component_container_isolated-3] -0.000256 1.000000 0.000580 0.060984 [component_container_isolated-3] -0.185291 -0.000617 0.982684 0.017638 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.485645384] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.036,10.678,-0.015} [component_container_isolated-3] [DEBUG] [1762964981.485678026] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.015,0.038} {-0.042,11.132,0.172} [component_container_isolated-3] [DEBUG] [1762964981.485727060] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.492014056] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.492078429] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.492118155] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.492161278] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000045 -0.000016 -0.000012 [component_container_isolated-3] 0.000045 1.000000 0.000053 -0.000197 [component_container_isolated-3] 0.000016 -0.000053 1.000000 -0.000179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.492186155] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.002} {0.181,0.103,0.220} [component_container_isolated-3] [DEBUG] [1762964981.492233496] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.492279163] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.492318107] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979180 -0.000005 0.202993 -0.006983 [component_container_isolated-3] 0.002434 0.999928 -0.011721 0.059380 [component_container_isolated-3] -0.202978 0.011971 0.979110 0.017610 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.492341933] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.001} {0.700,11.711,0.142} [component_container_isolated-3] [DEBUG] [1762964981.492374515] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.018,-0.003} {0.474,11.610,-0.083} [component_container_isolated-3] [DEBUG] [1762964981.492423178] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.501730292] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.501795086] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.501835854] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.501881461] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000111 0.000037 0.000772 [component_container_isolated-3] -0.000111 1.000000 0.000020 0.000251 [component_container_isolated-3] -0.000037 -0.000020 1.000000 -0.000126 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.501908512] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.024,-0.012} {-0.003,-0.191,-0.189} [component_container_isolated-3] [DEBUG] [1762964981.501984788] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.502030145] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.502072215] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 0.000084 0.191285 -0.006742 [component_container_isolated-3] -0.001798 0.999960 0.008789 0.060697 [component_container_isolated-3] -0.191277 -0.008970 0.981495 0.017577 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.502098555] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.524,11.027,-0.105} [component_container_isolated-3] [DEBUG] [1762964981.502165042] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.023,0.013} {-0.484,11.220,0.086} [component_container_isolated-3] [DEBUG] [1762964981.502239915] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.506969628] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.507033821] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.507072605] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.507117140] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000064 -0.000020 0.000117 [component_container_isolated-3] 0.000064 1.000000 0.000023 -0.000576 [component_container_isolated-3] 0.000020 -0.000023 1.000000 0.000131 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.507142598] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.015,-0.036} {0.041,-0.455,-0.181} [component_container_isolated-3] [DEBUG] [1762964981.507190139] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.507233702] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.507273538] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982688 0.000077 0.185271 -0.007117 [component_container_isolated-3] -0.000192 1.000000 0.000602 0.060879 [component_container_isolated-3] -0.185271 -0.000628 0.982687 0.017678 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.507296923] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.677,-0.011} [component_container_isolated-3] [DEBUG] [1762964981.507330557] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.014,0.038} {-0.042,11.132,0.172} [component_container_isolated-3] [DEBUG] [1762964981.507382907] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.520695721] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.520746318] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.520784852] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.520830008] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000024 -0.000061 -0.000016 [component_container_isolated-3] 0.000024 1.000000 -0.000186 -0.000039 [component_container_isolated-3] 0.000061 0.000186 1.000000 0.000044 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.520855006] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.002} {-0.147,0.025,-0.146} [component_container_isolated-3] [DEBUG] [1762964981.520902817] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.520980155] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.521022726] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879459 0.000024 0.475976 -0.000970 [component_container_isolated-3] -0.004759 0.999950 0.008743 0.060231 [component_container_isolated-3] -0.475952 -0.009954 0.879415 0.017962 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.521046962] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.649,28.421,-0.310} [component_container_isolated-3] [DEBUG] [1762964981.521080276] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.423,28.397,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.521131103] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.549699902] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.549757302] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.549795575] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.549840541] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000052 0.000575 -0.000894 [component_container_isolated-3] 0.000053 1.000000 -0.000065 -0.000637 [component_container_isolated-3] -0.000575 0.000065 1.000000 0.001752 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.549866781] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.004} {0.185,0.136,0.223} [component_container_isolated-3] [DEBUG] [1762964981.549917688] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.549991289] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.550029081] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979063 -0.000043 0.203556 -0.007103 [component_container_isolated-3] 0.002494 0.999927 -0.011784 0.059222 [component_container_isolated-3] -0.203541 0.012045 0.978992 0.018128 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.550051233] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,-0.000} {0.705,11.744,0.146} [component_container_isolated-3] [DEBUG] [1762964981.550081792] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.018,-0.004} {0.474,11.610,-0.083} [component_container_isolated-3] [DEBUG] [1762964981.550129874] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.553348490] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.553415769] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.553457198] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.553508446] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000097 -0.000143 -0.000296 [component_container_isolated-3] -0.000097 1.000000 0.000079 0.000526 [component_container_isolated-3] 0.000144 -0.000079 1.000000 -0.000817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.553537141] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.024,-0.013} {-0.007,-0.200,-0.195} [component_container_isolated-3] [DEBUG] [1762964981.553891047] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.554005515] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.554063075] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981562 0.000164 0.191145 -0.006781 [component_container_isolated-3] -0.001894 0.999959 0.008868 0.060826 [component_container_isolated-3] -0.191135 -0.009066 0.981522 0.017285 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.554096669] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.000} {-0.529,11.019,-0.111} [component_container_isolated-3] [DEBUG] [1762964981.554140864] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.024,0.013} {-0.484,11.220,0.086} [component_container_isolated-3] [DEBUG] [1762964981.554211529] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.557080097] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.557141274] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.557182713] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.557226116] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000052 0.000575 -0.000894 [component_container_isolated-3] 0.000053 1.000000 -0.000065 -0.000637 [component_container_isolated-3] -0.000575 0.000065 1.000000 0.001752 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.557250312] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.019,0.005} {0.189,0.169,0.226} [component_container_isolated-3] [DEBUG] [1762964981.557297943] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.557339522] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.557374249] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979063 -0.000043 0.203556 -0.007103 [component_container_isolated-3] 0.002494 0.999927 -0.011784 0.059222 [component_container_isolated-3] -0.203541 0.012045 0.978992 0.018128 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.557396231] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,-0.000} {0.705,11.744,0.146} [component_container_isolated-3] [DEBUG] [1762964981.557425416] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.019,-0.006} {0.470,11.577,-0.086} [component_container_isolated-3] [DEBUG] [1762964981.557429704] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.557534575] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.557579090] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.557626520] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000033 -0.000020 0.000118 [component_container_isolated-3] -0.000033 1.000000 0.000074 0.000245 [component_container_isolated-3] 0.000020 -0.000074 1.000000 0.000148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.557652610] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.015,-0.036} {0.037,-0.456,-0.183} [component_container_isolated-3] [DEBUG] [1762964981.557704690] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.557749595] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.557792347] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982691 0.000096 0.185251 -0.007103 [component_container_isolated-3] -0.000225 1.000000 0.000676 0.060865 [component_container_isolated-3] -0.185251 -0.000706 0.982691 0.017730 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.557819960] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.041,10.676,-0.013} [component_container_isolated-3] [DEBUG] [1762964981.557843084] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.015,0.038} {-0.042,11.132,0.172} [component_container_isolated-3] [DEBUG] [1762964981.557885515] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.557481073] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.565651336] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.565702423] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.565736168] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.565772838] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000025 -0.000005 0.000379 [component_container_isolated-3] 0.000025 1.000000 -0.000124 -0.000049 [component_container_isolated-3] 0.000005 0.000124 1.000000 -0.000069 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.565793097] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.139,0.025,-0.145} [component_container_isolated-3] [DEBUG] [1762964981.565832672] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.565867248] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.565912845] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879461 0.000061 0.475971 -0.000916 [component_container_isolated-3] -0.004735 0.999952 0.008619 0.060232 [component_container_isolated-3] -0.475948 -0.009833 0.879419 0.017936 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.565967389] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.421,-0.308} [component_container_isolated-3] [DEBUG] [1762964981.565994291] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.423,28.397,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.566038285] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.565985885] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.566299874] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.566339560] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.566384586] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000097 -0.000143 -0.000296 [component_container_isolated-3] -0.000097 1.000000 0.000079 0.000526 [component_container_isolated-3] 0.000144 -0.000079 1.000000 -0.000817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.566409243] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.025,-0.014} {-0.012,-0.208,-0.201} [component_container_isolated-3] [DEBUG] [1762964981.566457425] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.566502862] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.566547387] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981562 0.000164 0.191145 -0.006781 [component_container_isolated-3] -0.001894 0.999959 0.008868 0.060826 [component_container_isolated-3] -0.191135 -0.009066 0.981522 0.017285 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.566572365] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.000} {-0.529,11.019,-0.111} [component_container_isolated-3] [DEBUG] [1762964981.566603665] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.024,0.014} {-0.478,11.229,0.092} [component_container_isolated-3] [DEBUG] [1762964981.566657137] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.579713211] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.579769959] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.579822249] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.579883596] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000062 -0.000031 0.000155 [component_container_isolated-3] -0.000062 1.000000 0.000059 0.000264 [component_container_isolated-3] 0.000031 -0.000059 1.000000 -0.000342 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.579964861] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.016,-0.037} {0.034,-0.457,-0.186} [component_container_isolated-3] [DEBUG] [1762964981.580038482] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.580102775] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.580157760] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 0.000146 0.185221 -0.007077 [component_container_isolated-3] -0.000287 1.000000 0.000735 0.060893 [component_container_isolated-3] -0.185220 -0.000775 0.982697 0.017726 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.580191664] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.045,10.674,-0.017} [component_container_isolated-3] [DEBUG] [1762964981.580231841] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.015,0.038} {-0.042,11.132,0.172} [component_container_isolated-3] [DEBUG] [1762964981.580311263] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.597946322] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.598001517] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.598051062] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.598110555] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000062 -0.000031 0.000155 [component_container_isolated-3] -0.000062 1.000000 0.000059 0.000264 [component_container_isolated-3] 0.000031 -0.000059 1.000000 -0.000342 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.598145883] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.016,-0.037} {0.030,-0.459,-0.190} [component_container_isolated-3] [DEBUG] [1762964981.598215285] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.598275891] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.598328742] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 0.000146 0.185221 -0.007077 [component_container_isolated-3] -0.000287 1.000000 0.000735 0.060893 [component_container_isolated-3] -0.185220 -0.000775 0.982697 0.017726 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.598361845] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.045,10.674,-0.017} [component_container_isolated-3] [DEBUG] [1762964981.598404366] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.015,0.039} {-0.038,11.133,0.176} [component_container_isolated-3] [DEBUG] [1762964981.598482485] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.600702756] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.600757981] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.600800352] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.600844747] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000011 0.000067 -0.000256 [component_container_isolated-3] 0.000011 1.000000 0.000121 -0.000058 [component_container_isolated-3] -0.000067 -0.000121 1.000000 0.000115 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.600870015] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.002} {-0.146,0.029,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.600945960] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.600991407] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.601028267] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 -0.000006 0.476030 -0.000912 [component_container_isolated-3] -0.004724 0.999951 0.008740 0.060231 [component_container_isolated-3] -0.476006 -0.009935 0.879386 0.017938 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.601051341] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.425,-0.308} [component_container_isolated-3] [DEBUG] [1762964981.601084064] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.423,28.397,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.601136985] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.604209503] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.604267012] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.604307971] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.604351704] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000064 -0.000063 0.000849 [component_container_isolated-3] -0.000064 1.000000 0.000083 0.000775 [component_container_isolated-3] 0.000063 -0.000083 1.000000 0.000213 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.604377564] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.019,0.006} {0.184,0.165,0.223} [component_container_isolated-3] [DEBUG] [1762964981.604425295] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.604468066] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.604508093] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979076 0.000003 0.203494 -0.006995 [component_container_isolated-3] 0.002429 0.999929 -0.011701 0.059296 [component_container_isolated-3] -0.203480 0.011951 0.979006 0.018293 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.604532069] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.699,11.741,0.142} [component_container_isolated-3] [DEBUG] [1762964981.604564451] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.018,-0.006} {0.470,11.577,-0.086} [component_container_isolated-3] [DEBUG] [1762964981.604619315] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.610062781] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.610120341] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.610161650] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.610209601] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000148 0.000083 0.000040 [component_container_isolated-3] 0.000148 1.000000 -0.000024 -0.000442 [component_container_isolated-3] -0.000083 0.000024 1.000000 0.000562 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.610235631] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.024,-0.013} {-0.010,-0.203,-0.192} [component_container_isolated-3] [DEBUG] [1762964981.610287290] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.610334470] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.610374136] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 0.000023 0.191226 -0.006783 [component_container_isolated-3] -0.001746 0.999959 0.008844 0.060826 [component_container_isolated-3] -0.191218 -0.009014 0.981506 0.017246 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.610413350] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.000} {-0.526,11.024,-0.102} [component_container_isolated-3] [DEBUG] [1762964981.610454078] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.024,0.013} {-0.478,11.229,0.092} [component_container_isolated-3] [DEBUG] [1762964981.610393913] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.610546715] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.610515175] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.610587072] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.610803816] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000064 -0.000063 0.000849 [component_container_isolated-3] -0.000064 1.000000 0.000083 0.000775 [component_container_isolated-3] 0.000063 -0.000083 1.000000 0.000213 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.610828904] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.006} {0.179,0.162,0.219} [component_container_isolated-3] [DEBUG] [1762964981.610892806] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.610947821] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.610978009] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979076 0.000003 0.203494 -0.006995 [component_container_isolated-3] 0.002429 0.999929 -0.011701 0.059296 [component_container_isolated-3] -0.203480 0.011951 0.979006 0.018293 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.610994661] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.699,11.741,0.142} [component_container_isolated-3] [DEBUG] [1762964981.611015440] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.006} {0.475,11.581,-0.083} [component_container_isolated-3] [DEBUG] [1762964981.611081587] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.631235796] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.631300039] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.631341027] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.631385933] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000046 -0.000054 0.000022 [component_container_isolated-3] 0.000046 1.000000 -0.000309 -0.000084 [component_container_isolated-3] 0.000054 0.000309 1.000000 0.000039 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.631411091] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.002} {-0.129,0.026,-0.141} [component_container_isolated-3] [DEBUG] [1762964981.631458582] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.631499259] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.631534156] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879455 0.000101 0.475982 -0.000899 [component_container_isolated-3] -0.004678 0.999953 0.008431 0.060214 [component_container_isolated-3] -0.475959 -0.009641 0.879414 0.017962 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.631555747] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.628,28.422,-0.305} [component_container_isolated-3] [DEBUG] [1762964981.631585564] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.423,28.397,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.631646150] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.642472035] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.642530687] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.642571084] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.642615869] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000029 0.000169 -0.000183 [component_container_isolated-3] -0.000029 1.000000 0.000113 -0.000382 [component_container_isolated-3] -0.000169 -0.000113 1.000000 0.000492 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.642642180] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.024,-0.013} {-0.017,-0.193,-0.194} [component_container_isolated-3] [DEBUG] [1762964981.642691314] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.642739285] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.642780183] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981514 0.000029 0.191392 -0.006775 [component_container_isolated-3] -0.001776 0.999958 0.008957 0.060755 [component_container_isolated-3] -0.191384 -0.009131 0.981473 0.017314 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.642805482] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.000} {-0.533,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964981.642839026] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.023,0.013} {-0.478,11.229,0.092} [component_container_isolated-3] [DEBUG] [1762964981.642893059] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.647843152] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.647905491] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.647973962] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.648021673] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000004 -0.000033 0.000125 [component_container_isolated-3] -0.000004 1.000000 -0.000236 0.000187 [component_container_isolated-3] 0.000033 0.000236 1.000000 -0.000127 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.648046290] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.016,-0.037} {0.044,-0.461,-0.190} [component_container_isolated-3] [DEBUG] [1762964981.648096426] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.648142153] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.648179284] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000194 0.185188 -0.007043 [component_container_isolated-3] -0.000291 1.000000 0.000498 0.060939 [component_container_isolated-3] -0.185188 -0.000544 0.982703 0.017717 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.648202689] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.672,-0.017} [component_container_isolated-3] [DEBUG] [1762964981.648234540] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.015,0.039} {-0.038,11.133,0.176} [component_container_isolated-3] [DEBUG] [1762964981.648284605] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.658701770] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.658789086] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.658845043] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.658900940] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000068 0.000018 -0.000410 [component_container_isolated-3] -0.000068 1.000000 -0.000173 -0.000027 [component_container_isolated-3] -0.000018 0.000173 1.000000 0.000034 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.658965593] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.006} {0.189,0.163,0.215} [component_container_isolated-3] [DEBUG] [1762964981.659017663] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.659059703] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.659096053] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000104 0.203511 -0.007005 [component_container_isolated-3] 0.002362 0.999927 -0.011874 0.059315 [component_container_isolated-3] -0.203498 0.012106 0.979001 0.018398 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.659120189] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.708,11.742,0.138} [component_container_isolated-3] [DEBUG] [1762964981.659156578] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.006} {0.475,11.581,-0.083} [component_container_isolated-3] [DEBUG] [1762964981.659216873] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.669026357] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.669098425] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.669139844] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.669184489] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000001 -0.000035 0.000065 [component_container_isolated-3] 0.000001 1.000000 0.000176 0.000111 [component_container_isolated-3] 0.000035 -0.000176 1.000000 -0.000106 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.669209126] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.139,0.024,-0.141} [component_container_isolated-3] [DEBUG] [1762964981.669257579] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.669298817] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.669334175] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879472 0.000016 0.475951 -0.000895 [component_container_isolated-3] -0.004676 0.999952 0.008607 0.060218 [component_container_isolated-3] -0.475928 -0.009796 0.879430 0.017947 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.669355856] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.638,28.420,-0.305} [component_container_isolated-3] [DEBUG] [1762964981.669387647] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.423,28.397,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.669436741] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.670615332] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.670674785] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.670714842] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.670758625] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000011 0.000065 -0.000254 [component_container_isolated-3] -0.000011 1.000000 -0.000056 0.000021 [component_container_isolated-3] -0.000065 0.000056 1.000000 0.000595 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.670783553] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.024,-0.012} {-0.014,-0.190,-0.194} [component_container_isolated-3] [DEBUG] [1762964981.670832266] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.670876150] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.670914192] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981501 0.000051 0.191456 -0.006783 [component_container_isolated-3] -0.001788 0.999959 0.008901 0.060727 [component_container_isolated-3] -0.191448 -0.009079 0.981461 0.017531 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.670973776] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.000} {-0.530,11.037,-0.104} [component_container_isolated-3] [DEBUG] [1762964981.671005928] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.023,0.012} {-0.478,11.229,0.092} [component_container_isolated-3] [DEBUG] [1762964981.671058869] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.686127025] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.686190867] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.686230132] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.686273886] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000023 0.000120 0.000154 [component_container_isolated-3] -0.000023 1.000000 0.000116 0.000118 [component_container_isolated-3] -0.000120 -0.000116 1.000000 0.000555 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.686298673] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.016,-0.036} {0.037,-0.454,-0.191} [component_container_isolated-3] [DEBUG] [1762964981.686346915] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.686389006] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.686429603] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982681 0.000195 0.185306 -0.006970 [component_container_isolated-3] -0.000315 1.000000 0.000614 0.060993 [component_container_isolated-3] -0.185306 -0.000662 0.982681 0.017799 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.686454380] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.039,10.679,-0.018} [component_container_isolated-3] [DEBUG] [1762964981.686486752] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.015,0.038} {-0.038,11.133,0.176} [component_container_isolated-3] [DEBUG] [1762964981.686539092] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.692659260] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.692723573] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.692762157] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.692804939] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000001 -0.000035 0.000065 [component_container_isolated-3] 0.000001 1.000000 0.000176 0.000111 [component_container_isolated-3] 0.000035 -0.000176 1.000000 -0.000106 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.692828994] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.149,0.022,-0.141} [component_container_isolated-3] [DEBUG] [1762964981.692875022] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.692916321] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.692993018] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879472 0.000016 0.475951 -0.000895 [component_container_isolated-3] -0.004676 0.999952 0.008607 0.060218 [component_container_isolated-3] -0.475928 -0.009796 0.879430 0.017947 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.693017104] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.638,28.420,-0.305} [component_container_isolated-3] [DEBUG] [1762964981.693049686] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.413,28.399,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.693201796] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.702306534] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.702370096] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.702412607] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.702458404] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000016 0.000057 0.000058 [component_container_isolated-3] 0.000016 1.000000 0.000058 0.000023 [component_container_isolated-3] -0.000057 -0.000058 1.000000 0.000136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.702484364] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.006} {0.186,0.166,0.216} [component_container_isolated-3] [DEBUG] [1762964981.702537545] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.702583173] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.702623560] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979061 0.000077 0.203568 -0.006995 [component_container_isolated-3] 0.002378 0.999927 -0.011816 0.059336 [component_container_isolated-3] -0.203554 0.012053 0.978990 0.018504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.702647535] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.705,11.745,0.139} [component_container_isolated-3] [DEBUG] [1762964981.702677813] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.006} {0.475,11.581,-0.083} [component_container_isolated-3] [DEBUG] [1762964981.702731305] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.710328003] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.710383209] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.710421261] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.710463993] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000016 0.000057 0.000058 [component_container_isolated-3] 0.000016 1.000000 0.000058 0.000023 [component_container_isolated-3] -0.000057 -0.000058 1.000000 0.000136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.710488951] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.006} {0.182,0.169,0.217} [component_container_isolated-3] [DEBUG] [1762964981.710540098] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.710586297] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.710626053] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979061 0.000077 0.203568 -0.006995 [component_container_isolated-3] 0.002378 0.999927 -0.011816 0.059336 [component_container_isolated-3] -0.203554 0.012053 0.978990 0.018504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.710649467] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.705,11.745,0.139} [component_container_isolated-3] [DEBUG] [1762964981.710682240] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.006} {0.478,11.577,-0.084} [component_container_isolated-3] [DEBUG] [1762964981.710733638] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.714767902] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.714821334] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.714862152] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.714910294] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000114 -0.000137 0.000430 [component_container_isolated-3] 0.000114 1.000000 -0.000094 -0.000237 [component_container_isolated-3] 0.000137 0.000094 1.000000 -0.000538 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.714978955] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.024,-0.013} {-0.008,-0.197,-0.188} [component_container_isolated-3] [DEBUG] [1762964981.715028600] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.715071612] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.715107731] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981528 -0.000043 0.191321 -0.006755 [component_container_isolated-3] -0.001673 0.999960 0.008807 0.060650 [component_container_isolated-3] -0.191314 -0.008964 0.981488 0.017551 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.715130665] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.523,11.029,-0.098} [component_container_isolated-3] [DEBUG] [1762964981.715163939] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.023,0.013} {-0.478,11.229,0.092} [component_container_isolated-3] [DEBUG] [1762964981.715214285] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.723752250] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.723810281] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.723851540] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.723896406] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000080 -0.000068 -0.000608 [component_container_isolated-3] 0.000080 1.000000 -0.000149 -0.000834 [component_container_isolated-3] 0.000068 0.000149 1.000000 -0.000325 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.723951932] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.015,-0.037} {0.046,-0.458,-0.187} [component_container_isolated-3] [DEBUG] [1762964981.724002979] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.724047274] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.724082912] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982693 0.000145 0.185240 -0.007034 [component_container_isolated-3] -0.000235 1.000000 0.000465 0.060858 [component_container_isolated-3] -0.185240 -0.000501 0.982693 0.017824 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.724106226] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.029,10.675,-0.014} [component_container_isolated-3] [DEBUG] [1762964981.724139690] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.015,0.039} {-0.038,11.133,0.176} [component_container_isolated-3] [DEBUG] [1762964981.724191199] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.744980511] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.745032250] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.745071285] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.745114166] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000139 0.000055 -0.000275 [component_container_isolated-3] -0.000139 1.000000 0.000176 0.000172 [component_container_isolated-3] -0.000055 -0.000176 1.000000 0.000076 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.745139074] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.001} {-0.159,0.025,-0.149} [component_container_isolated-3] [DEBUG] [1762964981.745186705] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.745232482] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.745292176] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879445 0.000054 0.476000 -0.000916 [component_container_isolated-3] -0.004816 0.999950 0.008784 0.060248 [component_container_isolated-3] -0.475976 -0.010017 0.879401 0.017956 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.745315952] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.653,28.423,-0.314} [component_container_isolated-3] [DEBUG] [1762964981.745347101] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.002} {-0.413,28.399,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.745397898] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.780946828] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.781008506] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.781047831] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.781090963] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000070 -0.000103 0.000033 [component_container_isolated-3] -0.000070 1.000000 0.000046 0.000237 [component_container_isolated-3] 0.000103 -0.000046 1.000000 -0.000486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.781115591] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.024,-0.013} {-0.011,-0.203,-0.192} [component_container_isolated-3] [DEBUG] [1762964981.781163512] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.781206835] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.781242262] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 0.000017 0.191220 -0.006750 [component_container_isolated-3] -0.001742 0.999959 0.008853 0.060625 [component_container_isolated-3] -0.191212 -0.009022 0.981507 0.017456 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.781266409] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.527,11.024,-0.102} [component_container_isolated-3] [DEBUG] [1762964981.781300654] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.023,0.013} {-0.478,11.229,0.092} [component_container_isolated-3] [DEBUG] [1762964981.781354697] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.786713641] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.786762916] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.786800367] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.786842057] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000016 0.000057 0.000058 [component_container_isolated-3] 0.000016 1.000000 0.000058 0.000023 [component_container_isolated-3] -0.000057 -0.000058 1.000000 0.000136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.786866884] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.006} {0.179,0.173,0.218} [component_container_isolated-3] [DEBUG] [1762964981.786913323] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.787003866] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.787044153] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979061 0.000077 0.203568 -0.006995 [component_container_isolated-3] 0.002378 0.999927 -0.011816 0.059336 [component_container_isolated-3] -0.203554 0.012053 0.978990 0.018504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.787067968] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.705,11.745,0.139} [component_container_isolated-3] [DEBUG] [1762964981.787100440] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.006} {0.481,11.574,-0.085} [component_container_isolated-3] [DEBUG] [1762964981.787151458] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.792736043] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.792793713] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.792838679] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.792885699] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000075 -0.000044 0.000229 [component_container_isolated-3] 0.000075 1.000000 0.000065 0.000079 [component_container_isolated-3] 0.000044 -0.000065 1.000000 -0.000059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.792911368] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.016,-0.037} {0.042,-0.461,-0.182} [component_container_isolated-3] [DEBUG] [1762964981.792991521] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.793037318] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.793074138] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000058 0.185197 -0.007037 [component_container_isolated-3] -0.000159 1.000000 0.000531 0.060829 [component_container_isolated-3] -0.185197 -0.000551 0.982701 0.017817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.793097002] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.673,-0.009} [component_container_isolated-3] [DEBUG] [1762964981.793129634] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.015,0.039} {-0.038,11.133,0.176} [component_container_isolated-3] [DEBUG] [1762964981.793184038] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.795309247] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.795490072] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.795532002] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.795575966] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000070 -0.000103 0.000033 [component_container_isolated-3] -0.000070 1.000000 0.000046 0.000237 [component_container_isolated-3] 0.000103 -0.000046 1.000000 -0.000486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.795602196] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.024,-0.014} {-0.013,-0.209,-0.196} [component_container_isolated-3] [DEBUG] [1762964981.795650910] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.795695034] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.795731053] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 0.000017 0.191220 -0.006750 [component_container_isolated-3] -0.001742 0.999959 0.008853 0.060625 [component_container_isolated-3] -0.191212 -0.009022 0.981507 0.017456 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.795756291] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.527,11.024,-0.102} [component_container_isolated-3] [DEBUG] [1762964981.795787861] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.024,0.014} {-0.475,11.234,0.096} [component_container_isolated-3] [DEBUG] [1762964981.795837816] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.802068756] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.802124292] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.802164599] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.802207331] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000050 -0.000020 0.000045 [component_container_isolated-3] 0.000050 1.000000 -0.000168 -0.000027 [component_container_isolated-3] 0.000020 0.000168 1.000000 -0.000059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.802231547] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.149,0.024,-0.146} [component_container_isolated-3] [DEBUG] [1762964981.802278857] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.802320697] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.802355944] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879455 0.000090 0.475982 -0.000924 [component_container_isolated-3] -0.004765 0.999952 0.008616 0.060258 [component_container_isolated-3] -0.475958 -0.009846 0.879413 0.017971 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.802377556] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.422,-0.310} [component_container_isolated-3] [DEBUG] [1762964981.802407102] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.002} {-0.413,28.399,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.802450184] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.802499960] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.802458891] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.802538162] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.802610531] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000016 0.000057 0.000058 [component_container_isolated-3] 0.000016 1.000000 0.000058 0.000023 [component_container_isolated-3] -0.000057 -0.000058 1.000000 0.000136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.802635468] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.006} {0.176,0.176,0.219} [component_container_isolated-3] [DEBUG] [1762964981.802681536] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.802721723] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.802758503] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979061 0.000077 0.203568 -0.006995 [component_container_isolated-3] 0.002378 0.999927 -0.011816 0.059336 [component_container_isolated-3] -0.203554 0.012053 0.978990 0.018504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.802781668] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.705,11.745,0.139} [component_container_isolated-3] [DEBUG] [1762964981.802810913] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.007} {0.485,11.571,-0.086} [component_container_isolated-3] [DEBUG] [1762964981.802859306] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.808293293] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.808352116] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.808390749] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.808433701] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000075 -0.000044 0.000229 [component_container_isolated-3] 0.000075 1.000000 0.000065 0.000079 [component_container_isolated-3] 0.000044 -0.000065 1.000000 -0.000059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.808457727] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.016,-0.037} {0.038,-0.463,-0.178} [component_container_isolated-3] [DEBUG] [1762964981.808506420] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.808551847] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.808591222] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000058 0.185197 -0.007037 [component_container_isolated-3] -0.000159 1.000000 0.000531 0.060829 [component_container_isolated-3] -0.185197 -0.000551 0.982701 0.017817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.808614988] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.673,-0.009} [component_container_isolated-3] [DEBUG] [1762964981.808647700] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.015,0.039} {-0.035,11.136,0.172} [component_container_isolated-3] [DEBUG] [1762964981.808698257] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.813845136] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.813899269] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.813972940] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.814020411] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000050 -0.000020 0.000045 [component_container_isolated-3] 0.000050 1.000000 -0.000168 -0.000027 [component_container_isolated-3] 0.000020 0.000168 1.000000 -0.000059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.814049025] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.140,0.023,-0.144} [component_container_isolated-3] [DEBUG] [1762964981.814103970] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.814152753] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.814192770] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879455 0.000090 0.475982 -0.000924 [component_container_isolated-3] -0.004765 0.999952 0.008616 0.060258 [component_container_isolated-3] -0.475958 -0.009846 0.879413 0.017971 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.814216706] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.422,-0.310} [component_container_isolated-3] [DEBUG] [1762964981.814247635] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.002} {-0.424,28.400,-0.147} [component_container_isolated-3] [DEBUG] [1762964981.814297460] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.821977677] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.822039165] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.822089701] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.822141380] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000016 0.000057 0.000058 [component_container_isolated-3] 0.000016 1.000000 0.000058 0.000023 [component_container_isolated-3] -0.000057 -0.000058 1.000000 0.000136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.822164995] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.007} {0.172,0.179,0.220} [component_container_isolated-3] [DEBUG] [1762964981.822220371] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.822255728] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.822283942] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979061 0.000077 0.203568 -0.006995 [component_container_isolated-3] 0.002378 0.999927 -0.011816 0.059336 [component_container_isolated-3] -0.203554 0.012053 0.978990 0.018504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.822300634] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.705,11.745,0.139} [component_container_isolated-3] [DEBUG] [1762964981.822321604] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.007} {0.488,11.568,-0.087} [component_container_isolated-3] [DEBUG] [1762964981.822540803] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.822576741] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.822612780] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.822656033] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000070 -0.000103 0.000033 [component_container_isolated-3] -0.000070 1.000000 0.000046 0.000237 [component_container_isolated-3] 0.000103 -0.000046 1.000000 -0.000486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.822676161] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.822682924] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.025,-0.014} {-0.016,-0.215,-0.200} [component_container_isolated-3] [DEBUG] [1762964981.822795269] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.822836948] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.822865362] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 0.000017 0.191220 -0.006750 [component_container_isolated-3] -0.001742 0.999959 0.008853 0.060625 [component_container_isolated-3] -0.191212 -0.009022 0.981507 0.017456 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.822882846] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.527,11.024,-0.102} [component_container_isolated-3] [DEBUG] [1762964981.822904006] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.024,0.014} {-0.471,11.240,0.100} [component_container_isolated-3] [DEBUG] [1762964981.822979140] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.833663414] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.833720112] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.833758636] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.833800125] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000070 -0.000103 0.000033 [component_container_isolated-3] -0.000070 1.000000 0.000046 0.000237 [component_container_isolated-3] 0.000103 -0.000046 1.000000 -0.000486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.833824011] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.025,-0.015} {-0.019,-0.221,-0.204} [component_container_isolated-3] [DEBUG] [1762964981.833871301] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.833913321] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.833989848] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 0.000017 0.191220 -0.006750 [component_container_isolated-3] -0.001742 0.999959 0.008853 0.060625 [component_container_isolated-3] -0.191212 -0.009022 0.981507 0.017456 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.834014545] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.527,11.024,-0.102} [component_container_isolated-3] [DEBUG] [1762964981.834048019] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.024,0.015} {-0.468,11.246,0.104} [component_container_isolated-3] [DEBUG] [1762964981.834101831] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.840664485] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.840725020] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.840765818] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.840810463] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000050 -0.000020 0.000045 [component_container_isolated-3] 0.000050 1.000000 -0.000168 -0.000027 [component_container_isolated-3] 0.000020 0.000168 1.000000 -0.000059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.840836232] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.130,0.021,-0.141} [component_container_isolated-3] [DEBUG] [1762964981.840889043] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.840964958] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.841002029] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879455 0.000090 0.475982 -0.000924 [component_container_isolated-3] -0.004765 0.999952 0.008616 0.060258 [component_container_isolated-3] -0.475958 -0.009846 0.879413 0.017971 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.841025414] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.422,-0.310} [component_container_isolated-3] [DEBUG] [1762964981.841055441] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.002} {-0.435,28.401,-0.150} [component_container_isolated-3] [DEBUG] [1762964981.841104845] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.841135594] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.841183436] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.841221448] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.841265222] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000075 -0.000044 0.000229 [component_container_isolated-3] 0.000075 1.000000 0.000065 0.000079 [component_container_isolated-3] 0.000044 -0.000065 1.000000 -0.000059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.841290129] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.016,-0.037} {0.034,-0.466,-0.174} [component_container_isolated-3] [DEBUG] [1762964981.841336939] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.841384359] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.841424817] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000058 0.185197 -0.007037 [component_container_isolated-3] -0.000159 1.000000 0.000531 0.060829 [component_container_isolated-3] -0.185197 -0.000551 0.982701 0.017817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.841448853] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.673,-0.009} [component_container_isolated-3] [DEBUG] [1762964981.841482326] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.015,0.039} {-0.032,11.138,0.167} [component_container_isolated-3] [DEBUG] [1762964981.841533023] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.851800421] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.851852060] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.851889291] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.851959355] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000075 -0.000044 0.000229 [component_container_isolated-3] 0.000075 1.000000 0.000065 0.000079 [component_container_isolated-3] 0.000044 -0.000065 1.000000 -0.000059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.851986357] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.016,-0.037} {0.030,-0.468,-0.169} [component_container_isolated-3] [DEBUG] [1762964981.852035981] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.852080526] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.852119521] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000058 0.185197 -0.007037 [component_container_isolated-3] -0.000159 1.000000 0.000531 0.060829 [component_container_isolated-3] -0.185197 -0.000551 0.982701 0.017817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.852143226] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.673,-0.009} [component_container_isolated-3] [DEBUG] [1762964981.852175899] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.015,0.039} {-0.029,11.141,0.163} [component_container_isolated-3] [DEBUG] [1762964981.852256873] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.860113467] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.860179513] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.860220201] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.860264215] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000070 -0.000103 0.000033 [component_container_isolated-3] -0.000070 1.000000 0.000046 0.000237 [component_container_isolated-3] 0.000103 -0.000046 1.000000 -0.000486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.860289243] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.025,-0.015} {-0.021,-0.227,-0.208} [component_container_isolated-3] [DEBUG] [1762964981.860337345] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.860381118] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.860416456] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 0.000017 0.191220 -0.006750 [component_container_isolated-3] -0.001742 0.999959 0.008853 0.060625 [component_container_isolated-3] -0.191212 -0.009022 0.981507 0.017456 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.860441033] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.527,11.024,-0.102} [component_container_isolated-3] [DEBUG] [1762964981.860474327] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.024,0.015} {-0.465,11.252,0.108} [component_container_isolated-3] [DEBUG] [1762964981.860531145] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.868083618] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.868144204] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.868182347] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.868226311] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000075 -0.000044 0.000229 [component_container_isolated-3] 0.000075 1.000000 0.000065 0.000079 [component_container_isolated-3] 0.000044 -0.000065 1.000000 -0.000059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.868250487] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.016,-0.037} {0.027,-0.471,-0.165} [component_container_isolated-3] [DEBUG] [1762964981.868297046] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.868338816] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.868375977] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000058 0.185197 -0.007037 [component_container_isolated-3] -0.000159 1.000000 0.000531 0.060829 [component_container_isolated-3] -0.185197 -0.000551 0.982701 0.017817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.868399341] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.673,-0.009} [component_container_isolated-3] [DEBUG] [1762964981.868429759] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.015,0.039} {-0.026,11.143,0.158} [component_container_isolated-3] [DEBUG] [1762964981.868479715] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.876653625] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.876708520] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.876748967] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.876793512] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000007 0.000093 0.000273 [component_container_isolated-3] -0.000007 1.000000 0.000091 -0.000112 [component_container_isolated-3] -0.000093 -0.000091 1.000000 0.000108 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.876819051] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.135,0.027,-0.141} [component_container_isolated-3] [DEBUG] [1762964981.876866411] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.876908863] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.876979738] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879410 0.000052 0.476064 -0.000895 [component_container_isolated-3] -0.004773 0.999951 0.008707 0.060260 [component_container_isolated-3] -0.476040 -0.009929 0.879367 0.017965 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.877005417] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.427,-0.311} [component_container_isolated-3] [DEBUG] [1762964981.877038851] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.435,28.401,-0.150} [component_container_isolated-3] [DEBUG] [1762964981.877101861] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.878867734] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.878978726] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.879021016] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.879065992] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000101 -0.000100 0.000470 [component_container_isolated-3] 0.000101 1.000000 0.000014 -0.000368 [component_container_isolated-3] 0.000100 -0.000014 1.000000 -0.000394 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.879092864] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.006} {0.172,0.173,0.225} [component_container_isolated-3] [DEBUG] [1762964981.879142148] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.879184148] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.879224385] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979081 -0.000025 0.203470 -0.006915 [component_container_isolated-3] 0.002478 0.999927 -0.011802 0.059300 [component_container_isolated-3] -0.203455 0.012060 0.979010 0.018545 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.879247980] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.706,11.739,0.145} [component_container_isolated-3] [DEBUG] [1762964981.879277506] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.006} {0.488,11.568,-0.087} [component_container_isolated-3] [DEBUG] [1762964981.879358551] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.884000316] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.884061823] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.884100847] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.884143729] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000101 -0.000100 0.000470 [component_container_isolated-3] 0.000101 1.000000 0.000014 -0.000368 [component_container_isolated-3] 0.000100 -0.000014 1.000000 -0.000394 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.884167865] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.006} {0.171,0.168,0.231} [component_container_isolated-3] [DEBUG] [1762964981.884213863] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.884254701] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.884288566] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979081 -0.000025 0.203470 -0.006915 [component_container_isolated-3] 0.002478 0.999927 -0.011802 0.059300 [component_container_isolated-3] -0.203455 0.012060 0.979010 0.018545 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.884310127] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.706,11.739,0.145} [component_container_isolated-3] [DEBUG] [1762964981.884342108] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.018,-0.006} {0.487,11.573,-0.092} [component_container_isolated-3] [DEBUG] [1762964981.884395640] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.886517583] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.886570544] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.886609679] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.886653062] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000007 0.000093 0.000273 [component_container_isolated-3] -0.000007 1.000000 0.000091 -0.000112 [component_container_isolated-3] -0.000093 -0.000091 1.000000 0.000108 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.886678129] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.004,0.001} {-0.141,0.032,-0.141} [component_container_isolated-3] [DEBUG] [1762964981.886726021] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.886767680] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.886802808] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879410 0.000052 0.476064 -0.000895 [component_container_isolated-3] -0.004773 0.999951 0.008707 0.060260 [component_container_isolated-3] -0.476040 -0.009929 0.879367 0.017965 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.886824509] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.427,-0.311} [component_container_isolated-3] [DEBUG] [1762964981.886857332] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.002} {-0.430,28.396,-0.150} [component_container_isolated-3] [DEBUG] [1762964981.886909070] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.902343446] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.902403631] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.902444630] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.902490087] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000075 -0.000044 0.000229 [component_container_isolated-3] 0.000075 1.000000 0.000065 0.000079 [component_container_isolated-3] 0.000044 -0.000065 1.000000 -0.000059 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.902515495] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.016,-0.037} {0.023,-0.473,-0.161} [component_container_isolated-3] [DEBUG] [1762964981.902564068] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.902610967] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.902650823] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000058 0.185197 -0.007037 [component_container_isolated-3] -0.000159 1.000000 0.000531 0.060829 [component_container_isolated-3] -0.185197 -0.000551 0.982701 0.017817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.902674158] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.673,-0.009} [component_container_isolated-3] [DEBUG] [1762964981.902707692] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.015,0.039} {-0.023,11.146,0.154} [component_container_isolated-3] [DEBUG] [1762964981.902759551] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.910197506] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.910268191] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.910307145] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.910350808] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000099 0.000153 0.000134 [component_container_isolated-3] 0.000099 1.000000 -0.000049 -0.000236 [component_container_isolated-3] -0.000153 0.000049 1.000000 0.000686 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.910375876] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.025,-0.014} {-0.018,-0.218,-0.202} [component_container_isolated-3] [DEBUG] [1762964981.910424339] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.910471729] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.910512497] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981518 -0.000070 0.191370 -0.006698 [component_container_isolated-3] -0.001645 0.999960 0.008803 0.060568 [component_container_isolated-3] -0.191363 -0.008955 0.981478 0.017538 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.910537184] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.523,11.032,-0.096} [component_container_isolated-3] [DEBUG] [1762964981.910568514] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.024,0.015} {-0.465,11.252,0.108} [component_container_isolated-3] [DEBUG] [1762964981.910618470] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.916077435] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.916143411] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.916186203] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.916230858] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000015 0.000031 -0.000678 [component_container_isolated-3] -0.000015 1.000000 0.000193 0.000255 [component_container_isolated-3] -0.000031 -0.000193 1.000000 0.000233 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.916256567] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.006} {0.160,0.169,0.230} [component_container_isolated-3] [DEBUG] [1762964981.916305801] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.916347992] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.916389721] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979075 -0.000049 0.203500 -0.006989 [component_container_isolated-3] 0.002463 0.999930 -0.011609 0.059317 [component_container_isolated-3] -0.203486 0.011868 0.979006 0.018623 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.916415290] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.741,0.144} [component_container_isolated-3] [DEBUG] [1762964981.916446299] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.006} {0.487,11.573,-0.092} [component_container_isolated-3] [DEBUG] [1762964981.916497397] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.933512482] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.933571023] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.933610298] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.933656026] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000007 -0.000084 -0.000203 [component_container_isolated-3] -0.000007 1.000000 -0.000140 0.000124 [component_container_isolated-3] 0.000084 0.000140 1.000000 -0.000133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.933680683] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.133,0.027,-0.142} [component_container_isolated-3] [DEBUG] [1762964981.933728144] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.933770013] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.933808777] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879451 0.000125 0.475990 -0.000902 [component_container_isolated-3] -0.004780 0.999952 0.008567 0.060275 [component_container_isolated-3] -0.475966 -0.009809 0.879409 0.017972 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.933832162] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.422,-0.311} [component_container_isolated-3] [DEBUG] [1762964981.933864754] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.430,28.396,-0.150} [component_container_isolated-3] [DEBUG] [1762964981.933915551] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.945110010] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.945178561] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.945232013] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.945293611] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000017 -0.000002 -0.000183 [component_container_isolated-3] -0.000017 1.000000 0.000131 0.000171 [component_container_isolated-3] 0.000002 -0.000131 1.000000 -0.000003 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.945329039] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.025,-0.014} {-0.026,-0.218,-0.203} [component_container_isolated-3] [DEBUG] [1762964981.945396557] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.945461962] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.945511657] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981518 -0.000079 0.191368 -0.006683 [component_container_isolated-3] -0.001662 0.999959 0.008934 0.060550 [component_container_isolated-3] -0.191360 -0.009087 0.981478 0.017561 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.945542356] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.530,11.032,-0.097} [component_container_isolated-3] [DEBUG] [1762964981.945582483] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.024,0.015} {-0.465,11.252,0.108} [component_container_isolated-3] [DEBUG] [1762964981.945652436] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.947513941] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.947564568] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.947604554] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.947648448] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000141 -0.000033 -0.000733 [component_container_isolated-3] -0.000141 1.000000 0.000074 0.000317 [component_container_isolated-3] 0.000033 -0.000074 1.000000 0.000658 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.947674468] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.016,-0.036} {0.019,-0.475,-0.169} [component_container_isolated-3] [DEBUG] [1762964981.947726327] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.947773717] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.947813463] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 0.000183 0.185164 -0.007181 [component_container_isolated-3] -0.000300 1.000000 0.000605 0.060843 [component_container_isolated-3] -0.185164 -0.000650 0.982707 0.017994 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.947837249] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.038,10.671,-0.017} [component_container_isolated-3] [DEBUG] [1762964981.947868679] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.015,0.039} {-0.023,11.146,0.154} [component_container_isolated-3] [DEBUG] [1762964981.947950886] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.954079490] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.954134425] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.954191714] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.954236680] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000032 -0.000246 0.000404 [component_container_isolated-3] -0.000032 1.000000 -0.000103 0.000062 [component_container_isolated-3] 0.000246 0.000103 1.000000 -0.000594 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.954261958] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.005} {0.166,0.155,0.228} [component_container_isolated-3] [DEBUG] [1762964981.954310220] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.954351720] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.954388610] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979125 0.000003 0.203260 -0.006979 [component_container_isolated-3] 0.002429 0.999928 -0.011713 0.059334 [component_container_isolated-3] -0.203245 0.011962 0.979055 0.018586 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.954412616] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.700,11.727,0.142} [component_container_isolated-3] [DEBUG] [1762964981.954446280] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.005} {0.487,11.573,-0.092} [component_container_isolated-3] [DEBUG] [1762964981.954510062] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.969767039] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.969824920] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.969878512] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.969966520] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000015 -0.000021 -0.000152 [component_container_isolated-3] 0.000015 1.000000 -0.000033 -0.000223 [component_container_isolated-3] 0.000021 0.000033 1.000000 0.000045 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.970006406] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.025,-0.014} {-0.024,-0.220,-0.202} [component_container_isolated-3] [DEBUG] [1762964981.970074607] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.970138889] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.970193584] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981523 -0.000087 0.191347 -0.006691 [component_container_isolated-3] -0.001647 0.999959 0.008902 0.060497 [component_container_isolated-3] -0.191340 -0.009052 0.981482 0.017598 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.970229703] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.528,11.031,-0.096} [component_container_isolated-3] [DEBUG] [1762964981.970274659] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.024,0.015} {-0.465,11.252,0.108} [component_container_isolated-3] [DEBUG] [1762964981.970353008] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.970757591] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.970807416] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.970849296] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.970895925] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000013 0.000005 0.000087 [component_container_isolated-3] -0.000013 1.000000 0.000055 0.000011 [component_container_isolated-3] -0.000005 -0.000055 1.000000 -0.000012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.970964085] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.136,0.028,-0.143} [component_container_isolated-3] [DEBUG] [1762964981.971018820] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.971066020] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.971103331] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879448 0.000111 0.475994 -0.000902 [component_container_isolated-3] -0.004793 0.999951 0.008622 0.060289 [component_container_isolated-3] -0.475970 -0.009864 0.879406 0.017962 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.971126255] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.643,28.423,-0.312} [component_container_isolated-3] [DEBUG] [1762964981.971157575] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.430,28.396,-0.150} [component_container_isolated-3] [DEBUG] [1762964981.971206939] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.981469738] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.981520736] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.981565652] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.981614505] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000265 -0.000067 0.001047 [component_container_isolated-3] 0.000265 1.000000 -0.000087 -0.000604 [component_container_isolated-3] 0.000067 0.000087 1.000000 -0.000776 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.981640064] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.014,0.016,-0.037} {0.024,-0.479,-0.154} [component_container_isolated-3] [DEBUG] [1762964981.981689408] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.981735205] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.981772116] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982720 -0.000062 0.185098 -0.007058 [component_container_isolated-3] -0.000035 1.000000 0.000518 0.060717 [component_container_isolated-3] -0.185098 -0.000516 0.982720 0.017900 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.981794749] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.030,10.667,-0.002} [component_container_isolated-3] [DEBUG] [1762964981.981825257] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.015,0.040} {-0.023,11.146,0.154} [component_container_isolated-3] [DEBUG] [1762964981.981877217] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.986071306] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.986122875] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.986163122] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.986207937] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000002 0.000105 0.000074 [component_container_isolated-3] 0.000002 1.000000 -0.000044 -0.000046 [component_container_isolated-3] -0.000105 0.000044 1.000000 0.000066 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.986233135] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.005} {0.168,0.161,0.228} [component_container_isolated-3] [DEBUG] [1762964981.986280045] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.986324039] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.986362062] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979104 0.000010 0.203362 -0.006958 [component_container_isolated-3] 0.002431 0.999928 -0.011757 0.059342 [component_container_isolated-3] -0.203348 0.012006 0.979033 0.018579 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.986384214] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.703,11.733,0.142} [component_container_isolated-3] [DEBUG] [1762964981.986414712] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.005} {0.487,11.573,-0.092} [component_container_isolated-3] [DEBUG] [1762964981.986462483] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964981.995372529] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964981.995426603] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964981.995467581] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964981.995512086] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000035 -0.000054 -0.000063 [component_container_isolated-3] -0.000035 1.000000 0.000169 -0.000016 [component_container_isolated-3] 0.000054 -0.000169 1.000000 0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964981.995538106] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.145,0.025,-0.145} [component_container_isolated-3] [DEBUG] [1762964981.995585636] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964981.995627817] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964981.995664447] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879474 0.000061 0.475947 -0.000910 [component_container_isolated-3] -0.004827 0.999950 0.008791 0.060301 [component_container_isolated-3] -0.475922 -0.010029 0.879430 0.017952 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964981.995688112] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.653,28.419,-0.314} [component_container_isolated-3] [DEBUG] [1762964981.995720604] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.430,28.396,-0.150} [component_container_isolated-3] [DEBUG] [1762964981.995773485] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.007859727] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.007917838] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.007986199] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.008031465] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000205 0.000157 -0.000157 [component_container_isolated-3] -0.000205 1.000000 0.000086 0.000447 [component_container_isolated-3] -0.000157 -0.000086 1.000000 0.000224 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.008057224] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.025,-0.014} {-0.029,-0.211,-0.214} [component_container_isolated-3] [DEBUG] [1762964982.008106208] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.008152747] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.008193945] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981492 0.000098 0.191501 -0.006698 [component_container_isolated-3] -0.001854 0.999958 0.008988 0.060528 [component_container_isolated-3] -0.191492 -0.009177 0.981451 0.017672 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.008219644] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.536,11.040,-0.108} [component_container_isolated-3] [DEBUG] [1762964982.008250974] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.025,0.015} {-0.465,11.252,0.108} [component_container_isolated-3] [DEBUG] [1762964982.008300669] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.011519897] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.011581054] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.011620028] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.011663762] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000288 0.000222 -0.000373 [component_container_isolated-3] -0.000288 1.000000 0.000038 0.001242 [component_container_isolated-3] -0.000222 -0.000038 1.000000 0.000911 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.011687908] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.017,-0.036} {0.022,-0.466,-0.170} [component_container_isolated-3] [DEBUG] [1762964982.011735990] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.011781787] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.011822154] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982679 0.000214 0.185317 -0.007007 [component_container_isolated-3] -0.000323 1.000000 0.000556 0.060985 [component_container_isolated-3] -0.185316 -0.000606 0.982679 0.018079 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.011847112] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.001} {-0.035,10.680,-0.019} [component_container_isolated-3] [DEBUG] [1762964982.011878832] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.016,0.039} {-0.023,11.146,0.154} [component_container_isolated-3] [DEBUG] [1762964982.011961841] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.017073172] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.017138778] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.017178924] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.017221896] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000060 0.000028 -0.000352 [component_container_isolated-3] 0.000060 1.000000 0.000162 -0.000213 [component_container_isolated-3] -0.000028 -0.000162 1.000000 0.000261 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.017245802] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.006} {0.159,0.163,0.232} [component_container_isolated-3] [DEBUG] [1762964982.017313912] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.017359690] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.017407070] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.017451735] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000035 -0.000054 -0.000063 [component_container_isolated-3] -0.000035 1.000000 0.000169 -0.000016 [component_container_isolated-3] 0.000054 -0.000169 1.000000 0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.017477725] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.155,0.021,-0.147} [component_container_isolated-3] [DEBUG] [1762964982.017527610] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.017571153] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.017609206] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879474 0.000061 0.475947 -0.000910 [component_container_isolated-3] -0.004827 0.999950 0.008791 0.060301 [component_container_isolated-3] -0.475922 -0.010029 0.879430 0.017952 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.017632380] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.653,28.419,-0.314} [component_container_isolated-3] [DEBUG] [1762964982.017662217] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.419,28.399,-0.148} [component_container_isolated-3] [DEBUG] [1762964982.017716591] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.017939898] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.018073062] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.018132135] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 -0.000081 0.203389 -0.006991 [component_container_isolated-3] 0.002492 0.999930 -0.011595 0.059323 [component_container_isolated-3] -0.203374 0.011859 0.979029 0.018610 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.018158495] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.734,0.146} [component_container_isolated-3] [DEBUG] [1762964982.018183152] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.006} {0.487,11.573,-0.092} [component_container_isolated-3] [DEBUG] [1762964982.018227537] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.023120862] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.023185025] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.023226674] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.023271911] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000205 0.000157 -0.000157 [component_container_isolated-3] -0.000205 1.000000 0.000086 0.000447 [component_container_isolated-3] -0.000157 -0.000086 1.000000 0.000224 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.023298221] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.026,-0.014} {-0.034,-0.202,-0.226} [component_container_isolated-3] [DEBUG] [1762964982.023347695] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.023392872] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.023431135] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981492 0.000098 0.191501 -0.006698 [component_container_isolated-3] -0.001854 0.999958 0.008988 0.060528 [component_container_isolated-3] -0.191492 -0.009177 0.981451 0.017672 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.023456894] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.536,11.040,-0.108} [component_container_isolated-3] [DEBUG] [1762964982.023491540] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.025,0.014} {-0.457,11.243,0.120} [component_container_isolated-3] [DEBUG] [1762964982.023542698] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.043599842] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.043661339] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.043708650] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.043757303] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000165 0.000029 -0.000139 [component_container_isolated-3] 0.000165 1.000000 0.000085 -0.001054 [component_container_isolated-3] -0.000029 -0.000085 1.000000 0.000141 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.043784224] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.016,-0.036} {0.017,-0.464,-0.161} [component_container_isolated-3] [DEBUG] [1762964982.043836143] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.043891349] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.043979257] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982673 0.000036 0.185346 -0.007018 [component_container_isolated-3] -0.000158 1.000000 0.000641 0.060842 [component_container_isolated-3] -0.185345 -0.000659 0.982673 0.018180 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.044010506] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.001} {-0.038,10.681,-0.009} [component_container_isolated-3] [DEBUG] [1762964982.044046856] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.015,0.039} {-0.023,11.146,0.154} [component_container_isolated-3] [DEBUG] [1762964982.044105137] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.060122596] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.060192720] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.060234009] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.060279536] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000060 0.000028 -0.000352 [component_container_isolated-3] 0.000060 1.000000 0.000162 -0.000213 [component_container_isolated-3] -0.000028 -0.000162 1.000000 0.000261 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.060305856] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.006} {0.150,0.164,0.235} [component_container_isolated-3] [DEBUG] [1762964982.060356884] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.060405377] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.060446726] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 -0.000081 0.203389 -0.006991 [component_container_isolated-3] 0.002492 0.999930 -0.011595 0.059323 [component_container_isolated-3] -0.203374 0.011859 0.979029 0.018610 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.060470872] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.734,0.146} [component_container_isolated-3] [DEBUG] [1762964982.060501079] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.006} {0.496,11.572,-0.096} [component_container_isolated-3] [DEBUG] [1762964982.060553720] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.066657557] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.066711941] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.066750344] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.066794017] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000035 -0.000054 -0.000063 [component_container_isolated-3] -0.000035 1.000000 0.000169 -0.000016 [component_container_isolated-3] 0.000054 -0.000169 1.000000 0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.066819336] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.165,0.018,-0.149} [component_container_isolated-3] [DEBUG] [1762964982.066866025] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.066908947] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.066981916] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879474 0.000061 0.475947 -0.000910 [component_container_isolated-3] -0.004827 0.999950 0.008791 0.060301 [component_container_isolated-3] -0.475922 -0.010029 0.879430 0.017952 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.067007425] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.653,28.419,-0.314} [component_container_isolated-3] [DEBUG] [1762964982.067040278] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.408,28.402,-0.145} [component_container_isolated-3] [DEBUG] [1762964982.067094281] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.083406193] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.083455787] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.083492998] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.083534568] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000165 0.000029 -0.000139 [component_container_isolated-3] 0.000165 1.000000 0.000085 -0.001054 [component_container_isolated-3] -0.000029 -0.000085 1.000000 0.000141 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.083558574] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.015,-0.036} {0.012,-0.463,-0.151} [component_container_isolated-3] [DEBUG] [1762964982.083603580] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.083646351] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.083685005] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982673 0.000036 0.185346 -0.007018 [component_container_isolated-3] -0.000158 1.000000 0.000641 0.060842 [component_container_isolated-3] -0.185345 -0.000659 0.982673 0.018180 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.083708991] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.001} {-0.038,10.681,-0.009} [component_container_isolated-3] [DEBUG] [1762964982.083741934] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.014,0.039} {-0.020,11.144,0.145} [component_container_isolated-3] [DEBUG] [1762964982.083795125] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.086759236] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.086823108] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.086860630] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.086903351] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000060 0.000028 -0.000352 [component_container_isolated-3] 0.000060 1.000000 0.000162 -0.000213 [component_container_isolated-3] -0.000028 -0.000162 1.000000 0.000261 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.086957855] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.006} {0.140,0.166,0.239} [component_container_isolated-3] [DEBUG] [1762964982.087008442] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.087052967] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.087092282] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 -0.000081 0.203389 -0.006991 [component_container_isolated-3] 0.002492 0.999930 -0.011595 0.059323 [component_container_isolated-3] -0.203374 0.011859 0.979029 0.018610 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.087116609] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.734,0.146} [component_container_isolated-3] [DEBUG] [1762964982.087149251] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.006} {0.504,11.570,-0.100} [component_container_isolated-3] [DEBUG] [1762964982.087200469] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.090898110] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.090999634] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.091041144] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.091085087] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000095 -0.000220 0.000252 [component_container_isolated-3] 0.000095 1.000000 -0.000109 -0.000236 [component_container_isolated-3] 0.000220 0.000109 1.000000 -0.000639 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.091110376] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.025,-0.014} {-0.028,-0.214,-0.221} [component_container_isolated-3] [DEBUG] [1762964982.091160521] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.091205107] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.091245013] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 0.000026 0.191285 -0.006710 [component_container_isolated-3] -0.001757 0.999959 0.008880 0.060508 [component_container_isolated-3] -0.191277 -0.009052 0.981494 0.017625 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.091270271] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.528,11.027,-0.103} [component_container_isolated-3] [DEBUG] [1762964982.091304466] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.025,0.015} {-0.457,11.243,0.120} [component_container_isolated-3] [DEBUG] [1762964982.091355354] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.097362736] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.097423011] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.097462737] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.097505719] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000035 -0.000054 -0.000063 [component_container_isolated-3] -0.000035 1.000000 0.000169 -0.000016 [component_container_isolated-3] 0.000054 -0.000169 1.000000 0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.097530386] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.175,0.015,-0.151} [component_container_isolated-3] [DEBUG] [1762964982.097577827] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.097619056] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.097653341] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879474 0.000061 0.475947 -0.000910 [component_container_isolated-3] -0.004827 0.999950 0.008791 0.060301 [component_container_isolated-3] -0.475922 -0.010029 0.879430 0.017952 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.097676836] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.653,28.419,-0.314} [component_container_isolated-3] [DEBUG] [1762964982.097709829] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.397,28.405,-0.143} [component_container_isolated-3] [DEBUG] [1762964982.097761187] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.109824064] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.109876014] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.109917312] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.109999850] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000095 -0.000220 0.000252 [component_container_isolated-3] 0.000095 1.000000 -0.000109 -0.000236 [component_container_isolated-3] 0.000220 0.000109 1.000000 -0.000639 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.110025739] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.025,-0.015} {-0.021,-0.227,-0.215} [component_container_isolated-3] [DEBUG] [1762964982.110074192] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.110117895] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.110154806] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 0.000026 0.191285 -0.006710 [component_container_isolated-3] -0.001757 0.999959 0.008880 0.060508 [component_container_isolated-3] -0.191277 -0.009052 0.981494 0.017625 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.110176908] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.528,11.027,-0.103} [component_container_isolated-3] [DEBUG] [1762964982.110207216] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.025,0.016} {-0.465,11.256,0.115} [component_container_isolated-3] [DEBUG] [1762964982.110256590] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.120889687] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.121019104] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.121078588] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.121129926] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000116 -0.000076 0.000194 [component_container_isolated-3] -0.000116 1.000000 -0.000027 0.000666 [component_container_isolated-3] 0.000076 0.000027 1.000000 -0.000672 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.121160484] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.015,-0.037} {0.013,-0.467,-0.158} [component_container_isolated-3] [DEBUG] [1762964982.121230147] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.121287747] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.121328194] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982688 0.000155 0.185271 -0.007010 [component_container_isolated-3] -0.000274 1.000000 0.000614 0.060909 [component_container_isolated-3] -0.185271 -0.000654 0.982687 0.018148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.121358132] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.001} {-0.038,10.677,-0.016} [component_container_isolated-3] [DEBUG] [1762964982.121399120] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.015,0.039} {-0.020,11.144,0.145} [component_container_isolated-3] [DEBUG] [1762964982.121494482] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.126113483] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.126173718] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.126214977] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.126263870] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000035 -0.000054 -0.000063 [component_container_isolated-3] -0.000035 1.000000 0.000169 -0.000016 [component_container_isolated-3] 0.000054 -0.000169 1.000000 0.000005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.126291543] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.184,0.012,-0.153} [component_container_isolated-3] [DEBUG] [1762964982.126344324] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.126395592] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.126434777] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879474 0.000061 0.475947 -0.000910 [component_container_isolated-3] -0.004827 0.999950 0.008791 0.060301 [component_container_isolated-3] -0.475922 -0.010029 0.879430 0.017952 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.126457630] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.653,28.419,-0.314} [component_container_isolated-3] [DEBUG] [1762964982.126488269] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.387,28.408,-0.141} [component_container_isolated-3] [DEBUG] [1762964982.126538304] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.131619558] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.131678771] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.131719489] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.131762752] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000095 -0.000220 0.000252 [component_container_isolated-3] 0.000095 1.000000 -0.000109 -0.000236 [component_container_isolated-3] 0.000220 0.000109 1.000000 -0.000639 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.131787990] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.025,-0.016} {-0.015,-0.239,-0.210} [component_container_isolated-3] [DEBUG] [1762964982.131835922] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.131878773] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.131913610] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 0.000026 0.191285 -0.006710 [component_container_isolated-3] -0.001757 0.999959 0.008880 0.060508 [component_container_isolated-3] -0.191277 -0.009052 0.981494 0.017625 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.131977422] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.528,11.027,-0.103} [component_container_isolated-3] [DEBUG] [1762964982.132011827] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.024,0.016} {-0.472,11.269,0.109} [component_container_isolated-3] [DEBUG] [1762964982.132069588] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.137846711] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.137905774] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.137989704] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.138036263] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000010 -0.000039 0.000268 [component_container_isolated-3] 0.000010 1.000000 -0.000027 -0.000049 [component_container_isolated-3] 0.000039 0.000027 1.000000 0.000004 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.138062242] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.006} {0.142,0.164,0.239} [component_container_isolated-3] [DEBUG] [1762964982.138112919] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.138155901] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.138191108] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000086 0.203351 -0.006973 [component_container_isolated-3] 0.002501 0.999929 -0.011622 0.059303 [component_container_isolated-3] -0.203336 0.011888 0.979037 0.018627 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.138215225] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.696,11.732,0.146} [component_container_isolated-3] [DEBUG] [1762964982.138247546] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.006} {0.504,11.570,-0.100} [component_container_isolated-3] [DEBUG] [1762964982.138299185] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.143321817] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.143382202] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.143419924] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.143462305] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000010 -0.000039 0.000268 [component_container_isolated-3] 0.000010 1.000000 -0.000027 -0.000049 [component_container_isolated-3] 0.000039 0.000027 1.000000 0.000004 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.143486381] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.006} {0.144,0.162,0.240} [component_container_isolated-3] [DEBUG] [1762964982.143534353] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.143576153] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.143615438] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000086 0.203351 -0.006973 [component_container_isolated-3] 0.002501 0.999929 -0.011622 0.059303 [component_container_isolated-3] -0.203336 0.011888 0.979037 0.018627 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.143638462] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.696,11.732,0.146} [component_container_isolated-3] [DEBUG] [1762964982.143671174] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.006} {0.503,11.573,-0.100} [component_container_isolated-3] [DEBUG] [1762964982.143722232] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.154212656] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.154271328] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.154314320] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.154361460] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000063 -0.000154 -0.000224 [component_container_isolated-3] 0.000063 1.000000 0.000030 -0.000538 [component_container_isolated-3] 0.000154 -0.000030 1.000000 -0.000426 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.154387520] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.015,-0.037} {0.011,-0.476,-0.154} [component_container_isolated-3] [DEBUG] [1762964982.154435812] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.154479956] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.154516686] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 0.000088 0.185119 -0.007061 [component_container_isolated-3] -0.000211 1.000000 0.000644 0.060847 [component_container_isolated-3] -0.185119 -0.000672 0.982716 0.018042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.154541243] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.001} {-0.039,10.668,-0.012} [component_container_isolated-3] [DEBUG] [1762964982.154577502] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.014,0.039} {-0.020,11.144,0.145} [component_container_isolated-3] [DEBUG] [1762964982.154632958] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.160825284] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.160878706] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.160917170] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.160990079] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000159 -0.000029 0.000215 [component_container_isolated-3] 0.000159 1.000000 -0.000196 -0.000223 [component_container_isolated-3] 0.000029 0.000196 1.000000 -0.000235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.161014866] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.173,0.010,-0.143} [component_container_isolated-3] [DEBUG] [1762964982.161063129] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.161108826] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.161148882] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879488 0.000015 0.475921 -0.000908 [component_container_isolated-3] -0.004668 0.999952 0.008595 0.060276 [component_container_isolated-3] -0.475898 -0.009781 0.879446 0.017916 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.161172898] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.418,-0.304} [component_container_isolated-3] [DEBUG] [1762964982.161206162] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.387,28.408,-0.141} [component_container_isolated-3] [DEBUG] [1762964982.161257860] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.176480241] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.176555706] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.176595792] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.176638604] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000031 0.000040 0.000300 [component_container_isolated-3] 0.000031 1.000000 -0.000114 -0.000042 [component_container_isolated-3] -0.000040 0.000114 1.000000 0.000244 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.176663331] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.015,-0.037} {0.018,-0.474,-0.152} [component_container_isolated-3] [DEBUG] [1762964982.176711643] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.176755457] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.176794181] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000078 0.185159 -0.007040 [component_container_isolated-3] -0.000180 1.000000 0.000531 0.060811 [component_container_isolated-3] -0.185159 -0.000555 0.982709 0.018021 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.176816754] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.670,-0.010} [component_container_isolated-3] [DEBUG] [1762964982.176847463] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.014,0.039} {-0.020,11.144,0.145} [component_container_isolated-3] [DEBUG] [1762964982.176897037] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.179257245] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.179318572] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.179369890] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.179430806] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000056 0.000167 -0.000088 [component_container_isolated-3] 0.000056 1.000000 -0.000073 -0.000161 [component_container_isolated-3] -0.000167 0.000073 1.000000 0.000527 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.179468068] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.025,-0.015} {-0.011,-0.230,-0.206} [component_container_isolated-3] [DEBUG] [1762964982.179537069] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.179596683] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.179650596] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 -0.000016 0.191448 -0.006701 [component_container_isolated-3] -0.001702 0.999960 0.008807 0.060469 [component_container_isolated-3] -0.191441 -0.008970 0.981463 0.017700 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.179684270] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.524,11.037,-0.099} [component_container_isolated-3] [DEBUG] [1762964982.179728555] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.024,0.016} {-0.472,11.269,0.109} [component_container_isolated-3] [DEBUG] [1762964982.179805772] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.207960762] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.208020406] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.208062366] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.208107041] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000045 0.000190 -0.000391 [component_container_isolated-3] 0.000045 1.000000 -0.000221 -0.000816 [component_container_isolated-3] -0.000190 0.000221 1.000000 0.000353 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.208133642] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.020,0.007} {0.156,0.172,0.243} [component_container_isolated-3] [DEBUG] [1762964982.208182094] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.208223574] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.208259472] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 -0.000084 0.203537 -0.007006 [component_container_isolated-3] 0.002548 0.999927 -0.011842 0.059037 [component_container_isolated-3] -0.203521 0.012113 0.978996 0.018736 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.208282426] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.709,11.743,0.149} [component_container_isolated-3] [DEBUG] [1762964982.208312453] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.007} {0.503,11.573,-0.100} [component_container_isolated-3] [DEBUG] [1762964982.208394280] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.218004613] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.218074527] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.218116356] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.218163837] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000127 0.000043 -0.000240 [component_container_isolated-3] -0.000127 1.000000 -0.000039 0.000257 [component_container_isolated-3] -0.000043 0.000039 1.000000 0.000235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.218191650] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.171,0.013,-0.151} [component_container_isolated-3] [DEBUG] [1762964982.218240143] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.218282564] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.218318543] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879467 0.000145 0.475959 -0.000911 [component_container_isolated-3] -0.004795 0.999952 0.008556 0.060298 [component_container_isolated-3] -0.475935 -0.009807 0.879426 0.017921 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.218340855] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.420,-0.312} [component_container_isolated-3] [DEBUG] [1762964982.218374449] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.387,28.408,-0.141} [component_container_isolated-3] [DEBUG] [1762964982.218425367] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.219039369] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.219089605] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.219129311] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.219172604] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000069 -0.000163 0.000349 [component_container_isolated-3] -0.000069 1.000000 0.000035 0.000171 [component_container_isolated-3] 0.000163 -0.000035 1.000000 -0.000897 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.219203412] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.025,-0.016} {-0.013,-0.239,-0.210} [component_container_isolated-3] [DEBUG] [1762964982.219256293] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.219304906] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.219345955] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 0.000045 0.191288 -0.006680 [component_container_isolated-3] -0.001769 0.999959 0.008842 0.060461 [component_container_isolated-3] -0.191280 -0.009018 0.981494 0.017521 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.219371664] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.526,11.027,-0.103} [component_container_isolated-3] [DEBUG] [1762964982.219404456] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.024,0.017} {-0.472,11.269,0.109} [component_container_isolated-3] [DEBUG] [1762964982.219454772] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.220473107] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.220522652] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.220560214] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.220603346] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000045 0.000190 -0.000391 [component_container_isolated-3] 0.000045 1.000000 -0.000221 -0.000816 [component_container_isolated-3] -0.000190 0.000221 1.000000 0.000353 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.220627151] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.021,0.007} {0.169,0.183,0.245} [component_container_isolated-3] [DEBUG] [1762964982.220673159] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.220714017] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.220752411] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 -0.000084 0.203537 -0.007006 [component_container_isolated-3] 0.002548 0.999927 -0.011842 0.059037 [component_container_isolated-3] -0.203521 0.012113 0.978996 0.018736 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.220776296] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.709,11.743,0.149} [component_container_isolated-3] [DEBUG] [1762964982.220808979] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.020,-0.007} {0.490,11.562,-0.103} [component_container_isolated-3] [DEBUG] [1762964982.220859675] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.224962120] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.225018768] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.225062722] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.225108630] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000127 0.000043 -0.000240 [component_container_isolated-3] -0.000127 1.000000 -0.000039 0.000257 [component_container_isolated-3] -0.000043 0.000039 1.000000 0.000235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.225134229] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.169,0.015,-0.158} [component_container_isolated-3] [DEBUG] [1762964982.225183232] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.225225283] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.225259729] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879467 0.000145 0.475959 -0.000911 [component_container_isolated-3] -0.004795 0.999952 0.008556 0.060298 [component_container_isolated-3] -0.475935 -0.009807 0.879426 0.017921 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.225282091] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.420,-0.312} [component_container_isolated-3] [DEBUG] [1762964982.225311888] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.385,28.406,-0.133} [component_container_isolated-3] [DEBUG] [1762964982.225361523] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.225840047] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.225886936] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.225953624] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.226001866] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000069 -0.000163 0.000349 [component_container_isolated-3] -0.000069 1.000000 0.000035 0.000171 [component_container_isolated-3] 0.000163 -0.000035 1.000000 -0.000897 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.226027284] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.025,-0.017} {-0.015,-0.249,-0.214} [component_container_isolated-3] [DEBUG] [1762964982.226076468] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.226121434] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.226156912] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 0.000045 0.191288 -0.006680 [component_container_isolated-3] -0.001769 0.999959 0.008842 0.060461 [component_container_isolated-3] -0.191280 -0.009018 0.981494 0.017521 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.226179164] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.526,11.027,-0.103} [component_container_isolated-3] [DEBUG] [1762964982.226209312] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.025,0.017} {-0.469,11.278,0.113} [component_container_isolated-3] [DEBUG] [1762964982.226260380] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.227474478] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.227523622] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.227562466] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.227605428] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000063 0.000052 -0.000344 [component_container_isolated-3] -0.000063 1.000000 0.000106 0.000081 [component_container_isolated-3] -0.000052 -0.000106 1.000000 0.000134 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.227630286] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.015,-0.037} {0.012,-0.471,-0.156} [component_container_isolated-3] [DEBUG] [1762964982.227676925] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.227720077] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.227759663] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982699 0.000120 0.185210 -0.007073 [component_container_isolated-3] -0.000242 1.000000 0.000637 0.060794 [component_container_isolated-3] -0.185210 -0.000671 0.982699 0.018020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.227783198] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.039,10.673,-0.014} [component_container_isolated-3] [DEBUG] [1762964982.227816331] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.014,0.039} {-0.020,11.144,0.145} [component_container_isolated-3] [DEBUG] [1762964982.227866707] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.232493473] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.232543889] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.232580940] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.232622740] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000063 0.000052 -0.000344 [component_container_isolated-3] -0.000063 1.000000 0.000106 0.000081 [component_container_isolated-3] -0.000052 -0.000106 1.000000 0.000134 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.232646485] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.015,-0.037} {0.006,-0.468,-0.160} [component_container_isolated-3] [DEBUG] [1762964982.232693956] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.232739713] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.232778798] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982699 0.000120 0.185210 -0.007073 [component_container_isolated-3] -0.000242 1.000000 0.000637 0.060794 [component_container_isolated-3] -0.185210 -0.000671 0.982699 0.018020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.232801702] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.039,10.673,-0.014} [component_container_isolated-3] [DEBUG] [1762964982.232834364] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.014,0.039} {-0.014,11.141,0.148} [component_container_isolated-3] [DEBUG] [1762964982.232887405] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.250044692] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.250105889] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.250148119] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.250203255] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000127 0.000043 -0.000240 [component_container_isolated-3] -0.000127 1.000000 -0.000039 0.000257 [component_container_isolated-3] -0.000043 0.000039 1.000000 0.000235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.250229685] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.166,0.018,-0.165} [component_container_isolated-3] [DEBUG] [1762964982.250280452] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.250326189] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.250363050] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879467 0.000145 0.475959 -0.000911 [component_container_isolated-3] -0.004795 0.999952 0.008556 0.060298 [component_container_isolated-3] -0.475935 -0.009807 0.879426 0.017921 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.250385974] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.420,-0.312} [component_container_isolated-3] [DEBUG] [1762964982.250417193] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.383,28.404,-0.124} [component_container_isolated-3] [DEBUG] [1762964982.250466317] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.273305324] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.273368455] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.273406317] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.273452726] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000004 -0.000074 0.000759 [component_container_isolated-3] 0.000004 1.000000 0.000081 -0.000230 [component_container_isolated-3] 0.000074 -0.000081 1.000000 -0.000558 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.273478385] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.025,-0.018} {-0.020,-0.253,-0.214} [component_container_isolated-3] [DEBUG] [1762964982.273536976] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.273558367] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.273617651] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.273656855] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.273700879] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000083 -0.000204 0.000473 [component_container_isolated-3] -0.000083 1.000000 0.000195 0.000936 [component_container_isolated-3] 0.000204 -0.000195 1.000000 -0.000879 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.273725977] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.020,0.006} {0.158,0.172,0.240} [component_container_isolated-3] [DEBUG] [1762964982.273774009] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.273815258] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.273851176] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979109 -0.000043 0.203337 -0.006990 [component_container_isolated-3] 0.002463 0.999929 -0.011648 0.059106 [component_container_isolated-3] -0.203322 0.011906 0.979039 0.018594 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.273872297] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.697,11.731,0.144} [component_container_isolated-3] [DEBUG] [1762964982.273901563] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.006} {0.490,11.562,-0.103} [component_container_isolated-3] [DEBUG] [1762964982.273987817] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.273584347] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.274158293] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981548 0.000026 0.191215 -0.006462 [component_container_isolated-3] -0.001764 0.999959 0.008923 0.060418 [component_container_isolated-3] -0.191207 -0.009096 0.981508 0.017225 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.274197678] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.531,11.023,-0.103} [component_container_isolated-3] [DEBUG] [1762964982.274243105] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.024,0.018} {-0.469,11.278,0.113} [component_container_isolated-3] [DEBUG] [1762964982.274330301] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.277391427] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.277454127] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.277497690] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.277544570] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000103 0.000076 -0.000019 [component_container_isolated-3] 0.000103 1.000000 0.000037 -0.000110 [component_container_isolated-3] -0.000076 -0.000037 1.000000 0.000309 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.277570189] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.015,-0.036} {0.004,-0.463,-0.154} [component_container_isolated-3] [DEBUG] [1762964982.277620365] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.277664940] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.277705387] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982685 0.000013 0.185284 -0.007089 [component_container_isolated-3] -0.000140 1.000000 0.000674 0.060763 [component_container_isolated-3] -0.185284 -0.000688 0.982685 0.018075 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.277730375] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.001} {-0.040,10.678,-0.008} [component_container_isolated-3] [DEBUG] [1762964982.277761184] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.014,0.039} {-0.014,11.141,0.148} [component_container_isolated-3] [DEBUG] [1762964982.277814275] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.278581931] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.278624823] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.278660471] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.278707210] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000083 -0.000204 0.000473 [component_container_isolated-3] -0.000083 1.000000 0.000195 0.000936 [component_container_isolated-3] 0.000204 -0.000195 1.000000 -0.000879 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.278731507] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.019,0.005} {0.146,0.160,0.236} [component_container_isolated-3] [DEBUG] [1762964982.278778617] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.278819224] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.278853389] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979109 -0.000043 0.203337 -0.006990 [component_container_isolated-3] 0.002463 0.999929 -0.011648 0.059106 [component_container_isolated-3] -0.203322 0.011906 0.979039 0.018594 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.278875071] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.697,11.731,0.144} [component_container_isolated-3] [DEBUG] [1762964982.278904056] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.005} {0.502,11.573,-0.098} [component_container_isolated-3] [DEBUG] [1762964982.278998226] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.296294067] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.296347779] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.296389850] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.296436529] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000004 -0.000074 0.000759 [component_container_isolated-3] 0.000004 1.000000 0.000081 -0.000230 [component_container_isolated-3] 0.000074 -0.000081 1.000000 -0.000558 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.296466386] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.025,-0.018} {-0.024,-0.257,-0.214} [component_container_isolated-3] [DEBUG] [1762964982.296515860] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.296558993] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.296594871] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981548 0.000026 0.191215 -0.006462 [component_container_isolated-3] -0.001764 0.999959 0.008923 0.060418 [component_container_isolated-3] -0.191207 -0.009096 0.981508 0.017225 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.296617184] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.531,11.023,-0.103} [component_container_isolated-3] [DEBUG] [1762964982.296647612] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.024,0.019} {-0.464,11.282,0.113} [component_container_isolated-3] [DEBUG] [1762964982.296696576] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.299447359] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.299517132] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.299566026] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.299627804] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000009 0.000018 -0.000085 [component_container_isolated-3] -0.000009 1.000000 -0.000099 -0.000023 [component_container_isolated-3] -0.000018 0.000099 1.000000 -0.000015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.299662860] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.161,0.019,-0.166} [component_container_isolated-3] [DEBUG] [1762964982.299733676] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.299793129] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.299842093] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879459 0.000200 0.475975 -0.000925 [component_container_isolated-3] -0.004804 0.999953 0.008457 0.060307 [component_container_isolated-3] -0.475951 -0.009725 0.879418 0.017933 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.299874555] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.634,28.421,-0.313} [component_container_isolated-3] [DEBUG] [1762964982.299915563] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.383,28.404,-0.124} [component_container_isolated-3] [DEBUG] [1762964982.300032326] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.318263814] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.318332986] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.318374625] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.318420263] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000050 -0.000083 0.000358 [component_container_isolated-3] -0.000050 1.000000 -0.000096 0.000042 [component_container_isolated-3] 0.000083 0.000096 1.000000 -0.000374 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.318445501] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.015,-0.037} {0.009,-0.468,-0.157} [component_container_isolated-3] [DEBUG] [1762964982.318494534] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.318542286] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.318583073] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982700 0.000079 0.185203 -0.007058 [component_container_isolated-3] -0.000190 1.000000 0.000578 0.060743 [component_container_isolated-3] -0.185203 -0.000603 0.982700 0.018051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.318609344] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.001} {-0.035,10.673,-0.011} [component_container_isolated-3] [DEBUG] [1762964982.318642767] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.014,0.039} {-0.014,11.141,0.148} [component_container_isolated-3] [DEBUG] [1762964982.318693394] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.321117183] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.321185023] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.321228526] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.321279243] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000004 -0.000074 0.000759 [component_container_isolated-3] 0.000004 1.000000 0.000081 -0.000230 [component_container_isolated-3] 0.000074 -0.000081 1.000000 -0.000558 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.321307567] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.024,-0.019} {-0.029,-0.261,-0.214} [component_container_isolated-3] [DEBUG] [1762964982.321363664] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.321414641] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.321456311] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981548 0.000026 0.191215 -0.006462 [component_container_isolated-3] -0.001764 0.999959 0.008923 0.060418 [component_container_isolated-3] -0.191207 -0.009096 0.981508 0.017225 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.321483142] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.531,11.023,-0.103} [component_container_isolated-3] [DEBUG] [1762964982.321518910] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.024,0.019} {-0.460,11.286,0.112} [component_container_isolated-3] [DEBUG] [1762964982.321578394] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.326495094] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.326568975] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.326614021] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.326660730] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000040 0.000224 -0.000355 [component_container_isolated-3] 0.000040 1.000000 -0.000034 0.000166 [component_container_isolated-3] -0.000224 0.000034 1.000000 0.000816 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.326687701] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.006} {0.148,0.173,0.238} [component_container_isolated-3] [DEBUG] [1762964982.326736495] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.326778194] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.326813321] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979063 -0.000075 0.203557 -0.006993 [component_container_isolated-3] 0.002505 0.999929 -0.011681 0.059159 [component_container_isolated-3] -0.203541 0.011947 0.978994 0.018722 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.326836175] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.699,11.744,0.147} [component_container_isolated-3] [DEBUG] [1762964982.326866743] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.006} {0.502,11.573,-0.098} [component_container_isolated-3] [DEBUG] [1762964982.326916148] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.327496065] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.327551140] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.327588712] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.327631945] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000050 -0.000083 0.000358 [component_container_isolated-3] -0.000050 1.000000 -0.000096 0.000042 [component_container_isolated-3] 0.000083 0.000096 1.000000 -0.000374 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.327656812] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.015,-0.037} {0.015,-0.473,-0.160} [component_container_isolated-3] [DEBUG] [1762964982.327704303] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.327746103] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.327782362] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982700 0.000079 0.185203 -0.007058 [component_container_isolated-3] -0.000190 1.000000 0.000578 0.060743 [component_container_isolated-3] -0.185203 -0.000603 0.982700 0.018051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.327804695] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.001} {-0.035,10.673,-0.011} [component_container_isolated-3] [DEBUG] [1762964982.327835714] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.014,0.039} {-0.018,11.146,0.151} [component_container_isolated-3] [DEBUG] [1762964982.327892813] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.330319618] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.330372509] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.330415370] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.330460687] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000002 0.000046 0.000196 [component_container_isolated-3] 0.000002 1.000000 0.000037 0.000070 [component_container_isolated-3] -0.000046 -0.000037 1.000000 0.000075 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.330486506] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.163,0.021,-0.166} [component_container_isolated-3] [DEBUG] [1762964982.330536221] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.330592388] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.330633287] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879437 0.000180 0.476016 -0.000915 [component_container_isolated-3] -0.004802 0.999952 0.008494 0.060325 [component_container_isolated-3] -0.475992 -0.009756 0.879396 0.017934 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.330658244] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.636,28.424,-0.313} [component_container_isolated-3] [DEBUG] [1762964982.330688913] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.383,28.404,-0.124} [component_container_isolated-3] [DEBUG] [1762964982.330740201] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.347559752] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.347620929] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.347657378] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.347700531] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000040 0.000224 -0.000355 [component_container_isolated-3] 0.000040 1.000000 -0.000034 0.000166 [component_container_isolated-3] -0.000224 0.000034 1.000000 0.000816 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.347724947] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.007} {0.150,0.186,0.240} [component_container_isolated-3] [DEBUG] [1762964982.347774542] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.347818496] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.347857040] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979063 -0.000075 0.203557 -0.006993 [component_container_isolated-3] 0.002505 0.999929 -0.011681 0.059159 [component_container_isolated-3] -0.203541 0.011947 0.978994 0.018722 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.347880585] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.699,11.744,0.147} [component_container_isolated-3] [DEBUG] [1762964982.347910842] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.007} {0.499,11.561,-0.100} [component_container_isolated-3] [DEBUG] [1762964982.347993791] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.371864167] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.371958828] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.372001279] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.372046806] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000071 0.000084 -0.000834 [component_container_isolated-3] 0.000071 1.000000 -0.000041 0.000283 [component_container_isolated-3] -0.000084 0.000041 1.000000 0.000669 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.372072485] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.025,-0.018} {-0.027,-0.257,-0.210} [component_container_isolated-3] [DEBUG] [1762964982.372122110] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.372170012] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.372210840] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 -0.000036 0.191297 -0.006491 [component_container_isolated-3] -0.001694 0.999959 0.008882 0.060424 [component_container_isolated-3] -0.191290 -0.009042 0.981492 0.017214 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.372235156] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.528,11.028,-0.099} [component_container_isolated-3] [DEBUG] [1762964982.372267137] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.024,0.018} {-0.460,11.286,0.112} [component_container_isolated-3] [DEBUG] [1762964982.372317613] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.375694793] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.375759296] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.375797960] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.375840391] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000001 -0.000113 -0.000130 [component_container_isolated-3] -0.000001 1.000000 0.000184 -0.000203 [component_container_isolated-3] 0.000113 -0.000184 1.000000 -0.000129 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.375865168] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.173,0.015,-0.166} [component_container_isolated-3] [DEBUG] [1762964982.375915555] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.375994225] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.376036916] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879490 0.000093 0.475916 -0.000935 [component_container_isolated-3] -0.004803 0.999951 0.008679 0.060319 [component_container_isolated-3] -0.475892 -0.009919 0.879448 0.017922 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.376061533] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.417,-0.313} [component_container_isolated-3] [DEBUG] [1762964982.376092603] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.383,28.404,-0.124} [component_container_isolated-3] [DEBUG] [1762964982.376142688] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.384288806] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.384349301] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.384387945] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.384431368] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000011 -0.000029 -0.000392 [component_container_isolated-3] 0.000011 1.000000 0.000072 -0.000038 [component_container_isolated-3] 0.000029 -0.000072 1.000000 0.000219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.384456696] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.015,-0.037} {0.011,-0.475,-0.159} [component_container_isolated-3] [DEBUG] [1762964982.384502694] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.384545987] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.384585803] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000056 0.185174 -0.007099 [component_container_isolated-3] -0.000179 1.000000 0.000650 0.060723 [component_container_isolated-3] -0.185174 -0.000672 0.982705 0.018071 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.384610510] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.001} {-0.039,10.671,-0.010} [component_container_isolated-3] [DEBUG] [1762964982.384641319] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.014,0.039} {-0.018,11.146,0.151} [component_container_isolated-3] [DEBUG] [1762964982.384705071] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.407213887] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.407271347] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.407310391] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.407353133] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000071 0.000084 -0.000834 [component_container_isolated-3] 0.000071 1.000000 -0.000041 0.000283 [component_container_isolated-3] -0.000084 0.000041 1.000000 0.000669 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.407377950] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.025,-0.017} {-0.024,-0.252,-0.205} [component_container_isolated-3] [DEBUG] [1762964982.407424409] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.407466369] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.407501526] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 -0.000036 0.191297 -0.006491 [component_container_isolated-3] -0.001694 0.999959 0.008882 0.060424 [component_container_isolated-3] -0.191290 -0.009042 0.981492 0.017214 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.407523528] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.528,11.028,-0.099} [component_container_isolated-3] [DEBUG] [1762964982.407556451] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.025,0.018} {-0.463,11.282,0.108} [component_container_isolated-3] [DEBUG] [1762964982.407607809] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.410097284] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.410158310] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.410197134] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.410243052] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000061 -0.000063 -0.000239 [component_container_isolated-3] -0.000061 1.000000 -0.000069 0.000034 [component_container_isolated-3] 0.000063 0.000069 1.000000 -0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.410267789] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.007} {0.154,0.182,0.237} [component_container_isolated-3] [DEBUG] [1762964982.410314098] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.410354565] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.410391425] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979076 -0.000001 0.203495 -0.007044 [component_container_isolated-3] 0.002444 0.999928 -0.011751 0.059194 [component_container_isolated-3] -0.203480 0.012002 0.979006 0.018775 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.410419038] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.702,11.741,0.143} [component_container_isolated-3] [DEBUG] [1762964982.410454105] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.007} {0.499,11.561,-0.100} [component_container_isolated-3] [DEBUG] [1762964982.410507918] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.413462801] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.413522465] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.413562742] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.413606185] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000011 -0.000029 -0.000392 [component_container_isolated-3] 0.000011 1.000000 0.000072 -0.000038 [component_container_isolated-3] 0.000029 -0.000072 1.000000 0.000219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.413630742] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.015,-0.037} {0.006,-0.476,-0.158} [component_container_isolated-3] [DEBUG] [1762964982.413683723] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.413732266] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.413771470] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000056 0.185174 -0.007099 [component_container_isolated-3] -0.000179 1.000000 0.000650 0.060723 [component_container_isolated-3] -0.185174 -0.000672 0.982705 0.018071 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.413795977] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.001} {-0.039,10.671,-0.010} [component_container_isolated-3] [DEBUG] [1762964982.413826896] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.014,0.039} {-0.014,11.148,0.151} [component_container_isolated-3] [DEBUG] [1762964982.413875760] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.414536321] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.414589272] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.414633677] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.414676519] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000022 0.000061 -0.000053 [component_container_isolated-3] -0.000022 1.000000 -0.000077 0.000106 [component_container_isolated-3] -0.000061 0.000077 1.000000 0.000122 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.414697689] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.169,0.018,-0.167} [component_container_isolated-3] [DEBUG] [1762964982.414738337] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.414772602] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.414799273] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879462 0.000149 0.475970 -0.000939 [component_container_isolated-3] -0.004825 0.999951 0.008602 0.060324 [component_container_isolated-3] -0.475945 -0.009862 0.879420 0.017938 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.414815935] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.421,-0.314} [component_container_isolated-3] [DEBUG] [1762964982.414837316] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.383,28.404,-0.124} [component_container_isolated-3] [DEBUG] [1762964982.414874106] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.424110375] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.424171712] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.424211779] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.424256394] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000061 -0.000063 -0.000239 [component_container_isolated-3] -0.000061 1.000000 -0.000069 0.000034 [component_container_isolated-3] 0.000063 0.000069 1.000000 -0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.424280700] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.018,0.007} {0.158,0.178,0.233} [component_container_isolated-3] [DEBUG] [1762964982.424328351] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.424370722] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.424405940] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979076 -0.000001 0.203495 -0.007044 [component_container_isolated-3] 0.002444 0.999928 -0.011751 0.059194 [component_container_isolated-3] -0.203480 0.012002 0.979006 0.018775 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.424428923] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.702,11.741,0.143} [component_container_isolated-3] [DEBUG] [1762964982.424462508] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.018,-0.007} {0.496,11.564,-0.097} [component_container_isolated-3] [DEBUG] [1762964982.424517122] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.430454992] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.430507993] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.430544613] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.430586523] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000022 0.000061 -0.000053 [component_container_isolated-3] -0.000022 1.000000 -0.000077 0.000106 [component_container_isolated-3] -0.000061 0.000077 1.000000 0.000122 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.430611401] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.165,0.022,-0.168} [component_container_isolated-3] [DEBUG] [1762964982.430657479] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.430700821] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.430740026] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879462 0.000149 0.475970 -0.000939 [component_container_isolated-3] -0.004825 0.999951 0.008602 0.060324 [component_container_isolated-3] -0.475945 -0.009862 0.879420 0.017938 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.430764583] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.421,-0.314} [component_container_isolated-3] [DEBUG] [1762964982.430797105] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.387,28.400,-0.123} [component_container_isolated-3] [DEBUG] [1762964982.430849686] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.455612406] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.455691017] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.455734860] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.455784225] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000097 -0.000156 0.000326 [component_container_isolated-3] 0.000097 1.000000 0.000001 -0.000523 [component_container_isolated-3] 0.000156 -0.000001 1.000000 -0.000704 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.455813310] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.014,-0.037} {0.006,-0.485,-0.153} [component_container_isolated-3] [DEBUG] [1762964982.455866492] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.455912950] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.455967835] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982735 -0.000040 0.185022 -0.007112 [component_container_isolated-3] -0.000082 1.000000 0.000651 0.060569 [component_container_isolated-3] -0.185022 -0.000655 0.982734 0.017921 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.455991080] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.038,10.662,-0.005} [component_container_isolated-3] [DEBUG] [1762964982.456021909] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.014,0.040} {-0.014,11.148,0.151} [component_container_isolated-3] [DEBUG] [1762964982.456074549] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.459279700] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.459339244] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.459379651] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.459423455] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000153 0.000136 0.000252 [component_container_isolated-3] -0.000153 1.000000 -0.000005 0.000770 [component_container_isolated-3] -0.000136 0.000005 1.000000 0.000628 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.459448813] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.026,-0.017} {-0.024,-0.244,-0.214} [component_container_isolated-3] [DEBUG] [1762964982.459498167] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.459543384] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.459584763] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981506 0.000115 0.191431 -0.006431 [component_container_isolated-3] -0.001848 0.999959 0.008877 0.060642 [component_container_isolated-3] -0.191422 -0.009067 0.981466 0.017344 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.459610281] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.529,11.036,-0.108} [component_container_isolated-3] [DEBUG] [1762964982.459643395] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.025,0.017} {-0.463,11.282,0.108} [component_container_isolated-3] [DEBUG] [1762964982.459693500] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.467207991] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.467262305] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.467239642] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.467338931] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.467301440] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.467422050] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000153 0.000136 0.000252 [component_container_isolated-3] -0.000153 1.000000 -0.000005 0.000770 [component_container_isolated-3] -0.000136 0.000005 1.000000 0.000628 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.467450865] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.026,-0.016} {-0.024,-0.236,-0.223} [component_container_isolated-3] [DEBUG] [1762964982.467381974] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.467504107] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.467555415] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000066 0.000040 -0.000075 [component_container_isolated-3] 0.000066 1.000000 0.000002 -0.000091 [component_container_isolated-3] -0.000040 -0.000002 1.000000 0.000039 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.467611943] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.165,0.024,-0.165} [component_container_isolated-3] [DEBUG] [1762964982.467646148] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.467701704] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.467666667] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.467600962] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.467744295] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.467793570] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.467821733] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981506 0.000115 0.191431 -0.006431 [component_container_isolated-3] -0.001848 0.999959 0.008877 0.060642 [component_container_isolated-3] -0.191422 -0.009067 0.981466 0.017344 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.468029700] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.529,11.036,-0.108} [component_container_isolated-3] [DEBUG] [1762964982.468064848] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.026,0.017} {-0.462,11.274,0.117} [component_container_isolated-3] [DEBUG] [1762964982.467992590] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879443 0.000090 0.476005 -0.000955 [component_container_isolated-3] -0.004760 0.999952 0.008604 0.060319 [component_container_isolated-3] -0.475981 -0.009832 0.879401 0.017959 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.468149910] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.423,-0.310} [component_container_isolated-3] [DEBUG] [1762964982.468180779] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.387,28.400,-0.123} [component_container_isolated-3] [DEBUG] [1762964982.467877039] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000007 -0.000056 0.000127 [component_container_isolated-3] -0.000007 1.000000 -0.000017 0.000015 [component_container_isolated-3] 0.000056 0.000017 1.000000 -0.000187 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.468122668] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.468242667] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.468282834] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.007} {0.159,0.175,0.233} [component_container_isolated-3] [DEBUG] [1762964982.468423412] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.468467607] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.468500119] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 0.000009 0.203440 -0.007065 [component_container_isolated-3] 0.002436 0.999928 -0.011768 0.059224 [component_container_isolated-3] -0.203426 0.012017 0.979017 0.018795 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.468518514] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.703,11.737,0.143} [component_container_isolated-3] [DEBUG] [1762964982.468540596] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.018,-0.007} {0.496,11.564,-0.097} [component_container_isolated-3] [DEBUG] [1762964982.468603727] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.481588084] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.481647417] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.481684358] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.481726789] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000047 -0.000198 0.000616 [component_container_isolated-3] -0.000047 1.000000 -0.000077 0.000613 [component_container_isolated-3] 0.000198 0.000077 1.000000 -0.000877 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.481753991] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.014,0.015,-0.038} {0.011,-0.496,-0.155} [component_container_isolated-3] [DEBUG] [1762964982.481806882] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.481853170] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.481893246] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982771 0.000021 0.184827 -0.007012 [component_container_isolated-3] -0.000129 1.000000 0.000574 0.060581 [component_container_isolated-3] -0.184827 -0.000588 0.982771 0.017503 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.481915980] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.000} {-0.034,10.651,-0.008} [component_container_isolated-3] [DEBUG] [1762964982.481978239] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.014,0.040} {-0.014,11.148,0.151} [component_container_isolated-3] [DEBUG] [1762964982.482031501] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.499554565] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.499627555] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.499668062] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.499715062] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000014 -0.000523 0.000518 [component_container_isolated-3] 0.000014 1.000000 -0.000002 -0.000085 [component_container_isolated-3] 0.000523 0.000002 1.000000 -0.002064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.499740220] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.005} {0.159,0.145,0.234} [component_container_isolated-3] [DEBUG] [1762964982.499788262] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.499832777] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.499872182] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979194 -0.000004 0.202928 -0.007175 [component_container_isolated-3] 0.002444 0.999928 -0.011771 0.059255 [component_container_isolated-3] -0.202914 0.012022 0.979123 0.017930 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.499896108] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,-0.000} {0.703,11.707,0.143} [component_container_isolated-3] [DEBUG] [1762964982.499955531] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.005} {0.496,11.564,-0.097} [component_container_isolated-3] [DEBUG] [1762964982.500008482] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.502789363] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.502849257] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.502889735] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.502979777] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000003 0.000087 0.000156 [component_container_isolated-3] -0.000003 1.000000 0.000068 0.000021 [component_container_isolated-3] -0.000087 -0.000068 1.000000 0.000147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.503007520] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.169,0.029,-0.165} [component_container_isolated-3] [DEBUG] [1762964982.503056483] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.503099115] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.503134622] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000060 0.476081 -0.000941 [component_container_isolated-3] -0.004763 0.999951 0.008672 0.060318 [component_container_isolated-3] -0.476057 -0.009893 0.879359 0.017984 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.503157446] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.645,28.428,-0.310} [component_container_isolated-3] [DEBUG] [1762964982.503187944] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.387,28.400,-0.123} [component_container_isolated-3] [DEBUG] [1762964982.503242569] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.511849886] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.511911224] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.511970637] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.512014741] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000018 0.000096 -0.000804 [component_container_isolated-3] 0.000018 1.000000 -0.000085 -0.000199 [component_container_isolated-3] -0.000096 0.000085 1.000000 0.000596 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.512039599] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.026,-0.015} {-0.019,-0.231,-0.222} [component_container_isolated-3] [DEBUG] [1762964982.512091748] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.512136714] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.512173384] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981488 0.000114 0.191526 -0.006552 [component_container_isolated-3] -0.001831 0.999960 0.008792 0.060689 [component_container_isolated-3] -0.191517 -0.008980 0.981448 0.017626 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.512198312] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.524,11.041,-0.107} [component_container_isolated-3] [DEBUG] [1762964982.512232167] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.026,0.016} {-0.462,11.274,0.117} [component_container_isolated-3] [DEBUG] [1762964982.512287292] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.517589868] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.517653740] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.517692735] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.517736058] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000160 0.000175 -0.000244 [component_container_isolated-3] -0.000160 1.000000 0.000050 0.000799 [component_container_isolated-3] -0.000175 -0.000050 1.000000 0.000685 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.517760635] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.016,-0.038} {0.008,-0.486,-0.165} [component_container_isolated-3] [DEBUG] [1762964982.517807815] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.517850436] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.517889841] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982739 0.000168 0.185000 -0.006970 [component_container_isolated-3] -0.000289 1.000000 0.000624 0.060820 [component_container_isolated-3] -0.184999 -0.000666 0.982738 0.017437 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.517914048] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,-0.000} {-0.039,10.661,-0.017} [component_container_isolated-3] [DEBUG] [1762964982.517973531] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.015,0.039} {-0.014,11.148,0.151} [component_container_isolated-3] [DEBUG] [1762964982.518038094] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.519290196] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.519344760] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.519383985] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.519430975] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000014 -0.000523 0.000518 [component_container_isolated-3] 0.000014 1.000000 -0.000002 -0.000085 [component_container_isolated-3] 0.000523 0.000002 1.000000 -0.002064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.519466242] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.002} {0.159,0.115,0.234} [component_container_isolated-3] [DEBUG] [1762964982.519518943] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.519563848] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.519599667] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979194 -0.000004 0.202928 -0.007175 [component_container_isolated-3] 0.002444 0.999928 -0.011771 0.059255 [component_container_isolated-3] -0.202914 0.012022 0.979123 0.017930 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.519623392] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,-0.000} {0.703,11.707,0.143} [component_container_isolated-3] [DEBUG] [1762964982.519654201] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.003} {0.496,11.594,-0.097} [component_container_isolated-3] [DEBUG] [1762964982.519705178] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.535104026] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.535169231] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.535210239] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.535255696] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000077 -0.000142 0.000059 [component_container_isolated-3] -0.000077 1.000000 -0.000057 0.000017 [component_container_isolated-3] 0.000142 0.000057 1.000000 -0.000212 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.535281726] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.165,0.021,-0.169} [component_container_isolated-3] [DEBUG] [1762964982.535330819] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.535374763] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.535411804] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879469 0.000155 0.475956 -0.000934 [component_container_isolated-3] -0.004839 0.999951 0.008615 0.060318 [component_container_isolated-3] -0.475931 -0.009880 0.879427 0.017980 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.535435459] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.420,-0.315} [component_container_isolated-3] [DEBUG] [1762964982.535468342] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.387,28.400,-0.123} [component_container_isolated-3] [DEBUG] [1762964982.535518348] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.545161183] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.545226047] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.545266254] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.545310137] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000037 0.000112 -0.000375 [component_container_isolated-3] 0.000037 1.000000 -0.000015 -0.000001 [component_container_isolated-3] -0.000112 0.000015 1.000000 0.000609 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.545335215] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.016,-0.037} {0.009,-0.480,-0.162} [component_container_isolated-3] [DEBUG] [1762964982.545382285] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.545428664] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.545468530] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 0.000135 0.185110 -0.006974 [component_container_isolated-3] -0.000252 1.000000 0.000608 0.060896 [component_container_isolated-3] -0.185109 -0.000644 0.982718 0.017542 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.545493307] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.038,10.668,-0.015} [component_container_isolated-3] [DEBUG] [1762964982.545525389] [zed_multi.front]: +++ Diff [map -> odom] - {-0.006,-0.015,0.039} {-0.014,11.148,0.151} [component_container_isolated-3] [DEBUG] [1762964982.545574522] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.548495000] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.548563811] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.548606503] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.548651479] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000023 -0.000036 -0.000087 [component_container_isolated-3] -0.000023 1.000000 0.000208 0.000003 [component_container_isolated-3] 0.000036 -0.000208 1.000000 0.000070 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.548677408] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.026,-0.015} {-0.031,-0.233,-0.223} [component_container_isolated-3] [DEBUG] [1762964982.548725881] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.548769103] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.548805443] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981494 0.000096 0.191491 -0.006612 [component_container_isolated-3] -0.001854 0.999958 0.009000 0.060728 [component_container_isolated-3] -0.191482 -0.009189 0.981453 0.017744 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.548828416] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.536,11.039,-0.108} [component_container_isolated-3] [DEBUG] [1762964982.548860488] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.026,0.016} {-0.462,11.274,0.117} [component_container_isolated-3] [DEBUG] [1762964982.548913509] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.571804235] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.571856785] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.571893956] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.571957037] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000037 0.000112 -0.000375 [component_container_isolated-3] 0.000037 1.000000 -0.000015 -0.000001 [component_container_isolated-3] -0.000112 0.000015 1.000000 0.000609 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.571984008] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.013,0.016,-0.036} {0.010,-0.474,-0.160} [component_container_isolated-3] [DEBUG] [1762964982.572034895] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.572081544] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.572121080] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 0.000135 0.185110 -0.006974 [component_container_isolated-3] -0.000252 1.000000 0.000608 0.060896 [component_container_isolated-3] -0.185109 -0.000644 0.982718 0.017542 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.572145156] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.038,10.668,-0.015} [component_container_isolated-3] [DEBUG] [1762964982.572176145] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.015,0.038} {-0.016,11.141,0.148} [component_container_isolated-3] [DEBUG] [1762964982.572225419] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.573218396] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.573280174] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.573328065] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.573374373] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000035 0.000016 0.000021 [component_container_isolated-3] 0.000035 1.000000 0.000071 -0.000004 [component_container_isolated-3] -0.000016 -0.000071 1.000000 0.000011 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.573400062] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.169,0.022,-0.167} [component_container_isolated-3] [DEBUG] [1762964982.573438837] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.573495745] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.573451641] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.573603862] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.573645722] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879462 0.000091 0.475970 -0.000931 [component_container_isolated-3] -0.004804 0.999951 0.008686 0.060318 [component_container_isolated-3] -0.475946 -0.009925 0.879419 0.017974 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.573668345] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.421,-0.313} [component_container_isolated-3] [DEBUG] [1762964982.573698683] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.387,28.400,-0.123} [component_container_isolated-3] [DEBUG] [1762964982.573747987] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.573542755] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.573850863] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000004 0.000432 -0.000120 [component_container_isolated-3] 0.000004 1.000000 0.000061 0.000003 [component_container_isolated-3] -0.000432 -0.000061 1.000000 0.001451 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.573880139] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.004} {0.156,0.140,0.235} [component_container_isolated-3] [DEBUG] [1762964982.573936557] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.573974570] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.574002503] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979106 -0.000021 0.203352 -0.007130 [component_container_isolated-3] 0.002453 0.999929 -0.011709 0.059270 [component_container_isolated-3] -0.203337 0.011963 0.979036 0.018038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.574019896] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,-0.000} {0.700,11.732,0.144} [component_container_isolated-3] [DEBUG] [1762964982.574040896] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.005} {0.496,11.594,-0.097} [component_container_isolated-3] [DEBUG] [1762964982.574079009] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.584147187] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.584207953] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.584248751] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.584292975] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000003 -0.000171 0.000508 [component_container_isolated-3] -0.000003 1.000000 -0.000034 0.000130 [component_container_isolated-3] 0.000171 0.000034 1.000000 -0.001119 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.584317632] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.026,-0.017} {-0.029,-0.242,-0.223} [component_container_isolated-3] [DEBUG] [1762964982.584364973] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.584407434] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.584453091] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981527 0.000106 0.191323 -0.006633 [component_container_isolated-3] -0.001856 0.999958 0.008967 0.060783 [component_container_isolated-3] -0.191314 -0.009156 0.981486 0.017621 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.584481996] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.534,11.029,-0.108} [component_container_isolated-3] [DEBUG] [1762964982.584512905] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.026,0.017} {-0.462,11.274,0.117} [component_container_isolated-3] [DEBUG] [1762964982.584564283] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.598894280] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.598989332] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.599027495] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.599069886] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000003 -0.000171 0.000508 [component_container_isolated-3] -0.000003 1.000000 -0.000034 0.000130 [component_container_isolated-3] 0.000171 0.000034 1.000000 -0.001119 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.599094202] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.027,-0.018} {-0.027,-0.252,-0.224} [component_container_isolated-3] [DEBUG] [1762964982.599141783] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.599183543] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.599222387] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981527 0.000106 0.191323 -0.006633 [component_container_isolated-3] -0.001856 0.999958 0.008967 0.060783 [component_container_isolated-3] -0.191314 -0.009156 0.981486 0.017621 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.599245862] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.534,11.029,-0.108} [component_container_isolated-3] [DEBUG] [1762964982.599279907] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.026,0.018} {-0.463,11.284,0.117} [component_container_isolated-3] [DEBUG] [1762964982.599358817] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.603794028] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.603857158] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.603912253] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.604010000] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000008 -0.000326 0.000300 [component_container_isolated-3] 0.000008 1.000000 -0.000129 -0.000017 [component_container_isolated-3] 0.000326 0.000129 1.000000 -0.000992 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.604047752] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.003} {0.163,0.121,0.235} [component_container_isolated-3] [DEBUG] [1762964982.604116523] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.604180265] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.604235952] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979172 -0.000002 0.203033 -0.007105 [component_container_isolated-3] 0.002457 0.999927 -0.011839 0.059284 [component_container_isolated-3] -0.203018 0.012091 0.979100 0.017823 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.604270728] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,-0.001} {0.708,11.714,0.144} [component_container_isolated-3] [DEBUG] [1762964982.604315313] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.004} {0.496,11.594,-0.097} [component_container_isolated-3] [DEBUG] [1762964982.604395997] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.605694878] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.605754151] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.605796362] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.605841798] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000007 -0.000003 0.000011 [component_container_isolated-3] 0.000007 1.000000 0.000100 0.000080 [component_container_isolated-3] 0.000003 -0.000100 1.000000 -0.000056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.605868129] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.175,0.022,-0.167} [component_container_isolated-3] [DEBUG] [1762964982.605950566] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.606003698] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.606043483] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879463 0.000036 0.475967 -0.000930 [component_container_isolated-3] -0.004797 0.999950 0.008786 0.060328 [component_container_isolated-3] -0.475943 -0.010010 0.879419 0.017961 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.606065956] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.652,28.421,-0.312} [component_container_isolated-3] [DEBUG] [1762964982.606100863] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.387,28.400,-0.123} [component_container_isolated-3] [DEBUG] [1762964982.606152251] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.612213417] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.612269263] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.612307727] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.612352122] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000008 -0.000326 0.000300 [component_container_isolated-3] 0.000008 1.000000 -0.000129 -0.000017 [component_container_isolated-3] 0.000326 0.000129 1.000000 -0.000992 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.612377360] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.018,0.002} {0.171,0.103,0.235} [component_container_isolated-3] [DEBUG] [1762964982.612428217] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.612478713] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.612518539] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979172 -0.000002 0.203033 -0.007105 [component_container_isolated-3] 0.002457 0.999927 -0.011839 0.059284 [component_container_isolated-3] -0.203018 0.012091 0.979100 0.017823 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.612542715] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,-0.001} {0.708,11.714,0.144} [component_container_isolated-3] [DEBUG] [1762964982.612574907] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.003} {0.488,11.613,-0.097} [component_container_isolated-3] [DEBUG] [1762964982.612624983] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.626373409] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.626437621] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.626477157] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.626519888] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000085 0.000121 -0.000417 [component_container_isolated-3] -0.000085 1.000000 -0.000106 -0.000065 [component_container_isolated-3] -0.000121 0.000106 1.000000 0.000287 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.626544485] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.016,-0.036} {0.016,-0.467,-0.165} [component_container_isolated-3] [DEBUG] [1762964982.626591896] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.626637112] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.626676818] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 0.000238 0.185228 -0.007050 [component_container_isolated-3] -0.000337 1.000000 0.000503 0.060945 [component_container_isolated-3] -0.185228 -0.000556 0.982695 0.017675 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.626700463] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.674,-0.020} [component_container_isolated-3] [DEBUG] [1762964982.626734138] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.015,0.038} {-0.016,11.141,0.148} [component_container_isolated-3] [DEBUG] [1762964982.626786728] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.633121396] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.633174848] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.633215646] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.633260411] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000031 -0.000044 -0.000015 [component_container_isolated-3] 0.000031 1.000000 -0.000154 -0.000102 [component_container_isolated-3] 0.000044 0.000154 1.000000 -0.000008 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.633285750] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.166,0.019,-0.165} [component_container_isolated-3] [DEBUG] [1762964982.633334984] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.633407763] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.633450144] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879484 0.000083 0.475929 -0.000927 [component_container_isolated-3] -0.004766 0.999951 0.008633 0.060321 [component_container_isolated-3] -0.475905 -0.009860 0.879442 0.017963 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.633475422] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.418,-0.310} [component_container_isolated-3] [DEBUG] [1762964982.633505620] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.387,28.400,-0.123} [component_container_isolated-3] [DEBUG] [1762964982.633556507] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.634009592] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.634056812] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.634094133] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.634140091] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000085 0.000121 -0.000417 [component_container_isolated-3] -0.000085 1.000000 -0.000106 -0.000065 [component_container_isolated-3] -0.000121 0.000106 1.000000 0.000287 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.634163867] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.016,-0.036} {0.022,-0.460,-0.170} [component_container_isolated-3] [DEBUG] [1762964982.634209564] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.634249691] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.634284487] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 0.000238 0.185228 -0.007050 [component_container_isolated-3] -0.000337 1.000000 0.000503 0.060945 [component_container_isolated-3] -0.185228 -0.000556 0.982695 0.017675 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.634305838] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.674,-0.020} [component_container_isolated-3] [DEBUG] [1762964982.634337057] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.015,0.037} {-0.021,11.134,0.153} [component_container_isolated-3] [DEBUG] [1762964982.634385821] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.639283183] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.639332868] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.639370089] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.639412951] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000008 -0.000326 0.000300 [component_container_isolated-3] 0.000008 1.000000 -0.000129 -0.000017 [component_container_isolated-3] 0.000326 0.000129 1.000000 -0.000992 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.639437278] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.019,0.001} {0.178,0.084,0.236} [component_container_isolated-3] [DEBUG] [1762964982.639483887] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.639526388] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.639561034] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979172 -0.000002 0.203033 -0.007105 [component_container_isolated-3] 0.002457 0.999927 -0.011839 0.059284 [component_container_isolated-3] -0.203018 0.012091 0.979100 0.017823 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.639584829] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,-0.001} {0.708,11.714,0.144} [component_container_isolated-3] [DEBUG] [1762964982.639617812] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.002} {0.481,11.631,-0.098} [component_container_isolated-3] [DEBUG] [1762964982.639671665] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.645143445] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.645209241] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.645251652] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.645296447] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000049 0.000027 0.000103 [component_container_isolated-3] -0.000049 1.000000 0.000009 -0.000143 [component_container_isolated-3] -0.000027 -0.000009 1.000000 0.000155 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.645322677] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.026,-0.017} {-0.027,-0.251,-0.226} [component_container_isolated-3] [DEBUG] [1762964982.645370909] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.645415334] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.645452134] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981522 0.000152 0.191350 -0.006616 [component_container_isolated-3] -0.001905 0.999958 0.008975 0.060814 [component_container_isolated-3] -0.191340 -0.009174 0.981481 0.017606 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.645476180] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.536,11.031,-0.111} [component_container_isolated-3] [DEBUG] [1762964982.645510546] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.026,0.018} {-0.463,11.284,0.117} [component_container_isolated-3] [DEBUG] [1762964982.645565862] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.670222570] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.670288787] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.670328352] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.670370633] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000085 0.000121 -0.000417 [component_container_isolated-3] -0.000085 1.000000 -0.000106 -0.000065 [component_container_isolated-3] -0.000121 0.000106 1.000000 0.000287 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.670394829] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.016,-0.035} {0.028,-0.453,-0.175} [component_container_isolated-3] [DEBUG] [1762964982.670441658] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.670716593] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.670785826] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 0.000238 0.185228 -0.007050 [component_container_isolated-3] -0.000337 1.000000 0.000503 0.060945 [component_container_isolated-3] -0.185228 -0.000556 0.982695 0.017675 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.670815292] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.674,-0.020} [component_container_isolated-3] [DEBUG] [1762964982.670853595] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.015,0.037} {-0.026,11.127,0.158} [component_container_isolated-3] [DEBUG] [1762964982.670944599] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.671899453] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.671979175] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.672022137] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.672066892] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000048 0.000050 -0.000019 [component_container_isolated-3] -0.000048 1.000000 0.000050 0.000110 [component_container_isolated-3] -0.000050 -0.000050 1.000000 -0.000000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.672092451] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.169,0.022,-0.168} [component_container_isolated-3] [DEBUG] [1762964982.672142166] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.672185339] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.672220476] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 0.000101 0.475973 -0.000925 [component_container_isolated-3] -0.004814 0.999951 0.008683 0.060332 [component_container_isolated-3] -0.475948 -0.009927 0.879417 0.017953 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.672242818] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.421,-0.314} [component_container_isolated-3] [DEBUG] [1762964982.672277204] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.387,28.400,-0.123} [component_container_isolated-3] [DEBUG] [1762964982.672331788] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.682271621] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.682334371] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.682373195] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.682416337] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000170 -0.000046 0.000044 [component_container_isolated-3] 0.000170 1.000000 -0.000076 -0.000791 [component_container_isolated-3] 0.000046 0.000076 1.000000 -0.000012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.682441465] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.026,-0.017} {-0.023,-0.253,-0.217} [component_container_isolated-3] [DEBUG] [1762964982.682488465] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.682535104] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.682574299] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981531 0.000001 0.191305 -0.006611 [component_container_isolated-3] -0.001735 0.999959 0.008899 0.060657 [component_container_isolated-3] -0.191297 -0.009067 0.981490 0.017599 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.682599046] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.529,11.028,-0.101} [component_container_isolated-3] [DEBUG] [1762964982.682632109] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.025,0.018} {-0.463,11.284,0.117} [component_container_isolated-3] [DEBUG] [1762964982.682683588] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.706251286] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.706302404] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.706345005] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.706391734] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000048 0.000050 -0.000019 [component_container_isolated-3] -0.000048 1.000000 0.000050 0.000110 [component_container_isolated-3] -0.000050 -0.000050 1.000000 -0.000000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.706418305] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.172,0.025,-0.170} [component_container_isolated-3] [DEBUG] [1762964982.706477779] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.706525941] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.706562491] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 0.000101 0.475973 -0.000925 [component_container_isolated-3] -0.004814 0.999951 0.008683 0.060332 [component_container_isolated-3] -0.475948 -0.009927 0.879417 0.017953 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.706585003] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.421,-0.314} [component_container_isolated-3] [DEBUG] [1762964982.706614760] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.382,28.397,-0.120} [component_container_isolated-3] [DEBUG] [1762964982.706696406] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.707149251] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.707182234] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.707215347] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.707258039] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000025 0.000027 -0.000020 [component_container_isolated-3] 0.000025 1.000000 -0.000087 -0.000093 [component_container_isolated-3] -0.000027 0.000087 1.000000 0.000178 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.707282556] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.019,0.001} {0.183,0.086,0.237} [component_container_isolated-3] [DEBUG] [1762964982.707331158] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.707374241] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.707411001] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979166 -0.000009 0.203060 -0.007079 [component_container_isolated-3] 0.002482 0.999926 -0.011926 0.059286 [component_container_isolated-3] -0.203045 0.012181 0.979094 0.017781 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.707433294] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,-0.001} {0.713,11.715,0.145} [component_container_isolated-3] [DEBUG] [1762964982.707463912] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.002} {0.481,11.631,-0.098} [component_container_isolated-3] [DEBUG] [1762964982.707511974] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.713039209] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.713099905] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.713149019] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.713204405] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000085 0.000121 -0.000417 [component_container_isolated-3] -0.000085 1.000000 -0.000106 -0.000065 [component_container_isolated-3] -0.000121 0.000106 1.000000 0.000287 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.713238570] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.016,-0.035} {0.034,-0.446,-0.180} [component_container_isolated-3] [DEBUG] [1762964982.713304867] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.713368238] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.713416740] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 0.000238 0.185228 -0.007050 [component_container_isolated-3] -0.000337 1.000000 0.000503 0.060945 [component_container_isolated-3] -0.185228 -0.000556 0.982695 0.017675 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.713445856] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.674,-0.020} [component_container_isolated-3] [DEBUG] [1762964982.713486283] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.015,0.037} {-0.031,11.121,0.163} [component_container_isolated-3] [DEBUG] [1762964982.713558090] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.716850408] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.716909521] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.716971118] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.717015874] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000036 0.000016 -0.000079 [component_container_isolated-3] -0.000036 1.000000 0.000081 0.000356 [component_container_isolated-3] -0.000016 -0.000081 1.000000 0.000023 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.717040551] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.026,-0.017} {-0.028,-0.252,-0.219} [component_container_isolated-3] [DEBUG] [1762964982.717087511] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.717137767] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.717181350] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981528 0.000021 0.191320 -0.006605 [component_container_isolated-3] -0.001772 0.999958 0.008980 0.060648 [component_container_isolated-3] -0.191312 -0.009153 0.981487 0.017584 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.717208121] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.534,11.029,-0.103} [component_container_isolated-3] [DEBUG] [1762964982.717230093] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.025,0.018} {-0.463,11.284,0.117} [component_container_isolated-3] [DEBUG] [1762964982.717270470] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.736207646] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.736258332] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.736300112] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.736343856] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000085 0.000121 -0.000417 [component_container_isolated-3] -0.000085 1.000000 -0.000106 -0.000065 [component_container_isolated-3] -0.000121 0.000106 1.000000 0.000287 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.736369535] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.016,-0.035} {0.040,-0.439,-0.185} [component_container_isolated-3] [DEBUG] [1762964982.736419039] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.736463895] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.736500375] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 0.000238 0.185228 -0.007050 [component_container_isolated-3] -0.000337 1.000000 0.000503 0.060945 [component_container_isolated-3] -0.185228 -0.000556 0.982695 0.017675 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.736523669] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.674,-0.020} [component_container_isolated-3] [DEBUG] [1762964982.736557073] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.015,0.036} {-0.036,11.114,0.168} [component_container_isolated-3] [DEBUG] [1762964982.736612308] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.738562783] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.738630813] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.738672793] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.738718060] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000055 0.000151 0.000188 [component_container_isolated-3] 0.000055 1.000000 0.000153 -0.000068 [component_container_isolated-3] -0.000151 -0.000153 1.000000 0.000161 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.738743949] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.001} {0.174,0.094,0.240} [component_container_isolated-3] [DEBUG] [1762964982.738794115] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.738839111] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.738877284] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979136 -0.000093 0.203207 -0.007017 [component_container_isolated-3] 0.002538 0.999928 -0.011773 0.059283 [component_container_isolated-3] -0.203192 0.012043 0.979065 0.017736 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.738899557] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.001} {0.705,11.724,0.149} [component_container_isolated-3] [DEBUG] [1762964982.738955614] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.002} {0.481,11.631,-0.098} [component_container_isolated-3] [DEBUG] [1762964982.739009276] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.741677241] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.741748427] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.741789035] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.741834842] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000049 -0.000002 -0.000023 [component_container_isolated-3] 0.000049 1.000000 -0.000030 -0.000113 [component_container_isolated-3] 0.000002 0.000030 1.000000 0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.741860441] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.170,0.025,-0.168} [component_container_isolated-3] [DEBUG] [1762964982.741912971] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.741998625] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.742039222] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879461 0.000072 0.475971 -0.000927 [component_container_isolated-3] -0.004765 0.999951 0.008653 0.060326 [component_container_isolated-3] -0.475947 -0.009878 0.879419 0.017954 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.742064391] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.421,-0.310} [component_container_isolated-3] [DEBUG] [1762964982.742097153] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.382,28.397,-0.120} [component_container_isolated-3] [DEBUG] [1762964982.742148010] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.745963006] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.746028271] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.746069079] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.746113694] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000036 0.000016 -0.000079 [component_container_isolated-3] -0.000036 1.000000 0.000081 0.000356 [component_container_isolated-3] -0.000016 -0.000081 1.000000 0.000023 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.746139233] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.026,-0.017} {-0.032,-0.252,-0.221} [component_container_isolated-3] [DEBUG] [1762964982.746188156] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.746232441] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.746273098] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981528 0.000021 0.191320 -0.006605 [component_container_isolated-3] -0.001772 0.999958 0.008980 0.060648 [component_container_isolated-3] -0.191312 -0.009153 0.981487 0.017584 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.746297865] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.534,11.029,-0.103} [component_container_isolated-3] [DEBUG] [1762964982.746336579] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.026,0.018} {-0.458,11.283,0.120} [component_container_isolated-3] [DEBUG] [1762964982.746402275] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.746794604] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.746848377] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.746889555] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.746958136] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000055 0.000151 0.000188 [component_container_isolated-3] 0.000055 1.000000 0.000153 -0.000068 [component_container_isolated-3] -0.000151 -0.000153 1.000000 0.000161 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.746986180] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.019,0.001} {0.166,0.103,0.243} [component_container_isolated-3] [DEBUG] [1762964982.747037728] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.747081833] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.747117320] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979136 -0.000093 0.203207 -0.007017 [component_container_isolated-3] 0.002538 0.999928 -0.011773 0.059283 [component_container_isolated-3] -0.203192 0.012043 0.979065 0.017736 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.747140094] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.001} {0.705,11.724,0.149} [component_container_isolated-3] [DEBUG] [1762964982.747176493] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.002} {0.489,11.623,-0.101} [component_container_isolated-3] [DEBUG] [1762964982.747219225] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.755875206] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.755966430] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.756006988] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.756050040] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000049 -0.000002 -0.000023 [component_container_isolated-3] 0.000049 1.000000 -0.000030 -0.000113 [component_container_isolated-3] 0.000002 0.000030 1.000000 0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.756075108] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.169,0.025,-0.165} [component_container_isolated-3] [DEBUG] [1762964982.756123841] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.756167604] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.756203673] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879461 0.000072 0.475971 -0.000927 [component_container_isolated-3] -0.004765 0.999951 0.008653 0.060326 [component_container_isolated-3] -0.475947 -0.009878 0.879419 0.017954 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.756226948] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.421,-0.310} [component_container_isolated-3] [DEBUG] [1762964982.756259650] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.386,28.397,-0.123} [component_container_isolated-3] [DEBUG] [1762964982.756312281] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.758423983] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.758479029] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.758517211] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.758558320] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000036 0.000016 -0.000079 [component_container_isolated-3] -0.000036 1.000000 0.000081 0.000356 [component_container_isolated-3] -0.000016 -0.000081 1.000000 0.000023 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.758581534] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.027,-0.017} {-0.037,-0.251,-0.223} [component_container_isolated-3] [DEBUG] [1762964982.758627482] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.758667969] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.758702916] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981528 0.000021 0.191320 -0.006605 [component_container_isolated-3] -0.001772 0.999958 0.008980 0.060648 [component_container_isolated-3] -0.191312 -0.009153 0.981487 0.017584 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.758725499] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.534,11.029,-0.103} [component_container_isolated-3] [DEBUG] [1762964982.758758031] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.026,0.018} {-0.453,11.282,0.122} [component_container_isolated-3] [DEBUG] [1762964982.758807195] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.770524653] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.770584487] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.770625085] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.770669530] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000102 -0.000150 0.000690 [component_container_isolated-3] 0.000102 1.000000 0.000120 -0.000641 [component_container_isolated-3] 0.000150 -0.000120 1.000000 -0.000760 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.770695579] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.036} {0.033,-0.448,-0.179} [component_container_isolated-3] [DEBUG] [1762964982.770743671] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.770787515] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.770822802] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982723 0.000116 0.185080 -0.007006 [component_container_isolated-3] -0.000235 1.000000 0.000622 0.060892 [component_container_isolated-3] -0.185080 -0.000655 0.982723 0.017589 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.770845115] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.038,10.666,-0.014} [component_container_isolated-3] [DEBUG] [1762964982.770877457] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.037} {-0.036,11.114,0.168} [component_container_isolated-3] [DEBUG] [1762964982.770962289] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.788695695] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.788761390] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.788804413] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.788851823] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000049 -0.000002 -0.000023 [component_container_isolated-3] 0.000049 1.000000 -0.000030 -0.000113 [component_container_isolated-3] 0.000002 0.000030 1.000000 0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.788878634] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.167,0.025,-0.162} [component_container_isolated-3] [DEBUG] [1762964982.788949770] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.788996760] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.789036245] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879461 0.000072 0.475971 -0.000927 [component_container_isolated-3] -0.004765 0.999951 0.008653 0.060326 [component_container_isolated-3] -0.475947 -0.009878 0.879419 0.017954 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.789062415] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.421,-0.310} [component_container_isolated-3] [DEBUG] [1762964982.789096541] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.389,28.398,-0.126} [component_container_isolated-3] [DEBUG] [1762964982.789148891] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.790292755] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.790341809] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.790379451] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.790421391] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000036 0.000016 -0.000079 [component_container_isolated-3] -0.000036 1.000000 0.000081 0.000356 [component_container_isolated-3] -0.000016 -0.000081 1.000000 0.000023 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.790446208] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.027,-0.017} {-0.042,-0.250,-0.225} [component_container_isolated-3] [DEBUG] [1762964982.790493308] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.790536320] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.790576156] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981528 0.000021 0.191320 -0.006605 [component_container_isolated-3] -0.001772 0.999958 0.008980 0.060648 [component_container_isolated-3] -0.191312 -0.009153 0.981487 0.017584 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.790599952] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.534,11.029,-0.103} [component_container_isolated-3] [DEBUG] [1762964982.790633185] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.026,0.018} {-0.448,11.281,0.124} [component_container_isolated-3] [DEBUG] [1762964982.790686427] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.795904773] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.795983944] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.796023640] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.796065520] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000102 -0.000150 0.000690 [component_container_isolated-3] 0.000102 1.000000 0.000120 -0.000641 [component_container_isolated-3] 0.000150 -0.000120 1.000000 -0.000760 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.796089606] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.014,-0.036} {0.026,-0.456,-0.173} [component_container_isolated-3] [DEBUG] [1762964982.796137848] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.796180058] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.796215085] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982723 0.000116 0.185080 -0.007006 [component_container_isolated-3] -0.000235 1.000000 0.000622 0.060892 [component_container_isolated-3] -0.185080 -0.000655 0.982723 0.017589 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.796236817] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.038,10.666,-0.014} [component_container_isolated-3] [DEBUG] [1762964982.796270301] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.013,0.038} {-0.031,11.122,0.162} [component_container_isolated-3] [DEBUG] [1762964982.796324224] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.797710812] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.797758373] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.797795624] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.797839578] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000215 0.000266 -0.001191 [component_container_isolated-3] -0.000215 1.000000 0.000257 0.000063 [component_container_isolated-3] -0.000266 -0.000257 1.000000 0.001746 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.797863463] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.019,0.003} {0.151,0.118,0.231} [component_container_isolated-3] [DEBUG] [1762964982.797910373] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.797988602] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.798025663] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000065 0.203468 -0.007121 [component_container_isolated-3] 0.002327 0.999931 -0.011515 0.059282 [component_container_isolated-3] -0.203455 0.011747 0.979014 0.018413 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.798049308] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.687,11.739,0.136} [component_container_isolated-3] [DEBUG] [1762964982.798081991] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.003} {0.489,11.623,-0.101} [component_container_isolated-3] [DEBUG] [1762964982.798134180] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.815165917] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.815218437] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.815258754] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.815304011] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000049 -0.000002 -0.000023 [component_container_isolated-3] 0.000049 1.000000 -0.000030 -0.000113 [component_container_isolated-3] 0.000002 0.000030 1.000000 0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.815331213] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.165,0.025,-0.159} [component_container_isolated-3] [DEBUG] [1762964982.815384023] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.815431203] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.815471210] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879461 0.000072 0.475971 -0.000927 [component_container_isolated-3] -0.004765 0.999951 0.008653 0.060326 [component_container_isolated-3] -0.475947 -0.009878 0.879419 0.017954 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.815495767] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.421,-0.310} [component_container_isolated-3] [DEBUG] [1762964982.815527067] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.392,28.398,-0.129} [component_container_isolated-3] [DEBUG] [1762964982.815576972] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.820122012] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.820182487] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.820220760] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.820263853] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000085 0.000540 -0.000613 [component_container_isolated-3] 0.000085 1.000000 0.000049 0.000023 [component_container_isolated-3] -0.000540 -0.000049 1.000000 0.001948 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.820288299] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.005} {0.148,0.149,0.236} [component_container_isolated-3] [DEBUG] [1762964982.820335099] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.820376237] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.820410833] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.978972 -0.000029 0.203997 -0.007146 [component_container_isolated-3] 0.002418 0.999931 -0.011465 0.059270 [component_container_isolated-3] -0.203982 0.011717 0.978904 0.019753 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.820434108] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.001} {0.686,11.770,0.142} [component_container_isolated-3] [DEBUG] [1762964982.820467632] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.004} {0.489,11.623,-0.101} [component_container_isolated-3] [DEBUG] [1762964982.820522867] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.826836685] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.826901108] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.826979167] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.827024293] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000102 -0.000150 0.000690 [component_container_isolated-3] 0.000102 1.000000 0.000120 -0.000641 [component_container_isolated-3] 0.000150 -0.000120 1.000000 -0.000760 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.827048910] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.014,-0.037} {0.019,-0.465,-0.167} [component_container_isolated-3] [DEBUG] [1762964982.827098225] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.827141968] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.827177215] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982723 0.000116 0.185080 -0.007006 [component_container_isolated-3] -0.000235 1.000000 0.000622 0.060892 [component_container_isolated-3] -0.185080 -0.000655 0.982723 0.017589 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.827200740] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.038,10.666,-0.014} [component_container_isolated-3] [DEBUG] [1762964982.827231158] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.013,0.039} {-0.025,11.131,0.156} [component_container_isolated-3] [DEBUG] [1762964982.827280954] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.837123531] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.837184016] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.837230966] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.837284879] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000099 0.000028 0.000150 [component_container_isolated-3] 0.000099 1.000000 -0.000215 -0.000457 [component_container_isolated-3] -0.000028 0.000215 1.000000 0.000104 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.837320186] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.027,-0.017} {-0.029,-0.248,-0.219} [component_container_isolated-3] [DEBUG] [1762964982.837383146] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.837445285] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.837494820] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981523 -0.000035 0.191347 -0.006580 [component_container_isolated-3] -0.001673 0.999960 0.008765 0.060544 [component_container_isolated-3] -0.191340 -0.008923 0.981483 0.017597 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.837523434] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.521,11.031,-0.098} [component_container_isolated-3] [DEBUG] [1762964982.837562519] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.026,0.018} {-0.448,11.281,0.124} [component_container_isolated-3] [DEBUG] [1762964982.837630489] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.851253586] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.851325222] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.851365730] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.851410896] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000015 -0.000671 0.000901 [component_container_isolated-3] 0.000015 1.000000 -0.000230 -0.000170 [component_container_isolated-3] 0.000671 0.000230 1.000000 -0.002897 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.851436545] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.019,0.002} {0.161,0.111,0.237} [component_container_isolated-3] [DEBUG] [1762964982.851485218] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.851530244] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.851569990] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979108 0.000003 0.203340 -0.007268 [component_container_isolated-3] 0.002426 0.999929 -0.011696 0.059256 [component_container_isolated-3] -0.203326 0.011945 0.979038 0.019135 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.851593865] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.001} {0.699,11.731,0.142} [component_container_isolated-3] [DEBUG] [1762964982.851624394] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.002} {0.489,11.623,-0.101} [component_container_isolated-3] [DEBUG] [1762964982.851673898] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.853327697] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.853376430] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.853413541] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.853456172] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000099 0.000028 0.000150 [component_container_isolated-3] 0.000099 1.000000 -0.000215 -0.000457 [component_container_isolated-3] -0.000028 0.000215 1.000000 0.000104 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.853481080] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.026,-0.017} {-0.017,-0.247,-0.214} [component_container_isolated-3] [DEBUG] [1762964982.853527889] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.853571212] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.853611609] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981523 -0.000035 0.191347 -0.006580 [component_container_isolated-3] -0.001673 0.999960 0.008765 0.060544 [component_container_isolated-3] -0.191340 -0.008923 0.981483 0.017597 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.853636326] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.521,11.031,-0.098} [component_container_isolated-3] [DEBUG] [1762964982.853669950] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.026,0.018} {-0.462,11.279,0.118} [component_container_isolated-3] [DEBUG] [1762964982.853723072] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.871329596] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.871394119] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.871434626] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.871480053] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000001 0.000019 0.000065 [component_container_isolated-3] 0.000001 1.000000 -0.000089 0.000009 [component_container_isolated-3] -0.000019 0.000089 1.000000 -0.000008 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.871505612] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.160,0.026,-0.159} [component_container_isolated-3] [DEBUG] [1762964982.871554646] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.871601535] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.871641942] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879452 0.000114 0.475987 -0.000919 [component_container_isolated-3] -0.004764 0.999952 0.008563 0.060322 [component_container_isolated-3] -0.475964 -0.009798 0.879410 0.017952 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.871666770] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.638,28.422,-0.310} [component_container_isolated-3] [DEBUG] [1762964982.871701646] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.392,28.398,-0.129} [component_container_isolated-3] [DEBUG] [1762964982.871767692] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.881834939] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.881905393] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.881981408] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.882027566] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000029 0.000112 -0.000145 [component_container_isolated-3] 0.000029 1.000000 -0.000097 -0.000104 [component_container_isolated-3] -0.000112 0.000097 1.000000 0.000079 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.882054839] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.013,-0.037} {0.025,-0.458,-0.166} [component_container_isolated-3] [DEBUG] [1762964982.882109613] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.882158316] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.882198012] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000105 0.185191 -0.006999 [component_container_isolated-3] -0.000206 1.000000 0.000526 0.060851 [component_container_isolated-3] -0.185191 -0.000555 0.982702 0.017581 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.882222569] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.672,-0.012} [component_container_isolated-3] [DEBUG] [1762964982.882254149] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.013,0.039} {-0.025,11.131,0.156} [component_container_isolated-3] [DEBUG] [1762964982.882304004] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.890089332] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.890143245] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.890181148] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.890226274] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000562 0.000431 -0.001095 [component_container_isolated-3] -0.000562 1.000000 -0.000009 0.002529 [component_container_isolated-3] -0.000431 0.000009 1.000000 0.001873 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.890251672] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.016,0.004} {0.162,0.136,0.205} [component_container_isolated-3] [DEBUG] [1762964982.890300746] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.890346854] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.890387031] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 0.000094 0.203478 -0.007265 [component_container_isolated-3] 0.002327 0.999929 -0.011660 0.059344 [component_container_isolated-3] -0.203464 0.011890 0.979010 0.019128 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.890411157] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.696,11.740,0.136} [component_container_isolated-3] [DEBUG] [1762964982.890441856] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.016,-0.004} {0.492,11.606,-0.074} [component_container_isolated-3] [DEBUG] [1762964982.890491450] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.898914396] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.898997635] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.899041188] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.899086575] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000011 -0.000031 -0.000036 [component_container_isolated-3] -0.000011 1.000000 -0.000067 -0.000041 [component_container_isolated-3] 0.000031 0.000067 1.000000 -0.000025 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.899112605] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.156,0.024,-0.160} [component_container_isolated-3] [DEBUG] [1762964982.899162029] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.899204680] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.899240349] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879467 0.000155 0.475960 -0.000918 [component_container_isolated-3] -0.004775 0.999953 0.008496 0.060314 [component_container_isolated-3] -0.475936 -0.009745 0.879426 0.017949 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.899262922] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.635,28.420,-0.311} [component_container_isolated-3] [DEBUG] [1762964982.899295023] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.392,28.398,-0.129} [component_container_isolated-3] [DEBUG] [1762964982.899344848] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.902079220] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.902149174] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.902192517] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.902239356] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000015 -0.000031 0.000180 [component_container_isolated-3] -0.000015 1.000000 0.000113 -0.000232 [component_container_isolated-3] 0.000031 -0.000113 1.000000 -0.000286 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.902265526] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.026,-0.017} {-0.023,-0.248,-0.215} [component_container_isolated-3] [DEBUG] [1762964982.902314790] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.902363112] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.902401415] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981528 -0.000042 0.191317 -0.006538 [component_container_isolated-3] -0.001688 0.999959 0.008878 0.060438 [component_container_isolated-3] -0.191310 -0.009037 0.981488 0.017539 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.902425281] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.528,11.029,-0.099} [component_container_isolated-3] [DEBUG] [1762964982.902456380] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.025,0.018} {-0.462,11.279,0.118} [component_container_isolated-3] [DEBUG] [1762964982.902506486] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.915629638] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.915688300] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.915728848] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.915772962] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000038 0.000026 -0.000723 [component_container_isolated-3] -0.000038 1.000000 -0.000015 -0.000182 [component_container_isolated-3] -0.000026 0.000015 1.000000 0.000102 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.915798811] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.013,-0.037} {0.026,-0.457,-0.168} [component_container_isolated-3] [DEBUG] [1762964982.915847394] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.915890947] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.915962484] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000146 0.185216 -0.007163 [component_container_isolated-3] -0.000244 1.000000 0.000510 0.060790 [component_container_isolated-3] -0.185216 -0.000547 0.982698 0.017611 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.915988554] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.674,-0.014} [component_container_isolated-3] [DEBUG] [1762964982.916019893] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.013,0.039} {-0.025,11.131,0.156} [component_container_isolated-3] [DEBUG] [1762964982.916074818] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.922137637] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.922193854] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.922246054] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.922319394] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000062 -0.000172 0.000506 [component_container_isolated-3] 0.000062 1.000000 -0.000039 -0.000329 [component_container_isolated-3] 0.000172 0.000039 1.000000 -0.000691 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.922354471] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.017,0.003} {0.164,0.126,0.208} [component_container_isolated-3] [DEBUG] [1762964982.922418954] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.922469150] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.922505580] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979115 0.000041 0.203310 -0.007208 [component_container_isolated-3] 0.002387 0.999929 -0.011700 0.059344 [component_container_isolated-3] -0.203296 0.011941 0.979045 0.018937 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.922528243] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.699,11.730,0.140} [component_container_isolated-3] [DEBUG] [1762964982.922558360] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.016,-0.003} {0.492,11.606,-0.074} [component_container_isolated-3] [DEBUG] [1762964982.922606883] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.932337406] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.932397010] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.932437427] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.932484036] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000053 0.000003 0.000174 [component_container_isolated-3] -0.000053 1.000000 0.000200 0.000181 [component_container_isolated-3] -0.000003 -0.000200 1.000000 -0.000119 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.932510276] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.168,0.024,-0.163} [component_container_isolated-3] [DEBUG] [1762964982.932559861] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.932602703] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.932638762] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879465 0.000107 0.475963 -0.000907 [component_container_isolated-3] -0.004828 0.999951 0.008696 0.060334 [component_container_isolated-3] -0.475939 -0.009946 0.879422 0.017907 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.932660703] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.648,28.420,-0.315} [component_container_isolated-3] [DEBUG] [1762964982.932691102] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.392,28.398,-0.129} [component_container_isolated-3] [DEBUG] [1762964982.932740175] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.943033743] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.943102725] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.943143132] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.943187818] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000029 -0.000041 -0.000091 [component_container_isolated-3] -0.000029 1.000000 -0.000107 0.000510 [component_container_isolated-3] 0.000041 0.000107 1.000000 0.000049 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.943213256] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.026,-0.017} {-0.017,-0.251,-0.216} [component_container_isolated-3] [DEBUG] [1762964982.943527537] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.943620494] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.943672964] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981536 0.000007 0.191277 -0.006516 [component_container_isolated-3] -0.001716 0.999960 0.008771 0.060432 [component_container_isolated-3] -0.191270 -0.008937 0.981497 0.017524 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.943706148] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.522,11.027,-0.100} [component_container_isolated-3] [DEBUG] [1762964982.943746895] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.026,0.018} {-0.462,11.279,0.118} [component_container_isolated-3] [DEBUG] [1762964982.943817971] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.949904505] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.949980109] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.950024384] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.950071233] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000071 -0.000099 0.000465 [component_container_isolated-3] 0.000071 1.000000 0.000181 0.000116 [component_container_isolated-3] 0.000099 -0.000181 1.000000 -0.000031 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.950099257] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.013,-0.037} {0.015,-0.463,-0.164} [component_container_isolated-3] [DEBUG] [1762964982.950150575] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.950197094] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.950236749] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 0.000042 0.185119 -0.007175 [component_container_isolated-3] -0.000173 1.000000 0.000691 0.060764 [component_container_isolated-3] -0.185119 -0.000712 0.982716 0.017598 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.950259483] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.041,10.668,-0.010} [component_container_isolated-3] [DEBUG] [1762964982.950291684] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.013,0.039} {-0.025,11.131,0.156} [component_container_isolated-3] [DEBUG] [1762964982.950343664] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.954636772] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.954687880] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.954731503] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.954776970] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000081 0.000133 -0.000341 [component_container_isolated-3] 0.000081 1.000000 -0.000111 -0.000338 [component_container_isolated-3] -0.000133 0.000111 1.000000 0.000549 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.954802629] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.017,0.004} {0.170,0.133,0.213} [component_container_isolated-3] [DEBUG] [1762964982.954851062] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.954892070] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.954957926] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 -0.000015 0.203440 -0.007204 [component_container_isolated-3] 0.002470 0.999927 -0.011811 0.059278 [component_container_isolated-3] -0.203425 0.012067 0.979016 0.018942 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.954983094] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.001} {0.706,11.737,0.145} [component_container_isolated-3] [DEBUG] [1762964982.955013021] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.017,-0.004} {0.492,11.606,-0.074} [component_container_isolated-3] [DEBUG] [1762964982.955068918] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.961568931] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.961620800] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.961659654] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.961702636] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000123 -0.000088 -0.000199 [component_container_isolated-3] 0.000123 1.000000 -0.000224 -0.000173 [component_container_isolated-3] 0.000089 0.000224 1.000000 0.000044 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.961728195] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.155,0.019,-0.156} [component_container_isolated-3] [DEBUG] [1762964982.961777129] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.961824028] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.961863233] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879507 0.000106 0.475885 -0.000917 [component_container_isolated-3] -0.004704 0.999953 0.008472 0.060320 [component_container_isolated-3] -0.475862 -0.009690 0.879467 0.017915 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.961886788] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.631,28.415,-0.306} [component_container_isolated-3] [DEBUG] [1762964982.961961882] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.392,28.398,-0.129} [component_container_isolated-3] [DEBUG] [1762964982.962018941] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.973789550] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.973852971] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.973893789] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.973970676] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000018 -0.000026 0.000073 [component_container_isolated-3] -0.000018 1.000000 0.000102 -0.000057 [component_container_isolated-3] 0.000026 -0.000102 1.000000 -0.000367 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.974000122] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.026,-0.018} {-0.023,-0.252,-0.217} [component_container_isolated-3] [DEBUG] [1762964982.974053854] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.974102598] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.974143345] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 0.000005 0.191252 -0.006506 [component_container_isolated-3] -0.001734 0.999959 0.008873 0.060425 [component_container_isolated-3] -0.191244 -0.009041 0.981501 0.017419 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.974172611] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.528,11.025,-0.101} [component_container_isolated-3] [DEBUG] [1762964982.974210854] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.026,0.018} {-0.462,11.279,0.118} [component_container_isolated-3] [DEBUG] [1762964982.974260289] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964982.977083490] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964982.977151119] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964982.977193400] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964982.977238396] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000034 0.000032 0.000141 [component_container_isolated-3] -0.000034 1.000000 -0.000053 -0.000077 [component_container_isolated-3] -0.000032 0.000053 1.000000 0.000258 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964982.977262783] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.013,-0.037} {0.019,-0.461,-0.166} [component_container_isolated-3] [DEBUG] [1762964982.977311405] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964982.977355289] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964982.977394825] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000086 0.185150 -0.007149 [component_container_isolated-3] -0.000208 1.000000 0.000638 0.060731 [component_container_isolated-3] -0.185150 -0.000666 0.982710 0.017632 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964982.977421125] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.039,10.670,-0.012} [component_container_isolated-3] [DEBUG] [1762964982.977455060] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.013,0.039} {-0.025,11.131,0.156} [component_container_isolated-3] [DEBUG] [1762964982.977508101] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.010588737] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.010646908] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.010688017] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.010733985] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000005 -0.000119 0.000420 [component_container_isolated-3] 0.000005 1.000000 0.000145 0.000116 [component_container_isolated-3] 0.000119 -0.000145 1.000000 -0.000330 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.010761036] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.017,0.004} {0.162,0.126,0.213} [component_container_isolated-3] [DEBUG] [1762964983.010815971] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.010863873] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.010904340] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979112 -0.000049 0.203323 -0.007136 [component_container_isolated-3] 0.002473 0.999929 -0.011666 0.059263 [component_container_isolated-3] -0.203308 0.011925 0.979042 0.018865 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.010965898] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.698,11.730,0.145} [component_container_isolated-3] [DEBUG] [1762964983.010998941] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.016,-0.003} {0.492,11.606,-0.074} [component_container_isolated-3] [DEBUG] [1762964983.011052142] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.016186928] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.016217196] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.016241573] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.016269626] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000054 0.000114 0.000055 [component_container_isolated-3] -0.000054 1.000000 0.000147 0.000131 [component_container_isolated-3] -0.000114 -0.000147 1.000000 0.000078 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.016285947] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.163,0.025,-0.159} [component_container_isolated-3] [DEBUG] [1762964983.016315995] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.016341954] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.016363686] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879453 0.000083 0.475985 -0.000914 [component_container_isolated-3] -0.004759 0.999951 0.008619 0.060332 [component_container_isolated-3] -0.475962 -0.009845 0.879411 0.017903 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.016377302] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.422,-0.310} [component_container_isolated-3] [DEBUG] [1762964983.016395557] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.392,28.398,-0.129} [component_container_isolated-3] [DEBUG] [1762964983.016424743] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.021647036] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.021714224] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.021756104] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.021801080] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000004 -0.000030 -0.000316 [component_container_isolated-3] -0.000004 1.000000 0.000057 0.000289 [component_container_isolated-3] 0.000030 -0.000057 1.000000 0.000109 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.021826228] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.027,-0.018} {-0.026,-0.254,-0.218} [component_container_isolated-3] [DEBUG] [1762964983.021876223] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.021962438] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.022003486] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 -0.000001 0.191222 -0.006527 [component_container_isolated-3] -0.001738 0.999959 0.008929 0.060461 [component_container_isolated-3] -0.191214 -0.009097 0.981506 0.017384 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.022031109] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.531,11.024,-0.101} [component_container_isolated-3] [DEBUG] [1762964983.022062139] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.026,0.018} {-0.462,11.279,0.118} [component_container_isolated-3] [DEBUG] [1762964983.022116793] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.033010157] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.033048169] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.033081483] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.033120287] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000054 0.000114 0.000055 [component_container_isolated-3] -0.000054 1.000000 0.000147 0.000131 [component_container_isolated-3] -0.000114 -0.000147 1.000000 0.000078 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.033140806] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.172,0.032,-0.162} [component_container_isolated-3] [DEBUG] [1762964983.033179811] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.033213575] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.033241178] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879453 0.000083 0.475985 -0.000914 [component_container_isolated-3] -0.004759 0.999951 0.008619 0.060332 [component_container_isolated-3] -0.475962 -0.009845 0.879411 0.017903 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.033259212] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.422,-0.310} [component_container_isolated-3] [DEBUG] [1762964983.033282367] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.382,28.391,-0.126} [component_container_isolated-3] [DEBUG] [1762964983.033322924] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.034083316] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.034135556] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.034177226] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.034222702] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000035 0.000090 0.000027 [component_container_isolated-3] 0.000035 1.000000 -0.000026 -0.000038 [component_container_isolated-3] -0.000090 0.000026 1.000000 0.000099 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.034248662] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.013,-0.037} {0.020,-0.456,-0.164} [component_container_isolated-3] [DEBUG] [1762964983.034299589] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.034349224] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.034388759] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982694 0.000057 0.185238 -0.007128 [component_container_isolated-3] -0.000173 1.000000 0.000612 0.060699 [component_container_isolated-3] -0.185238 -0.000634 0.982693 0.017668 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.034411593] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.675,-0.010} [component_container_isolated-3] [DEBUG] [1762964983.034443474] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.013,0.038} {-0.025,11.131,0.156} [component_container_isolated-3] [DEBUG] [1762964983.034494211] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.040408686] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.040442210] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.040467188] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.040497586] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000010 0.000043 -0.000344 [component_container_isolated-3] 0.000010 1.000000 -0.000071 -0.000198 [component_container_isolated-3] -0.000043 0.000071 1.000000 -0.000136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.040513777] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.017,0.003} {0.166,0.129,0.214} [component_container_isolated-3] [DEBUG] [1762964983.040544385] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.040571297] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.040592888] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979103 -0.000044 0.203365 -0.007144 [component_container_isolated-3] 0.002483 0.999928 -0.011737 0.059214 [component_container_isolated-3] -0.203350 0.011997 0.979033 0.018811 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.040607546] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.702,11.733,0.145} [component_container_isolated-3] [DEBUG] [1762964983.040625931] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.017,-0.003} {0.492,11.606,-0.074} [component_container_isolated-3] [DEBUG] [1762964983.040655417] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.056560342] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.056619876] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.056660844] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.056704337] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000054 0.000114 0.000055 [component_container_isolated-3] -0.000054 1.000000 0.000147 0.000131 [component_container_isolated-3] -0.000114 -0.000147 1.000000 0.000078 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.056729074] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.180,0.039,-0.165} [component_container_isolated-3] [DEBUG] [1762964983.056779500] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.056822833] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.056859072] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879453 0.000083 0.475985 -0.000914 [component_container_isolated-3] -0.004759 0.999951 0.008619 0.060332 [component_container_isolated-3] -0.475962 -0.009845 0.879411 0.017903 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.056881796] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.422,-0.310} [component_container_isolated-3] [DEBUG] [1762964983.056915480] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.372,28.385,-0.122} [component_container_isolated-3] [DEBUG] [1762964983.056999982] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.061821489] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.061882616] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.061950967] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.062002034] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000038 -0.000135 -0.000429 [component_container_isolated-3] -0.000038 1.000000 -0.000068 0.000026 [component_container_isolated-3] 0.000135 0.000068 1.000000 -0.000244 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.062029657] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.013,-0.037} {0.024,-0.463,-0.166} [component_container_isolated-3] [DEBUG] [1762964983.062083770] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.062132864] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.062175806] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982719 0.000107 0.185106 -0.007187 [component_container_isolated-3] -0.000212 1.000000 0.000544 0.060675 [component_container_isolated-3] -0.185106 -0.000574 0.982718 0.017682 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.062199611] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.033,10.667,-0.012} [component_container_isolated-3] [DEBUG] [1762964983.062231472] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.013,0.039} {-0.025,11.131,0.156} [component_container_isolated-3] [DEBUG] [1762964983.062294202] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.067973999] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.068031940] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.068069882] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.068113005] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000038 -0.000135 -0.000429 [component_container_isolated-3] -0.000038 1.000000 -0.000068 0.000026 [component_container_isolated-3] 0.000135 0.000068 1.000000 -0.000244 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.068139565] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.037} {0.028,-0.471,-0.168} [component_container_isolated-3] [DEBUG] [1762964983.068187196] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.068232643] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.068272088] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982719 0.000107 0.185106 -0.007187 [component_container_isolated-3] -0.000212 1.000000 0.000544 0.060675 [component_container_isolated-3] -0.185106 -0.000574 0.982718 0.017682 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.068295493] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.033,10.667,-0.012} [component_container_isolated-3] [DEBUG] [1762964983.068326813] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.039} {-0.028,11.139,0.159} [component_container_isolated-3] [DEBUG] [1762964983.068376157] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.069983286] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.070025317] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.070059993] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.070112403] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000040 -0.000001 0.000206 [component_container_isolated-3] -0.000040 1.000000 -0.000037 0.000560 [component_container_isolated-3] 0.000001 0.000037 1.000000 -0.000154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.070138513] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.016,0.003} {0.168,0.129,0.211} [component_container_isolated-3] [DEBUG] [1762964983.070185673] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.070227884] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.070263622] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979103 0.000003 0.203364 -0.007126 [component_container_isolated-3] 0.002443 0.999928 -0.011774 0.059273 [component_container_isolated-3] -0.203350 0.012025 0.979032 0.018736 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.070285433] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.704,11.733,0.143} [component_container_isolated-3] [DEBUG] [1762964983.070315701] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.016,-0.003} {0.492,11.606,-0.074} [component_container_isolated-3] [DEBUG] [1762964983.070366178] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.077443714] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.077499871] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.077540649] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.077586106] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000034 0.000103 0.000146 [component_container_isolated-3] 0.000034 1.000000 -0.000004 -0.000295 [component_container_isolated-3] -0.000103 0.000004 1.000000 0.000082 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.077612396] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.026,-0.018} {-0.026,-0.248,-0.216} [component_container_isolated-3] [DEBUG] [1762964983.077663273] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.077905837] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.077973155] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981527 -0.000034 0.191323 -0.006522 [component_container_isolated-3] -0.001705 0.999959 0.008925 0.060443 [component_container_isolated-3] -0.191316 -0.009087 0.981486 0.017360 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.078000868] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.530,11.030,-0.100} [component_container_isolated-3] [DEBUG] [1762964983.078040895] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.026,0.018} {-0.462,11.279,0.118} [component_container_isolated-3] [DEBUG] [1762964983.078088085] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.085417221] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.085475914] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.085516110] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.085560465] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000034 0.000103 0.000146 [component_container_isolated-3] 0.000034 1.000000 -0.000004 -0.000295 [component_container_isolated-3] -0.000103 0.000004 1.000000 0.000082 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.085585823] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.026,-0.018} {-0.026,-0.242,-0.214} [component_container_isolated-3] [DEBUG] [1762964983.085633464] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.085676507] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.085712195] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981527 -0.000034 0.191323 -0.006522 [component_container_isolated-3] -0.001705 0.999959 0.008925 0.060443 [component_container_isolated-3] -0.191316 -0.009087 0.981486 0.017360 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.085735680] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.530,11.030,-0.100} [component_container_isolated-3] [DEBUG] [1762964983.085766629] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.026,0.018} {-0.462,11.273,0.116} [component_container_isolated-3] [DEBUG] [1762964983.085816484] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.102005000] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.102061668] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.102101154] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.102145118] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000107 0.000268 -0.000777 [component_container_isolated-3] -0.000107 1.000000 -0.000008 -0.000043 [component_container_isolated-3] -0.000268 0.000008 1.000000 0.001062 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.102170877] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.017,0.004} {0.169,0.144,0.205} [component_container_isolated-3] [DEBUG] [1762964983.102220572] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.102265959] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.102306115] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979049 0.000109 0.203627 -0.007229 [component_container_isolated-3] 0.002339 0.999928 -0.011781 0.059288 [component_container_isolated-3] -0.203613 0.012011 0.978978 0.018954 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.102330492] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.703,11.748,0.137} [component_container_isolated-3] [DEBUG] [1762964983.102363224] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.016,-0.004} {0.492,11.606,-0.074} [component_container_isolated-3] [DEBUG] [1762964983.102417017] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.107803404] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.107857176] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.107897253] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.107969250] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000065 -0.000038 0.000154 [component_container_isolated-3] 0.000065 1.000000 -0.000016 -0.000149 [component_container_isolated-3] 0.000038 0.000016 1.000000 -0.000034 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.107997324] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.179,0.036,-0.161} [component_container_isolated-3] [DEBUG] [1762964983.108047901] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.108092386] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.108139035] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879471 0.000033 0.475952 -0.000898 [component_container_isolated-3] -0.004693 0.999952 0.008603 0.060320 [component_container_isolated-3] -0.475929 -0.009800 0.879429 0.017889 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.108163521] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.638,28.420,-0.306} [component_container_isolated-3] [DEBUG] [1762964983.108207365] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.372,28.385,-0.122} [component_container_isolated-3] [DEBUG] [1762964983.108170334] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.108300192] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.108306835] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.108343675] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.108460368] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000107 0.000268 -0.000777 [component_container_isolated-3] -0.000107 1.000000 -0.000008 -0.000043 [component_container_isolated-3] -0.000268 0.000008 1.000000 0.001062 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.108489764] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.017,0.005} {0.169,0.160,0.199} [component_container_isolated-3] [DEBUG] [1762964983.108552274] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.108601318] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.108638569] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979049 0.000109 0.203627 -0.007229 [component_container_isolated-3] 0.002339 0.999928 -0.011781 0.059288 [component_container_isolated-3] -0.203613 0.012011 0.978978 0.018954 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.108661192] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.703,11.748,0.137} [component_container_isolated-3] [DEBUG] [1762964983.108691760] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.016,-0.006} {0.493,11.591,-0.068} [component_container_isolated-3] [DEBUG] [1762964983.108741776] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.109284132] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.109330781] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.109362932] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.109405133] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000042 0.000167 0.000635 [component_container_isolated-3] 0.000042 1.000000 0.000045 -0.000004 [component_container_isolated-3] -0.000167 -0.000045 1.000000 0.000566 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.109425291] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.013,-0.037} {0.025,-0.461,-0.166} [component_container_isolated-3] [DEBUG] [1762964983.109463885] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.109498701] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.109524310] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982688 0.000057 0.185270 -0.007078 [component_container_isolated-3] -0.000169 1.000000 0.000589 0.060654 [component_container_isolated-3] -0.185270 -0.000610 0.982687 0.017787 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.109541122] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.036,10.677,-0.010} [component_container_isolated-3] [DEBUG] [1762964983.109563024] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.013,0.038} {-0.028,11.139,0.159} [component_container_isolated-3] [DEBUG] [1762964983.109601057] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.117151126] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.117197484] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.117229125] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.117263751] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000065 -0.000038 0.000154 [component_container_isolated-3] 0.000065 1.000000 -0.000016 -0.000149 [component_container_isolated-3] 0.000038 0.000016 1.000000 -0.000034 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.117282917] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.178,0.034,-0.158} [component_container_isolated-3] [DEBUG] [1762964983.117321511] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.117355917] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.117382387] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879471 0.000033 0.475952 -0.000898 [component_container_isolated-3] -0.004693 0.999952 0.008603 0.060320 [component_container_isolated-3] -0.475929 -0.009800 0.879429 0.017889 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.117399600] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.638,28.420,-0.306} [component_container_isolated-3] [DEBUG] [1762964983.117420370] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.375,28.387,-0.126} [component_container_isolated-3] [DEBUG] [1762964983.117457230] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.121283838] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.121350245] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.121390361] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.121433654] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000084 0.000081 0.000008 [component_container_isolated-3] -0.000084 1.000000 -0.000148 0.000569 [component_container_isolated-3] -0.000081 0.000148 1.000000 0.000557 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.121458983] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.027,-0.017} {-0.017,-0.237,-0.218} [component_container_isolated-3] [DEBUG] [1762964983.121507185] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.121550046] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.121585284] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 0.000076 0.191403 -0.006491 [component_container_isolated-3] -0.001789 0.999960 0.008777 0.060545 [component_container_isolated-3] -0.191395 -0.008957 0.981472 0.017448 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.121608989] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.523,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964983.121643645] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.026,0.018} {-0.462,11.273,0.116} [component_container_isolated-3] [DEBUG] [1762964983.121694422] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.129038047] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.129092451] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.129134250] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.129177032] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000084 0.000081 0.000008 [component_container_isolated-3] -0.000084 1.000000 -0.000148 0.000569 [component_container_isolated-3] -0.000081 0.000148 1.000000 0.000557 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.129201970] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.027,-0.016} {-0.009,-0.233,-0.223} [component_container_isolated-3] [DEBUG] [1762964983.129249541] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.129292352] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.129336206] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 0.000076 0.191403 -0.006491 [component_container_isolated-3] -0.001789 0.999960 0.008777 0.060545 [component_container_isolated-3] -0.191395 -0.008957 0.981472 0.017448 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.129360432] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.523,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964983.129393716] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.027,0.017} {-0.470,11.269,0.121} [component_container_isolated-3] [DEBUG] [1762964983.129446577] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.143349077] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.143409893] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.143449028] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.143493052] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000012 -0.000093 -0.000021 [component_container_isolated-3] -0.000012 1.000000 -0.000064 -0.000057 [component_container_isolated-3] 0.000093 0.000064 1.000000 -0.000215 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.143519102] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.013,-0.037} {0.029,-0.467,-0.166} [component_container_isolated-3] [DEBUG] [1762964983.143569047] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.143616909] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.143653248] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 0.000081 0.185179 -0.007043 [component_container_isolated-3] -0.000181 1.000000 0.000524 0.060625 [component_container_isolated-3] -0.185179 -0.000549 0.982705 0.017814 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.143675220] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.032,10.672,-0.011} [component_container_isolated-3] [DEBUG] [1762964983.143706129] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.013,0.039} {-0.028,11.139,0.159} [component_container_isolated-3] [DEBUG] [1762964983.143757327] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.156903423] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.156991752] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.157029584] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.157071985] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000084 0.000081 0.000008 [component_container_isolated-3] -0.000084 1.000000 -0.000148 0.000569 [component_container_isolated-3] -0.000081 0.000148 1.000000 0.000557 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.157096331] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.028,-0.016} {-0.000,-0.228,-0.228} [component_container_isolated-3] [DEBUG] [1762964983.157144092] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.157188828] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.157227742] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 0.000076 0.191403 -0.006491 [component_container_isolated-3] -0.001789 0.999960 0.008777 0.060545 [component_container_isolated-3] -0.191395 -0.008957 0.981472 0.017448 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.157251548] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.523,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964983.157284030] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.027,0.017} {-0.478,11.264,0.126} [component_container_isolated-3] [DEBUG] [1762964983.157335598] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.162681928] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.162739098] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.162780407] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.162829691] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000065 -0.000038 0.000154 [component_container_isolated-3] 0.000065 1.000000 -0.000016 -0.000149 [component_container_isolated-3] 0.000038 0.000016 1.000000 -0.000034 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.162857734] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.002} {-0.177,0.032,-0.154} [component_container_isolated-3] [DEBUG] [1762964983.162909724] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.162980940] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.163020635] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879471 0.000033 0.475952 -0.000898 [component_container_isolated-3] -0.004693 0.999952 0.008603 0.060320 [component_container_isolated-3] -0.475929 -0.009800 0.879429 0.017889 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.163042838] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.638,28.420,-0.306} [component_container_isolated-3] [DEBUG] [1762964983.163072785] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.378,28.389,-0.131} [component_container_isolated-3] [DEBUG] [1762964983.163122600] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.168516301] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.168561357] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.168596895] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.168639416] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000051 -0.000291 0.001008 [component_container_isolated-3] 0.000051 1.000000 0.000037 0.000683 [component_container_isolated-3] 0.000291 -0.000037 1.000000 -0.000746 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.168664373] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.016,0.005} {0.167,0.143,0.202} [component_container_isolated-3] [DEBUG] [1762964983.168710061] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.168750668] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.168785044] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979108 0.000052 0.203342 -0.007091 [component_container_isolated-3] 0.002386 0.999928 -0.011744 0.059495 [component_container_isolated-3] -0.203328 0.011984 0.979037 0.018849 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.168806274] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.701,11.732,0.140} [component_container_isolated-3] [DEBUG] [1762964983.168835791] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.016,-0.005} {0.493,11.591,-0.068} [component_container_isolated-3] [DEBUG] [1762964983.168888271] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.185019147] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.185079232] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.185120992] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.185166629] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000114 -0.000135 0.000302 [component_container_isolated-3] -0.000114 1.000000 0.000067 0.000846 [component_container_isolated-3] 0.000135 -0.000067 1.000000 -0.000656 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.185192839] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.014,-0.037} {0.025,-0.475,-0.173} [component_container_isolated-3] [DEBUG] [1762964983.185242754] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.185632138] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.185694988] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982730 0.000180 0.185047 -0.006969 [component_container_isolated-3] -0.000295 1.000000 0.000591 0.060797 [component_container_isolated-3] -0.185047 -0.000636 0.982730 0.017682 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.185727360] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.664,-0.017} [component_container_isolated-3] [DEBUG] [1762964983.185758279] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.013,0.039} {-0.028,11.139,0.159} [component_container_isolated-3] [DEBUG] [1762964983.185801111] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.191401686] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.191458845] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.191497840] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.191543126] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000030 0.000391 -0.000388 [component_container_isolated-3] -0.000030 1.000000 0.000022 -0.000633 [component_container_isolated-3] -0.000391 -0.000022 1.000000 0.000766 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.191568886] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.017,0.005} {0.166,0.165,0.201} [component_container_isolated-3] [DEBUG] [1762964983.191617378] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.191659939] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.191699655] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979028 0.000077 0.203725 -0.007054 [component_container_isolated-3] 0.002360 0.999929 -0.011722 0.059492 [component_container_isolated-3] -0.203712 0.011957 0.978958 0.018975 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.191723781] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.700,11.754,0.138} [component_container_isolated-3] [DEBUG] [1762964983.191756524] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.016,-0.005} {0.493,11.591,-0.068} [component_container_isolated-3] [DEBUG] [1762964983.191809014] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.197514510] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.197579524] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.197620793] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.197664256] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000084 0.000081 0.000008 [component_container_isolated-3] -0.000084 1.000000 -0.000148 0.000569 [component_container_isolated-3] -0.000081 0.000148 1.000000 0.000557 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.197689985] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.028,-0.015} {0.008,-0.223,-0.233} [component_container_isolated-3] [DEBUG] [1762964983.197739009] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.197782803] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.197819102] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 0.000076 0.191403 -0.006491 [component_container_isolated-3] -0.001789 0.999960 0.008777 0.060545 [component_container_isolated-3] -0.191395 -0.008957 0.981472 0.017448 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.197844470] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.523,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964983.197878305] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.028,0.016} {-0.485,11.260,0.131} [component_container_isolated-3] [DEBUG] [1762964983.197973417] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.198901659] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.198978115] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.199023242] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.199069219] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000057 0.000013 -0.000186 [component_container_isolated-3] -0.000057 1.000000 -0.000050 0.000105 [component_container_isolated-3] -0.000013 0.000050 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.199095189] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.174,0.033,-0.157} [component_container_isolated-3] [DEBUG] [1762964983.199144844] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.199188708] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.199224586] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879465 0.000107 0.475963 -0.000896 [component_container_isolated-3] -0.004751 0.999952 0.008553 0.060323 [component_container_isolated-3] -0.475939 -0.009783 0.879424 0.017895 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.199246538] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.421,-0.310} [component_container_isolated-3] [DEBUG] [1762964983.199279661] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.378,28.389,-0.131} [component_container_isolated-3] [DEBUG] [1762964983.199333264] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.207990016] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.208055271] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.208097401] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.208142708] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000062 0.000082 -0.000041 [component_container_isolated-3] 0.000062 1.000000 -0.000032 -0.000272 [component_container_isolated-3] -0.000082 0.000032 1.000000 0.000592 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.208168106] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.014,-0.037} {0.027,-0.470,-0.169} [component_container_isolated-3] [DEBUG] [1762964983.208216408] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.208259461] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.208295970] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982715 0.000126 0.185127 -0.006923 [component_container_isolated-3] -0.000233 1.000000 0.000559 0.060820 [component_container_isolated-3] -0.185127 -0.000593 0.982714 0.017729 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.208318213] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.035,10.669,-0.014} [component_container_isolated-3] [DEBUG] [1762964983.208348821] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.013,0.039} {-0.028,11.139,0.159} [component_container_isolated-3] [DEBUG] [1762964983.208400109] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.229147401] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.229201675] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.229239597] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.229282560] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000057 0.000013 -0.000186 [component_container_isolated-3] -0.000057 1.000000 -0.000050 0.000105 [component_container_isolated-3] -0.000013 0.000050 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.229307046] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.172,0.033,-0.160} [component_container_isolated-3] [DEBUG] [1762964983.229357002] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.229404212] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.229443848] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879465 0.000107 0.475963 -0.000896 [component_container_isolated-3] -0.004751 0.999952 0.008553 0.060323 [component_container_isolated-3] -0.475939 -0.009783 0.879424 0.017895 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.229467473] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.421,-0.310} [component_container_isolated-3] [DEBUG] [1762964983.229498392] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.379,28.388,-0.127} [component_container_isolated-3] [DEBUG] [1762964983.229548608] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.236027511] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.236088487] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.236126119] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.236168941] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000062 0.000082 -0.000041 [component_container_isolated-3] 0.000062 1.000000 -0.000032 -0.000272 [component_container_isolated-3] -0.000082 0.000032 1.000000 0.000592 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.236193698] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.014,-0.036} {0.029,-0.465,-0.166} [component_container_isolated-3] [DEBUG] [1762964983.236240888] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.236286686] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.236326191] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982715 0.000126 0.185127 -0.006923 [component_container_isolated-3] -0.000233 1.000000 0.000559 0.060820 [component_container_isolated-3] -0.185127 -0.000593 0.982714 0.017729 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.236350798] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.035,10.669,-0.014} [component_container_isolated-3] [DEBUG] [1762964983.236384833] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.013,0.038} {-0.031,11.134,0.155} [component_container_isolated-3] [DEBUG] [1762964983.236434929] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.239238774] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.239296313] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.239335689] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.239380665] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000004 -0.000314 -0.000178 [component_container_isolated-3] 0.000004 1.000000 -0.000059 0.000133 [component_container_isolated-3] 0.000314 0.000059 1.000000 -0.000700 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.239405111] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.016,0.005} {0.169,0.147,0.201} [component_container_isolated-3] [DEBUG] [1762964983.239454115] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.239497327] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.239532695] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 0.000086 0.203418 -0.007097 [component_container_isolated-3] 0.002360 0.999928 -0.011781 0.059506 [component_container_isolated-3] -0.203404 0.012015 0.979021 0.018912 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.239556611] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.703,11.736,0.138} [component_container_isolated-3] [DEBUG] [1762964983.239588572] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.016,-0.005} {0.493,11.591,-0.068} [component_container_isolated-3] [DEBUG] [1762964983.239638587] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.242996750] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.243063317] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.243104576] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.243147789] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000084 0.000081 0.000008 [component_container_isolated-3] -0.000084 1.000000 -0.000148 0.000569 [component_container_isolated-3] -0.000081 0.000148 1.000000 0.000557 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.243173027] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.029,-0.015} {0.017,-0.219,-0.238} [component_container_isolated-3] [DEBUG] [1762964983.243221039] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.243266896] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.243302875] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 0.000076 0.191403 -0.006491 [component_container_isolated-3] -0.001789 0.999960 0.008777 0.060545 [component_container_isolated-3] -0.191395 -0.008957 0.981472 0.017448 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.243326460] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.523,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964983.243359082] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.028,0.016} {-0.493,11.255,0.136} [component_container_isolated-3] [DEBUG] [1762964983.243414468] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.248859336] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.248911887] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.248994384] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.249039791] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000004 -0.000314 -0.000178 [component_container_isolated-3] 0.000004 1.000000 -0.000059 0.000133 [component_container_isolated-3] 0.000314 0.000059 1.000000 -0.000700 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.249064779] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.016,0.004} {0.172,0.129,0.201} [component_container_isolated-3] [DEBUG] [1762964983.249112660] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.249161724] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.249202061] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 0.000086 0.203418 -0.007097 [component_container_isolated-3] 0.002360 0.999928 -0.011781 0.059506 [component_container_isolated-3] -0.203404 0.012015 0.979021 0.018912 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.249224935] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.703,11.736,0.138} [component_container_isolated-3] [DEBUG] [1762964983.249255142] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.016,-0.004} {0.489,11.609,-0.068} [component_container_isolated-3] [DEBUG] [1762964983.249307833] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.258396781] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.258449551] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.258490229] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.258534624] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000057 0.000013 -0.000186 [component_container_isolated-3] -0.000057 1.000000 -0.000050 0.000105 [component_container_isolated-3] -0.000013 0.000050 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.258561114] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.169,0.034,-0.164} [component_container_isolated-3] [DEBUG] [1762964983.258612272] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.258660083] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.258700521] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879465 0.000107 0.475963 -0.000896 [component_container_isolated-3] -0.004751 0.999952 0.008553 0.060323 [component_container_isolated-3] -0.475939 -0.009783 0.879424 0.017895 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.258725338] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.421,-0.310} [component_container_isolated-3] [DEBUG] [1762964983.258757319] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.380,28.388,-0.123} [component_container_isolated-3] [DEBUG] [1762964983.258807535] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.263511839] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.263575230] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.263617391] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.263662647] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000062 0.000082 -0.000041 [component_container_isolated-3] 0.000062 1.000000 -0.000032 -0.000272 [component_container_isolated-3] -0.000082 0.000032 1.000000 0.000592 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.263688797] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.013,-0.036} {0.031,-0.460,-0.162} [component_container_isolated-3] [DEBUG] [1762964983.263737390] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.263781003] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.263821430] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982715 0.000126 0.185127 -0.006923 [component_container_isolated-3] -0.000233 1.000000 0.000559 0.060820 [component_container_isolated-3] -0.185127 -0.000593 0.982714 0.017729 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.263847961] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.035,10.669,-0.014} [component_container_isolated-3] [DEBUG] [1762964983.263882317] [zed_multi.front]: +++ Diff [map -> odom] - {-0.005,-0.013,0.038} {-0.033,11.129,0.151} [component_container_isolated-3] [DEBUG] [1762964983.263964223] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.269325462] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.269382170] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.269431304] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.269488233] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000004 -0.000314 -0.000178 [component_container_isolated-3] 0.000004 1.000000 -0.000059 0.000133 [component_container_isolated-3] 0.000314 0.000059 1.000000 -0.000700 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.269521526] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.016,0.003} {0.176,0.111,0.201} [component_container_isolated-3] [DEBUG] [1762964983.269585498] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.269648419] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.269699326] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 0.000086 0.203418 -0.007097 [component_container_isolated-3] 0.002360 0.999928 -0.011781 0.059506 [component_container_isolated-3] -0.203404 0.012015 0.979021 0.018912 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.269728672] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.703,11.736,0.138} [component_container_isolated-3] [DEBUG] [1762964983.269767376] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.016,-0.004} {0.486,11.626,-0.068} [component_container_isolated-3] [DEBUG] [1762964983.269835546] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.291126887] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.291178796] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.291218753] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.291262767] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000032 -0.000069 -0.000176 [component_container_isolated-3] 0.000032 1.000000 0.000077 -0.000415 [component_container_isolated-3] 0.000069 -0.000077 1.000000 -0.000449 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.291288025] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.028,-0.015} {0.012,-0.223,-0.236} [component_container_isolated-3] [DEBUG] [1762964983.291336768] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.291383497] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.291423604] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 0.000031 0.191335 -0.006515 [component_container_isolated-3] -0.001757 0.999959 0.008854 0.060538 [component_container_isolated-3] -0.191327 -0.009027 0.981485 0.017419 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.291447620] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.527,11.030,-0.103} [component_container_isolated-3] [DEBUG] [1762964983.291481214] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.028,0.016} {-0.493,11.255,0.136} [component_container_isolated-3] [DEBUG] [1762964983.291533945] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.300372955] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.300424513] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.300466954] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.300515547] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000057 0.000013 -0.000186 [component_container_isolated-3] -0.000057 1.000000 -0.000050 0.000105 [component_container_isolated-3] -0.000013 0.000050 1.000000 0.000068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.300541046] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.166,0.035,-0.167} [component_container_isolated-3] [DEBUG] [1762964983.300590891] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.300635737] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.300671946] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879465 0.000107 0.475963 -0.000896 [component_container_isolated-3] -0.004751 0.999952 0.008553 0.060323 [component_container_isolated-3] -0.475939 -0.009783 0.879424 0.017895 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.300694419] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.421,-0.310} [component_container_isolated-3] [DEBUG] [1762964983.300724647] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.381,28.387,-0.119} [component_container_isolated-3] [DEBUG] [1762964983.300775093] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.319158551] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.319211552] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.319252731] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.319300211] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000057 -0.000010 -0.000044 [component_container_isolated-3] -0.000057 1.000000 -0.000033 0.000165 [component_container_isolated-3] 0.000010 0.000033 1.000000 -0.000125 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.319326492] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.029,-0.015} {0.014,-0.223,-0.239} [component_container_isolated-3] [DEBUG] [1762964983.319380605] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.319426853] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.319463894] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981527 0.000093 0.191325 -0.006534 [component_container_isolated-3] -0.001814 0.999959 0.008821 0.060554 [component_container_isolated-3] -0.191317 -0.009005 0.981487 0.017388 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.319487149] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.526,11.030,-0.106} [component_container_isolated-3] [DEBUG] [1762964983.319521274] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.028,0.016} {-0.493,11.255,0.136} [component_container_isolated-3] [DEBUG] [1762964983.319579485] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.321256838] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.321302485] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.321336080] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.321372459] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000004 -0.000314 -0.000178 [component_container_isolated-3] 0.000004 1.000000 -0.000059 0.000133 [component_container_isolated-3] 0.000314 0.000059 1.000000 -0.000700 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.321392838] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.016,0.003} {0.179,0.093,0.201} [component_container_isolated-3] [DEBUG] [1762964983.321431862] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.321465847] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.321492839] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 0.000086 0.203418 -0.007097 [component_container_isolated-3] 0.002360 0.999928 -0.011781 0.059506 [component_container_isolated-3] -0.203404 0.012015 0.979021 0.018912 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.321509821] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.703,11.736,0.138} [component_container_isolated-3] [DEBUG] [1762964983.321531783] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.016,-0.003} {0.482,11.644,-0.068} [component_container_isolated-3] [DEBUG] [1762964983.321569926] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.324465466] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.324524198] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.324564745] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.324609751] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000071 -0.000113 -0.000593 [component_container_isolated-3] -0.000071 1.000000 -0.000012 0.000251 [component_container_isolated-3] 0.000113 0.000012 1.000000 -0.000398 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.324635190] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.014,-0.036} {0.031,-0.467,-0.166} [component_container_isolated-3] [DEBUG] [1762964983.324684304] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.324728879] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.324764647] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982735 0.000198 0.185017 -0.006977 [component_container_isolated-3] -0.000304 1.000000 0.000547 0.060882 [component_container_isolated-3] -0.185016 -0.000594 0.982735 0.017702 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.324787150] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.035,10.662,-0.018} [component_container_isolated-3] [DEBUG] [1762964983.324819903] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.038} {-0.033,11.129,0.151} [component_container_isolated-3] [DEBUG] [1762964983.324877252] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.336813327] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.336865958] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.336907026] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.336984093] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000071 -0.000113 -0.000593 [component_container_isolated-3] -0.000071 1.000000 -0.000012 0.000251 [component_container_isolated-3] 0.000113 0.000012 1.000000 -0.000398 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.337009913] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.037} {0.032,-0.473,-0.170} [component_container_isolated-3] [DEBUG] [1762964983.337059638] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.337103542] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.337138588] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982735 0.000198 0.185017 -0.006977 [component_container_isolated-3] -0.000304 1.000000 0.000547 0.060882 [component_container_isolated-3] -0.185016 -0.000594 0.982735 0.017702 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.337161132] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.035,10.662,-0.018} [component_container_isolated-3] [DEBUG] [1762964983.337195086] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.038} {-0.033,11.136,0.155} [component_container_isolated-3] [DEBUG] [1762964983.337249951] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.345813335] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.345871596] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.345911793] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.345984502] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000019 -0.000006 -0.000120 [component_container_isolated-3] -0.000019 1.000000 0.000112 -0.000023 [component_container_isolated-3] 0.000006 -0.000112 1.000000 -0.000001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.346010872] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.172,0.034,-0.168} [component_container_isolated-3] [DEBUG] [1762964983.346059986] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.346104461] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.346145129] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879468 0.000070 0.475957 -0.000914 [component_container_isolated-3] -0.004769 0.999951 0.008665 0.060325 [component_container_isolated-3] -0.475933 -0.009891 0.879426 0.017900 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.346169596] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.420,-0.311} [component_container_isolated-3] [DEBUG] [1762964983.346202408] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.381,28.387,-0.119} [component_container_isolated-3] [DEBUG] [1762964983.346257233] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.356562053] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.356624231] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.356664368] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.356707540] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000008 0.000191 -0.000341 [component_container_isolated-3] -0.000008 1.000000 0.000102 0.000135 [component_container_isolated-3] -0.000191 -0.000102 1.000000 0.000447 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.356731997] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.029,-0.015} {0.008,-0.212,-0.240} [component_container_isolated-3] [DEBUG] [1762964983.356779498] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.356822530] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.356863729] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981490 0.000081 0.191513 -0.006606 [component_container_isolated-3] -0.001824 0.999959 0.008922 0.060589 [component_container_isolated-3] -0.191504 -0.009107 0.981450 0.017444 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.356889358] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.532,11.041,-0.106} [component_container_isolated-3] [DEBUG] [1762964983.356975472] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.028,0.016} {-0.493,11.255,0.136} [component_container_isolated-3] [DEBUG] [1762964983.357031349] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.365120607] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.365195500] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.365237390] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.365283839] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000008 0.000191 -0.000341 [component_container_isolated-3] -0.000008 1.000000 0.000102 0.000135 [component_container_isolated-3] -0.000191 -0.000102 1.000000 0.000447 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.365310119] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.029,-0.014} {0.003,-0.201,-0.240} [component_container_isolated-3] [DEBUG] [1762964983.365359744] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.365404580] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.365445398] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981490 0.000081 0.191513 -0.006606 [component_container_isolated-3] -0.001824 0.999959 0.008922 0.060589 [component_container_isolated-3] -0.191504 -0.009107 0.981450 0.017444 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.365470055] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.532,11.041,-0.106} [component_container_isolated-3] [DEBUG] [1762964983.365502857] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.028,0.015} {-0.487,11.244,0.136} [component_container_isolated-3] [DEBUG] [1762964983.365563173] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.373808058] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.373866630] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.373915463] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.374011066] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000039 0.000171 0.000225 [component_container_isolated-3] 0.000039 1.000000 0.000101 -0.000066 [component_container_isolated-3] -0.000171 -0.000101 1.000000 0.000036 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.374045492] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.016,0.003} {0.173,0.103,0.203} [component_container_isolated-3] [DEBUG] [1762964983.374110716] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.374180850] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.374238951] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979057 0.000027 0.203585 -0.007089 [component_container_isolated-3] 0.002402 0.999929 -0.011680 0.059513 [component_container_isolated-3] -0.203571 0.011924 0.978988 0.018885 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.374272125] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.698,11.746,0.141} [component_container_isolated-3] [DEBUG] [1762964983.374319475] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.016,-0.003} {0.482,11.644,-0.068} [component_container_isolated-3] [DEBUG] [1762964983.374399448] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.383025632] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.383128438] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.383181099] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.383237476] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000022 0.000080 0.000123 [component_container_isolated-3] 0.000022 1.000000 0.000056 -0.000144 [component_container_isolated-3] -0.000080 -0.000056 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.383273114] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.176,0.039,-0.167} [component_container_isolated-3] [DEBUG] [1762964983.383323190] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.383366192] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.383412160] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879430 0.000024 0.476027 -0.000911 [component_container_isolated-3] -0.004748 0.999951 0.008720 0.060307 [component_container_isolated-3] -0.476004 -0.009929 0.879387 0.017905 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.383447347] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.425,-0.309} [component_container_isolated-3] [DEBUG] [1762964983.383488936] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.381,28.387,-0.119} [component_container_isolated-3] [DEBUG] [1762964983.383566635] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.387602422] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.387657057] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.387696352] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.387739825] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000069 0.000063 0.000122 [component_container_isolated-3] -0.000069 1.000000 0.000058 0.000251 [component_container_isolated-3] -0.000063 -0.000058 1.000000 0.000172 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.387764542] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.036} {0.029,-0.470,-0.174} [component_container_isolated-3] [DEBUG] [1762964983.387812553] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.387858521] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.387898588] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982724 0.000255 0.185079 -0.006978 [component_container_isolated-3] -0.000373 1.000000 0.000605 0.060981 [component_container_isolated-3] -0.185078 -0.000664 0.982724 0.017700 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.387953733] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.039,10.666,-0.022} [component_container_isolated-3] [DEBUG] [1762964983.387989391] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.038} {-0.033,11.136,0.155} [component_container_isolated-3] [DEBUG] [1762964983.388045749] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.389390868] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.389438429] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.389479958] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.389528300] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000039 0.000171 0.000225 [component_container_isolated-3] 0.000039 1.000000 0.000101 -0.000066 [component_container_isolated-3] -0.000171 -0.000101 1.000000 0.000036 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.389554661] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.016,0.003} {0.168,0.113,0.206} [component_container_isolated-3] [DEBUG] [1762964983.389605458] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.389651485] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.389689929] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979057 0.000027 0.203585 -0.007089 [component_container_isolated-3] 0.002402 0.999929 -0.011680 0.059513 [component_container_isolated-3] -0.203571 0.011924 0.978988 0.018885 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.389712342] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.698,11.746,0.141} [component_container_isolated-3] [DEBUG] [1762964983.389742529] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.016,-0.003} {0.488,11.635,-0.071} [component_container_isolated-3] [DEBUG] [1762964983.389791032] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.390651205] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.390699817] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.390738792] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.390783748] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000022 0.000080 0.000123 [component_container_isolated-3] 0.000022 1.000000 0.000056 -0.000144 [component_container_isolated-3] -0.000080 -0.000056 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.390811481] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.179,0.044,-0.166} [component_container_isolated-3] [DEBUG] [1762964983.390863971] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.390909558] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.390990793] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879430 0.000024 0.476027 -0.000911 [component_container_isolated-3] -0.004748 0.999951 0.008720 0.060307 [component_container_isolated-3] -0.476004 -0.009929 0.879387 0.017905 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.391016061] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.425,-0.309} [component_container_isolated-3] [DEBUG] [1762964983.391049195] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.379,28.382,-0.121} [component_container_isolated-3] [DEBUG] [1762964983.391107977] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.415056874] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.415113872] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.415154049] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.415198905] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000061 -0.000039 0.000036 [component_container_isolated-3] 0.000061 1.000000 0.000034 -0.000014 [component_container_isolated-3] 0.000039 -0.000034 1.000000 0.000159 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.415224564] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.036} {0.027,-0.472,-0.171} [component_container_isolated-3] [DEBUG] [1762964983.415273638] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.415316449] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.415352949] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982731 0.000188 0.185041 -0.006979 [component_container_isolated-3] -0.000312 1.000000 0.000639 0.061030 [component_container_isolated-3] -0.185041 -0.000686 0.982731 0.017722 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.415377175] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.040,10.663,-0.018} [component_container_isolated-3] [DEBUG] [1762964983.415411320] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.038} {-0.033,11.136,0.155} [component_container_isolated-3] [DEBUG] [1762964983.415456557] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.415527382] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.415465033] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.415574873] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.415692337] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000040 -0.000020 0.000922 [component_container_isolated-3] 0.000040 1.000000 0.000038 -0.000399 [component_container_isolated-3] 0.000020 -0.000038 1.000000 -0.000227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.415720691] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.029,-0.015} {0.000,-0.203,-0.238} [component_container_isolated-3] [DEBUG] [1762964983.415776678] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.415823738] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.415854817] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981494 0.000035 0.191492 -0.006462 [component_container_isolated-3] -0.001784 0.999958 0.008960 0.060554 [component_container_isolated-3] -0.191484 -0.009136 0.981453 0.017409 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.415875116] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.533,11.039,-0.104} [component_container_isolated-3] [DEBUG] [1762964983.415897629] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.028,0.015} {-0.487,11.244,0.136} [component_container_isolated-3] [DEBUG] [1762964983.415951662] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.421284457] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.421336065] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.421373377] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.421415257] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000061 -0.000039 0.000036 [component_container_isolated-3] 0.000061 1.000000 0.000034 -0.000014 [component_container_isolated-3] 0.000039 -0.000034 1.000000 0.000159 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.421439453] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.036} {0.025,-0.474,-0.167} [component_container_isolated-3] [DEBUG] [1762964983.421487745] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.421530687] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.421570132] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982731 0.000188 0.185041 -0.006979 [component_container_isolated-3] -0.000312 1.000000 0.000639 0.061030 [component_container_isolated-3] -0.185041 -0.000686 0.982731 0.017722 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.421593497] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.040,10.663,-0.018} [component_container_isolated-3] [DEBUG] [1762964983.421625398] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.038} {-0.032,11.138,0.152} [component_container_isolated-3] [DEBUG] [1762964983.421674191] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.428169796] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.428231434] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.428270609] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.428317669] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000047 -0.000003 -0.000012 [component_container_isolated-3] 0.000047 1.000000 -0.000099 -0.000090 [component_container_isolated-3] 0.000003 0.000099 1.000000 -0.000018 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.428344901] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.002} {-0.173,0.043,-0.163} [component_container_isolated-3] [DEBUG] [1762964983.428403943] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.428459910] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.428499816] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879432 0.000030 0.476025 -0.000910 [component_container_isolated-3] -0.004701 0.999952 0.008622 0.060279 [component_container_isolated-3] -0.476002 -0.009820 0.879390 0.017917 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.428523401] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.425,-0.306} [component_container_isolated-3] [DEBUG] [1762964983.428553649] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.379,28.382,-0.121} [component_container_isolated-3] [DEBUG] [1762964983.428609195] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.429534522] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.429582574] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.429624875] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.429669550] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000012 -0.000077 -0.000365 [component_container_isolated-3] -0.000012 1.000000 0.000093 -0.000265 [component_container_isolated-3] 0.000077 -0.000093 1.000000 0.000208 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.429694428] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.016,0.003} {0.162,0.109,0.205} [component_container_isolated-3] [DEBUG] [1762964983.429741838] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.429781865] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.429817232] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000019 0.203510 -0.007140 [component_container_isolated-3] 0.002389 0.999930 -0.011587 0.059478 [component_container_isolated-3] -0.203496 0.011830 0.979004 0.018894 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.429838924] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.692,11.741,0.140} [component_container_isolated-3] [DEBUG] [1762964983.429868921] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.016,-0.003} {0.488,11.635,-0.071} [component_container_isolated-3] [DEBUG] [1762964983.429917333] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.434776764] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.434828944] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.434868018] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.434910449] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000012 -0.000077 -0.000365 [component_container_isolated-3] -0.000012 1.000000 0.000093 -0.000265 [component_container_isolated-3] 0.000077 -0.000093 1.000000 0.000208 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.434967999] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.017,0.003} {0.157,0.104,0.204} [component_container_isolated-3] [DEBUG] [1762964983.435015239] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.435056508] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.435091745] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000019 0.203510 -0.007140 [component_container_isolated-3] 0.002389 0.999930 -0.011587 0.059478 [component_container_isolated-3] -0.203496 0.011830 0.979004 0.018894 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.435114018] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.692,11.741,0.140} [component_container_isolated-3] [DEBUG] [1762964983.435147161] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.016,-0.003} {0.493,11.639,-0.070} [component_container_isolated-3] [DEBUG] [1762964983.435197918] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.443962937] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.444029384] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.444071865] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.444131349] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000018 -0.000208 0.000088 [component_container_isolated-3] -0.000018 1.000000 -0.000117 0.000129 [component_container_isolated-3] 0.000208 0.000117 1.000000 -0.000651 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.444165404] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.029,-0.015} {0.007,-0.215,-0.239} [component_container_isolated-3] [DEBUG] [1762964983.444226020] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.444286225] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.444330980] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 0.000075 0.191288 -0.006426 [component_container_isolated-3] -0.001800 0.999959 0.008844 0.060548 [component_container_isolated-3] -0.191279 -0.009025 0.981494 0.017235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.444357180] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.527,11.027,-0.105} [component_container_isolated-3] [DEBUG] [1762964983.444398078] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.028,0.016} {-0.487,11.244,0.136} [component_container_isolated-3] [DEBUG] [1762964983.444448114] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.461352647] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.461405508] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.461445174] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.461493356] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000087 0.000038 0.000038 [component_container_isolated-3] -0.000087 1.000000 0.000032 0.000178 [component_container_isolated-3] -0.000038 -0.000032 1.000000 0.000078 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.461624356] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.003} {-0.175,0.046,-0.168} [component_container_isolated-3] [DEBUG] [1762964983.461676596] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.461723305] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.461760907] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879414 0.000091 0.476058 -0.000897 [component_container_isolated-3] -0.004788 0.999951 0.008653 0.060279 [component_container_isolated-3] -0.476034 -0.009889 0.879371 0.017924 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.461783640] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.427,-0.312} [component_container_isolated-3] [DEBUG] [1762964983.461813628] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.379,28.382,-0.121} [component_container_isolated-3] [DEBUG] [1762964983.461875786] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.473221744] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.473271650] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.473315744] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.473362102] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000009 0.000118 -0.000118 [component_container_isolated-3] 0.000009 1.000000 -0.000013 -0.000132 [component_container_isolated-3] -0.000118 0.000013 1.000000 0.000528 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.473387631] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.029,-0.015} {0.008,-0.208,-0.238} [component_container_isolated-3] [DEBUG] [1762964983.473437607] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.473482542] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.473519303] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 0.000069 0.191404 -0.006390 [component_container_isolated-3] -0.001793 0.999959 0.008831 0.060529 [component_container_isolated-3] -0.191396 -0.009010 0.981472 0.017232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.473542737] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.526,11.034,-0.105} [component_container_isolated-3] [DEBUG] [1762964983.473576211] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.028,0.015} {-0.487,11.244,0.136} [component_container_isolated-3] [DEBUG] [1762964983.473628972] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.478768908] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.478824164] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.478865803] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.478910178] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000178 -0.000070 0.000038 [component_container_isolated-3] 0.000178 1.000000 -0.000025 -0.001374 [component_container_isolated-3] 0.000070 0.000025 1.000000 -0.000658 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.478971655] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.037} {0.026,-0.478,-0.157} [component_container_isolated-3] [DEBUG] [1762964983.479025709] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.479071145] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.479107355] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982744 0.000018 0.184972 -0.007009 [component_container_isolated-3] -0.000134 1.000000 0.000615 0.060694 [component_container_isolated-3] -0.184972 -0.000629 0.982744 0.017604 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.479131040] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.660,-0.008} [component_container_isolated-3] [DEBUG] [1762964983.479162179] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.038} {-0.032,11.138,0.152} [component_container_isolated-3] [DEBUG] [1762964983.479212034] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.486215519] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.486272769] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.486313927] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.486358492] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000104 -0.000054 0.000434 [component_container_isolated-3] 0.000104 1.000000 0.000013 -0.000241 [component_container_isolated-3] 0.000054 -0.000013 1.000000 -0.000163 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.486383420] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.017,0.003} {0.156,0.101,0.210} [component_container_isolated-3] [DEBUG] [1762964983.486432674] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.486475145] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.486518037] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 -0.000085 0.203458 -0.007113 [component_container_isolated-3] 0.002492 0.999930 -0.011574 0.059408 [component_container_isolated-3] -0.203443 0.011839 0.979015 0.018870 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.486544187] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.693,11.738,0.146} [component_container_isolated-3] [DEBUG] [1762964983.486576208] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.017,-0.003} {0.493,11.639,-0.070} [component_container_isolated-3] [DEBUG] [1762964983.486627967] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.491043169] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.491094377] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.491134163] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.491179008] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000009 0.000118 -0.000118 [component_container_isolated-3] 0.000009 1.000000 -0.000013 -0.000132 [component_container_isolated-3] -0.000118 0.000013 1.000000 0.000528 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.491203445] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.028,-0.014} {0.009,-0.201,-0.238} [component_container_isolated-3] [DEBUG] [1762964983.491250986] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.491294669] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.491330989] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 0.000069 0.191404 -0.006390 [component_container_isolated-3] -0.001793 0.999959 0.008831 0.060529 [component_container_isolated-3] -0.191396 -0.009010 0.981472 0.017232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.491355465] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.526,11.034,-0.105} [component_container_isolated-3] [DEBUG] [1762964983.491389080] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.028,0.015} {-0.488,11.237,0.136} [component_container_isolated-3] [DEBUG] [1762964983.491441590] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.497609910] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.497665887] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.497706434] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.497750448] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000000 -0.000019 -0.000058 [component_container_isolated-3] 0.000000 1.000000 -0.000083 0.000064 [component_container_isolated-3] 0.000019 0.000083 1.000000 0.000034 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.497775606] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.003} {-0.170,0.045,-0.168} [component_container_isolated-3] [DEBUG] [1762964983.497825221] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.497866921] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.497902839] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879423 0.000130 0.476041 -0.000892 [component_container_isolated-3] -0.004788 0.999952 0.008571 0.060285 [component_container_isolated-3] -0.476017 -0.009816 0.879381 0.017943 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.497966571] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.426,-0.312} [component_container_isolated-3] [DEBUG] [1762964983.498001518] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.379,28.382,-0.121} [component_container_isolated-3] [DEBUG] [1762964983.498053938] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.514003658] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.514067270] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.514106855] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.514151060] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000123 -0.000026 0.000086 [component_container_isolated-3] -0.000123 1.000000 0.000021 0.000652 [component_container_isolated-3] 0.000026 -0.000021 1.000000 0.000136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.514175997] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.037} {0.025,-0.480,-0.164} [component_container_isolated-3] [DEBUG] [1762964983.514223678] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.514271680] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.514311797] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982749 0.000135 0.184946 -0.006994 [component_container_isolated-3] -0.000257 1.000000 0.000636 0.060705 [component_container_isolated-3] -0.184946 -0.000672 0.982749 0.017571 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.514336083] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.039,10.658,-0.015} [component_container_isolated-3] [DEBUG] [1762964983.514369246] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.038} {-0.032,11.138,0.152} [component_container_isolated-3] [DEBUG] [1762964983.514432367] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.524000259] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.524050986] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.524083428] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.524126330] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000024 -0.000136 0.000207 [component_container_isolated-3] -0.000024 1.000000 -0.000018 0.000406 [component_container_isolated-3] 0.000136 0.000018 1.000000 -0.000454 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.524157319] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.016,0.003} {0.157,0.093,0.209} [component_container_isolated-3] [DEBUG] [1762964983.524202796] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.524236580] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.524263071] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979111 -0.000058 0.203324 -0.007079 [component_container_isolated-3] 0.002467 0.999930 -0.011593 0.059418 [component_container_isolated-3] -0.203310 0.011852 0.979043 0.018744 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.524281707] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.694,11.731,0.144} [component_container_isolated-3] [DEBUG] [1762964983.524317645] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.016,-0.003} {0.493,11.639,-0.070} [component_container_isolated-3] [DEBUG] [1762964983.524370266] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.529980310] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.530037308] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.530076704] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.530119996] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000002 -0.000075 -0.000115 [component_container_isolated-3] -0.000002 1.000000 -0.000003 -0.000018 [component_container_isolated-3] 0.000075 0.000003 1.000000 -0.000101 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.530145385] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.170,0.040,-0.168} [component_container_isolated-3] [DEBUG] [1762964983.530193427] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.530235898] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.530275283] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879459 0.000134 0.475975 -0.000908 [component_container_isolated-3] -0.004789 0.999952 0.008568 0.060288 [component_container_isolated-3] -0.475951 -0.009815 0.879417 0.017954 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.530299219] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.421,-0.312} [component_container_isolated-3] [DEBUG] [1762964983.530330989] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.379,28.382,-0.121} [component_container_isolated-3] [DEBUG] [1762964983.530380494] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.541714239] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.541775536] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.541814290] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.541856981] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000048 0.000117 -0.000087 [component_container_isolated-3] 0.000048 1.000000 -0.000084 -0.000079 [component_container_isolated-3] -0.000117 0.000084 1.000000 0.000232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.541882259] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.036} {0.030,-0.473,-0.161} [component_container_isolated-3] [DEBUG] [1762964983.541962352] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.542011747] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.542051994] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982727 0.000103 0.185061 -0.006992 [component_container_isolated-3] -0.000209 1.000000 0.000552 0.060699 [component_container_isolated-3] -0.185061 -0.000581 0.982727 0.017577 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.542075478] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.034,10.665,-0.012} [component_container_isolated-3] [DEBUG] [1762964983.542108301] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.038} {-0.032,11.138,0.152} [component_container_isolated-3] [DEBUG] [1762964983.542159168] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.551171750] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.551230352] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.551271471] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.551316577] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000072 -0.000035 -0.000065 [component_container_isolated-3] -0.000072 1.000000 -0.000029 0.000530 [component_container_isolated-3] 0.000035 0.000029 1.000000 0.000129 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.551342286] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.029,-0.014} {0.010,-0.203,-0.242} [component_container_isolated-3] [DEBUG] [1762964983.551391219] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.551441064] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.551481932] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981518 0.000146 0.191370 -0.006361 [component_container_isolated-3] -0.001865 0.999960 0.008802 0.060614 [component_container_isolated-3] -0.191361 -0.008996 0.981479 0.017246 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.551507371] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.525,11.032,-0.109} [component_container_isolated-3] [DEBUG] [1762964983.551538000] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.028,0.015} {-0.488,11.237,0.136} [component_container_isolated-3] [DEBUG] [1762964983.551588546] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.557149917] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.557218618] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.557260829] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.557307127] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000054 -0.000057 -0.000018 [component_container_isolated-3] 0.000054 1.000000 -0.000040 -0.000291 [component_container_isolated-3] 0.000057 0.000040 1.000000 -0.000011 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.557333357] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.017,0.003} {0.160,0.090,0.212} [component_container_isolated-3] [DEBUG] [1762964983.557383874] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.557428489] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.557469577] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979123 -0.000103 0.203268 -0.007064 [component_container_isolated-3] 0.002520 0.999929 -0.011633 0.059379 [component_container_isolated-3] -0.203253 0.011902 0.979054 0.018688 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.557494255] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.697,11.727,0.147} [component_container_isolated-3] [DEBUG] [1762964983.557526606] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.016,-0.003} {0.493,11.639,-0.070} [component_container_isolated-3] [DEBUG] [1762964983.557577113] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.558151289] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.558198449] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.558236021] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.558282049] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000072 -0.000035 -0.000065 [component_container_isolated-3] -0.000072 1.000000 -0.000029 0.000530 [component_container_isolated-3] 0.000035 0.000029 1.000000 0.000129 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.558309632] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.029,-0.014} {0.012,-0.205,-0.246} [component_container_isolated-3] [DEBUG] [1762964983.558360539] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.558406366] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.558450431] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981518 0.000146 0.191370 -0.006361 [component_container_isolated-3] -0.001865 0.999960 0.008802 0.060614 [component_container_isolated-3] -0.191361 -0.008996 0.981479 0.017246 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.558471531] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.525,11.032,-0.109} [component_container_isolated-3] [DEBUG] [1762964983.558494124] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.029,0.015} {-0.488,11.239,0.140} [component_container_isolated-3] [DEBUG] [1762964983.558538138] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.558886744] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.558961967] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.559001433] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.559044004] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000048 0.000117 -0.000087 [component_container_isolated-3] 0.000048 1.000000 -0.000084 -0.000079 [component_container_isolated-3] -0.000117 0.000084 1.000000 0.000232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.559068321] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.036} {0.035,-0.466,-0.159} [component_container_isolated-3] [DEBUG] [1762964983.559116583] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.559162400] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.559201976] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982727 0.000103 0.185061 -0.006992 [component_container_isolated-3] -0.000209 1.000000 0.000552 0.060699 [component_container_isolated-3] -0.185061 -0.000581 0.982727 0.017577 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.559225811] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.034,10.665,-0.012} [component_container_isolated-3] [DEBUG] [1762964983.559258333] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.038} {-0.037,11.131,0.149} [component_container_isolated-3] [DEBUG] [1762964983.559307938] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.563313999] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.563375035] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.563411866] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.563448496] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000028 0.000014 0.000202 [component_container_isolated-3] 0.000028 1.000000 0.000200 -0.000090 [component_container_isolated-3] -0.000014 -0.000200 1.000000 -0.000029 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.563468825] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.181,0.041,-0.166} [component_container_isolated-3] [DEBUG] [1762964983.563525773] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.563571671] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.563600556] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879452 0.000015 0.475987 -0.000906 [component_container_isolated-3] -0.004762 0.999950 0.008768 0.060283 [component_container_isolated-3] -0.475963 -0.009977 0.879408 0.017940 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.563618250] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.650,28.422,-0.310} [component_container_isolated-3] [DEBUG] [1762964983.563640182] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.379,28.382,-0.121} [component_container_isolated-3] [DEBUG] [1762964983.563695047] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.564731256] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.564779197] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.564818652] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.564862226] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000054 -0.000057 -0.000018 [component_container_isolated-3] 0.000054 1.000000 -0.000040 -0.000291 [component_container_isolated-3] 0.000057 0.000040 1.000000 -0.000011 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.564887304] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.017,0.003} {0.162,0.087,0.215} [component_container_isolated-3] [DEBUG] [1762964983.564966845] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.565014466] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.565054553] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979123 -0.000103 0.203268 -0.007064 [component_container_isolated-3] 0.002520 0.999929 -0.011633 0.059379 [component_container_isolated-3] -0.203253 0.011902 0.979054 0.018688 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.565078599] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.697,11.727,0.147} [component_container_isolated-3] [DEBUG] [1762964983.565109758] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.017,-0.003} {0.490,11.642,-0.073} [component_container_isolated-3] [DEBUG] [1762964983.565159834] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.602200553] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.602258083] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.602298129] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.602342935] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000072 -0.000035 -0.000065 [component_container_isolated-3] -0.000072 1.000000 -0.000029 0.000530 [component_container_isolated-3] 0.000035 0.000029 1.000000 0.000129 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.602368894] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.030,-0.014} {0.014,-0.207,-0.250} [component_container_isolated-3] [DEBUG] [1762964983.602417928] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.602462703] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.602502449] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981518 0.000146 0.191370 -0.006361 [component_container_isolated-3] -0.001865 0.999960 0.008802 0.060614 [component_container_isolated-3] -0.191361 -0.008996 0.981479 0.017246 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.602527297] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.525,11.032,-0.109} [component_container_isolated-3] [DEBUG] [1762964983.602560871] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.029,0.014} {-0.489,11.241,0.144} [component_container_isolated-3] [DEBUG] [1762964983.602612419] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.608869549] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.608945304] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.608988917] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.609037029] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000048 0.000117 -0.000087 [component_container_isolated-3] 0.000048 1.000000 -0.000084 -0.000079 [component_container_isolated-3] -0.000117 0.000084 1.000000 0.000232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.609065393] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.036} {0.039,-0.460,-0.156} [component_container_isolated-3] [DEBUG] [1762964983.609093968] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.609174942] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.609121871] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.609220379] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.609331972] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.609413157] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982727 0.000103 0.185061 -0.006992 [component_container_isolated-3] -0.000209 1.000000 0.000552 0.060699 [component_container_isolated-3] -0.185061 -0.000581 0.982727 0.017577 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.609442203] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.034,10.665,-0.012} [component_container_isolated-3] [DEBUG] [1762964983.609477119] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.037} {-0.043,11.124,0.146} [component_container_isolated-3] [DEBUG] [1762964983.609368301] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000013 -0.000019 0.000085 [component_container_isolated-3] -0.000013 1.000000 0.000006 0.000062 [component_container_isolated-3] 0.000019 -0.000006 1.000000 -0.000026 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.609562552] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.182,0.040,-0.167} [component_container_isolated-3] [DEBUG] [1762964983.609534509] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.609619591] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.609713561] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.609751994] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879461 0.000023 0.475971 -0.000891 [component_container_isolated-3] -0.004775 0.999950 0.008773 0.060284 [component_container_isolated-3] -0.475947 -0.009988 0.879418 0.017928 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.609775178] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.651,28.421,-0.311} [component_container_isolated-3] [DEBUG] [1762964983.609806799] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.379,28.382,-0.121} [component_container_isolated-3] [DEBUG] [1762964983.609856383] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.627761728] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.627817685] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.627858343] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.627902948] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000054 -0.000057 -0.000018 [component_container_isolated-3] 0.000054 1.000000 -0.000040 -0.000291 [component_container_isolated-3] 0.000057 0.000040 1.000000 -0.000011 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.627973423] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.017,0.003} {0.164,0.083,0.218} [component_container_isolated-3] [DEBUG] [1762964983.628025262] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.628069136] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.628104894] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979123 -0.000103 0.203268 -0.007064 [component_container_isolated-3] 0.002520 0.999929 -0.011633 0.059379 [component_container_isolated-3] -0.203253 0.011902 0.979054 0.018688 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.628129140] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.697,11.727,0.147} [component_container_isolated-3] [DEBUG] [1762964983.628161853] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.017,-0.003} {0.487,11.646,-0.076} [component_container_isolated-3] [DEBUG] [1762964983.628211537] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.641956617] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.642013506] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.642054184] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.642099360] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000072 -0.000035 -0.000065 [component_container_isolated-3] -0.000072 1.000000 -0.000029 0.000530 [component_container_isolated-3] 0.000035 0.000029 1.000000 0.000129 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.642124538] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.031,-0.014} {0.015,-0.209,-0.254} [component_container_isolated-3] [DEBUG] [1762964983.642172950] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.642244076] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.642283221] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981518 0.000146 0.191370 -0.006361 [component_container_isolated-3] -0.001865 0.999960 0.008802 0.060614 [component_container_isolated-3] -0.191361 -0.008996 0.981479 0.017246 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.642308579] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.525,11.032,-0.109} [component_container_isolated-3] [DEBUG] [1762964983.642339018] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.030,0.014} {-0.490,11.243,0.148} [component_container_isolated-3] [DEBUG] [1762964983.642390245] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.647308067] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.647364675] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.647416925] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.647479505] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000059 0.000182 0.000047 [component_container_isolated-3] 0.000059 1.000000 -0.000124 -0.000023 [component_container_isolated-3] -0.000182 0.000124 1.000000 0.000151 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.647516776] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.003} {-0.175,0.050,-0.164} [component_container_isolated-3] [DEBUG] [1762964983.647584185] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.647648708] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.647703893] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879375 0.000030 0.476130 -0.000863 [component_container_isolated-3] -0.004717 0.999951 0.008648 0.060280 [component_container_isolated-3] -0.476107 -0.009851 0.879332 0.017941 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.647736986] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.431,-0.307} [component_container_isolated-3] [DEBUG] [1762964983.647781071] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.379,28.382,-0.121} [component_container_isolated-3] [DEBUG] [1762964983.647859901] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.648186355] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.648239276] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.648279052] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.648322495] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000048 0.000117 -0.000087 [component_container_isolated-3] 0.000048 1.000000 -0.000084 -0.000079 [component_container_isolated-3] -0.000117 0.000084 1.000000 0.000232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.648347512] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.036} {0.044,-0.453,-0.153} [component_container_isolated-3] [DEBUG] [1762964983.648419099] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.648465277] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.648505634] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982727 0.000103 0.185061 -0.006992 [component_container_isolated-3] -0.000209 1.000000 0.000552 0.060699 [component_container_isolated-3] -0.185061 -0.000581 0.982727 0.017577 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.648528678] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.034,10.665,-0.012} [component_container_isolated-3] [DEBUG] [1762964983.648559487] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.037} {-0.048,11.118,0.143} [component_container_isolated-3] [DEBUG] [1762964983.648609182] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.659552491] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.659608388] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.659658423] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.659717596] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000059 0.000182 0.000047 [component_container_isolated-3] 0.000059 1.000000 -0.000124 -0.000023 [component_container_isolated-3] -0.000182 0.000124 1.000000 0.000151 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.659752774] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.003} {-0.167,0.061,-0.160} [component_container_isolated-3] [DEBUG] [1762964983.659821836] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.659881830] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.659980088] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879375 0.000030 0.476130 -0.000863 [component_container_isolated-3] -0.004717 0.999951 0.008648 0.060280 [component_container_isolated-3] -0.476107 -0.009851 0.879332 0.017941 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.660015485] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.431,-0.307} [component_container_isolated-3] [DEBUG] [1762964983.660058057] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.387,28.372,-0.125} [component_container_isolated-3] [DEBUG] [1762964983.660136947] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.668845058] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.668899131] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.668973132] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.669020022] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000048 0.000117 -0.000087 [component_container_isolated-3] 0.000048 1.000000 -0.000084 -0.000079 [component_container_isolated-3] -0.000117 0.000084 1.000000 0.000232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.669045881] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.035} {0.049,-0.446,-0.150} [component_container_isolated-3] [DEBUG] [1762964983.669096638] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.669140662] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.669176601] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982727 0.000103 0.185061 -0.006992 [component_container_isolated-3] -0.000209 1.000000 0.000552 0.060699 [component_container_isolated-3] -0.185061 -0.000581 0.982727 0.017577 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.669199134] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.034,10.665,-0.012} [component_container_isolated-3] [DEBUG] [1762964983.669230143] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.037} {-0.053,11.111,0.141} [component_container_isolated-3] [DEBUG] [1762964983.669313492] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.669367385] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.669407101] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.669451205] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000005 -0.000004 0.000307 [component_container_isolated-3] 0.000005 1.000000 -0.000013 0.000088 [component_container_isolated-3] 0.000004 0.000013 1.000000 0.000048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.669476153] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.017,0.003} {0.165,0.083,0.218} [component_container_isolated-3] [DEBUG] [1762964983.669523203] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.669565844] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.669604348] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979124 -0.000105 0.203264 -0.006976 [component_container_isolated-3] 0.002525 0.999929 -0.011646 0.059366 [component_container_isolated-3] -0.203248 0.011916 0.979055 0.018631 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.669626089] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.697,11.727,0.148} [component_container_isolated-3] [DEBUG] [1762964983.669656247] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.017,-0.003} {0.487,11.646,-0.076} [component_container_isolated-3] [DEBUG] [1762964983.669704479] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.669892288] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.683442776] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.683506017] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.683546113] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.683589887] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000086 0.000032 -0.000773 [component_container_isolated-3] 0.000086 1.000000 0.000077 -0.000321 [component_container_isolated-3] -0.000032 -0.000077 1.000000 0.000363 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.683615115] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.030,-0.013} {0.011,-0.207,-0.249} [component_container_isolated-3] [DEBUG] [1762964983.683666663] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.683714024] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.683755814] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981512 0.000047 0.191402 -0.006506 [component_container_isolated-3] -0.001779 0.999959 0.008878 0.060614 [component_container_isolated-3] -0.191393 -0.009054 0.981472 0.017363 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.683779208] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.529,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964983.683810017] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.030,0.014} {-0.490,11.243,0.148} [component_container_isolated-3] [DEBUG] [1762964983.683859552] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.691797311] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.691859169] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.691898113] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.692073779] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000086 0.000032 -0.000773 [component_container_isolated-3] 0.000086 1.000000 0.000077 -0.000321 [component_container_isolated-3] -0.000032 -0.000077 1.000000 0.000363 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.692100530] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.030,-0.013} {0.006,-0.205,-0.244} [component_container_isolated-3] [DEBUG] [1762964983.692156747] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.692213165] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.692244375] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981512 0.000047 0.191402 -0.006506 [component_container_isolated-3] -0.001779 0.999959 0.008878 0.060614 [component_container_isolated-3] -0.191393 -0.009054 0.981472 0.017363 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.692262930] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.529,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964983.692285353] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.029,0.013} {-0.487,11.242,0.143} [component_container_isolated-3] [DEBUG] [1762964983.692323546] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.693335939] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.693387257] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.693427534] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.693472430] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000050 0.000030 -0.000100 [component_container_isolated-3] -0.000050 1.000000 0.000047 0.000027 [component_container_isolated-3] -0.000030 -0.000047 1.000000 0.000156 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.693498780] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.003} {-0.170,0.062,-0.163} [component_container_isolated-3] [DEBUG] [1762964983.693547493] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.693591347] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.693631474] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879360 0.000052 0.476157 -0.000838 [component_container_isolated-3] -0.004767 0.999951 0.008695 0.060283 [component_container_isolated-3] -0.476133 -0.009916 0.879317 0.017966 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.693656281] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.433,-0.311} [component_container_isolated-3] [DEBUG] [1762964983.693693813] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.387,28.372,-0.125} [component_container_isolated-3] [DEBUG] [1762964983.693742115] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.697415861] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.697459404] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.697496034] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.697542453] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000125 0.000291 -0.000284 [component_container_isolated-3] -0.000125 1.000000 -0.000064 0.000338 [component_container_isolated-3] -0.000291 0.000064 1.000000 0.000652 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.697567190] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.017,0.003} {0.169,0.100,0.211} [component_container_isolated-3] [DEBUG] [1762964983.697614591] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.697655509] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.697690025] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979065 0.000030 0.203549 -0.006919 [component_container_isolated-3] 0.002403 0.999929 -0.011710 0.059406 [component_container_isolated-3] -0.203535 0.011954 0.978995 0.018706 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.697711325] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.700,11.744,0.141} [component_container_isolated-3] [DEBUG] [1762964983.697740511] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.017,-0.004} {0.487,11.646,-0.076} [component_container_isolated-3] [DEBUG] [1762964983.697795155] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.710714679] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.710794691] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.710838655] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.710889743] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000070 0.000159 0.000010 [component_container_isolated-3] -0.000070 1.000000 0.000094 0.000317 [component_container_isolated-3] -0.000159 -0.000094 1.000000 0.000618 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.710943856] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.035} {0.044,-0.437,-0.154} [component_container_isolated-3] [DEBUG] [1762964983.710998240] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.711044829] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.711085236] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 0.000154 0.185218 -0.006957 [component_container_isolated-3] -0.000279 1.000000 0.000646 0.060749 [component_container_isolated-3] -0.185217 -0.000686 0.982697 0.017719 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.711109382] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.040,10.674,-0.016} [component_container_isolated-3] [DEBUG] [1762964983.711140642] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.036} {-0.053,11.111,0.141} [component_container_isolated-3] [DEBUG] [1762964983.711191108] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.723057050] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.723117315] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.723158163] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.723202457] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000013 -0.000174 -0.000190 [component_container_isolated-3] 0.000013 1.000000 0.000019 -0.000106 [component_container_isolated-3] 0.000174 -0.000019 1.000000 -0.000361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.723228026] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.017,0.003} {0.167,0.090,0.212} [component_container_isolated-3] [DEBUG] [1762964983.723276008] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.723319020] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.723358305] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979100 0.000013 0.203379 -0.006932 [component_container_isolated-3] 0.002415 0.999929 -0.011691 0.059415 [component_container_isolated-3] -0.203365 0.011937 0.979030 0.018687 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.723382461] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.699,11.734,0.141} [component_container_isolated-3] [DEBUG] [1762964983.723413059] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.017,-0.003} {0.487,11.646,-0.076} [component_container_isolated-3] [DEBUG] [1762964983.723463235] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.726768868] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.726824845] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.726864741] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.726910298] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000028 -0.000149 0.000031 [component_container_isolated-3] -0.000028 1.000000 -0.000017 0.000051 [component_container_isolated-3] 0.000149 0.000017 1.000000 -0.000201 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.726967147] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.003} {-0.169,0.054,-0.165} [component_container_isolated-3] [DEBUG] [1762964983.727019757] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.727068340] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.727110481] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 0.000084 0.476026 -0.000830 [component_container_isolated-3] -0.004793 0.999951 0.008679 0.060290 [component_container_isolated-3] -0.476002 -0.009914 0.879389 0.017966 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.727135909] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.425,-0.312} [component_container_isolated-3] [DEBUG] [1762964983.727168401] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.387,28.372,-0.125} [component_container_isolated-3] [DEBUG] [1762964983.727219479] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.738711987] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.738765158] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.738803311] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.738845902] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000090 0.000026 0.000510 [component_container_isolated-3] 0.000090 1.000000 -0.000118 -0.000339 [component_container_isolated-3] -0.000026 0.000118 1.000000 -0.000183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.738870780] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.030,-0.013} {0.013,-0.204,-0.239} [component_container_isolated-3] [DEBUG] [1762964983.738917760] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.739001740] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.739043560] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981507 -0.000019 0.191427 -0.006491 [component_container_isolated-3] -0.001689 0.999960 0.008760 0.060549 [component_container_isolated-3] -0.191420 -0.008921 0.981468 0.017395 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.739068738] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.521,11.036,-0.099} [component_container_isolated-3] [DEBUG] [1762964983.739102392] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.029,0.014} {-0.487,11.242,0.143} [component_container_isolated-3] [DEBUG] [1762964983.739153299] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.743863284] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.743969648] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.744012259] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.744057816] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000138 -0.000091 0.000111 [component_container_isolated-3] 0.000138 1.000000 0.000002 -0.000556 [component_container_isolated-3] 0.000091 -0.000003 1.000000 -0.000597 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.744083746] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.035} {0.043,-0.442,-0.147} [component_container_isolated-3] [DEBUG] [1762964983.744133851] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.744179609] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.744220256] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000019 0.185128 -0.006954 [component_container_isolated-3] -0.000141 1.000000 0.000648 0.060679 [component_container_isolated-3] -0.185128 -0.000663 0.982714 0.017690 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.744244212] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.039,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964983.744275602] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.037} {-0.053,11.111,0.141} [component_container_isolated-3] [DEBUG] [1762964983.744325758] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.753310747] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.753381432] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.753381672] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.753484198] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.753531158] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.753582195] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000050 -0.000028 -0.000170 [component_container_isolated-3] 0.000050 1.000000 -0.000025 -0.000049 [component_container_isolated-3] 0.000028 0.000025 1.000000 -0.000056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.753610058] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.003} {-0.168,0.052,-0.162} [component_container_isolated-3] [DEBUG] [1762964983.753674051] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.753721501] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.753759364] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879445 0.000052 0.476001 -0.000846 [component_container_isolated-3] -0.004743 0.999951 0.008654 0.060290 [component_container_isolated-3] -0.475978 -0.009868 0.879402 0.017971 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.753783359] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.643,28.423,-0.309} [component_container_isolated-3] [DEBUG] [1762964983.753814669] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.387,28.372,-0.125} [component_container_isolated-3] [DEBUG] [1762964983.753428071] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.753869794] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.753956320] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000182 -0.000157 0.000276 [component_container_isolated-3] 0.000182 1.000000 0.000006 -0.000469 [component_container_isolated-3] 0.000157 -0.000006 1.000000 -0.000452 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.754022907] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.018,0.002} {0.167,0.081,0.222} [component_container_isolated-3] [DEBUG] [1762964983.754076199] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.754117948] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.754146152] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979132 -0.000166 0.203226 -0.006928 [component_container_isolated-3] 0.002595 0.999928 -0.011685 0.059333 [component_container_isolated-3] -0.203209 0.011968 0.979062 0.018567 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.754163946] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.700,11.725,0.152} [component_container_isolated-3] [DEBUG] [1762964983.754186149] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.017,-0.003} {0.487,11.646,-0.076} [component_container_isolated-3] [DEBUG] [1762964983.754225604] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.770557404] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.770613381] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.770654830] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.770701659] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000033 -0.000106 0.000457 [component_container_isolated-3] -0.000033 1.000000 0.000162 0.000300 [component_container_isolated-3] 0.000106 -0.000162 1.000000 -0.000869 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.770727779] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.030,-0.014} {0.004,-0.210,-0.241} [component_container_isolated-3] [DEBUG] [1762964983.770777604] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.770825676] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.770862697] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981527 -0.000018 0.191323 -0.006422 [component_container_isolated-3] -0.001721 0.999959 0.008923 0.060553 [component_container_isolated-3] -0.191316 -0.009087 0.981486 0.017175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.770885410] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.530,11.030,-0.100} [component_container_isolated-3] [DEBUG] [1762964983.770916489] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.029,0.014} {-0.487,11.242,0.143} [component_container_isolated-3] [DEBUG] [1762964983.771001392] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.774211933] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.774254885] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.774279382] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.774301875] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000103 0.000002 -0.000202 [component_container_isolated-3] -0.000103 1.000000 -0.000010 0.000355 [component_container_isolated-3] -0.000002 0.000010 1.000000 0.000126 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.774314118] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.035} {0.044,-0.442,-0.152} [component_container_isolated-3] [DEBUG] [1762964983.774338675] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.774364224] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.774383270] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000121 0.185130 -0.006960 [component_container_isolated-3] -0.000244 1.000000 0.000638 0.060696 [component_container_isolated-3] -0.185130 -0.000672 0.982714 0.017695 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.774395323] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.039,10.669,-0.014} [component_container_isolated-3] [DEBUG] [1762964983.774410292] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.037} {-0.053,11.111,0.141} [component_container_isolated-3] [DEBUG] [1762964983.774436061] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.780785066] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.780846053] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.780885819] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.780966092] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000116 -0.000248 0.000236 [component_container_isolated-3] -0.000117 1.000000 -0.000073 -0.000082 [component_container_isolated-3] 0.000248 0.000073 1.000000 -0.000811 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.780993194] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.018,0.002} {0.171,0.067,0.216} [component_container_isolated-3] [DEBUG] [1762964983.781041506] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.781085169] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.781124494] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979182 -0.000038 0.202983 -0.006924 [component_container_isolated-3] 0.002476 0.999928 -0.011758 0.059285 [component_container_isolated-3] -0.202968 0.012016 0.979112 0.018210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.781148340] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.703,11.711,0.145} [component_container_isolated-3] [DEBUG] [1762964983.781178277] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.017,-0.002} {0.487,11.646,-0.076} [component_container_isolated-3] [DEBUG] [1762964983.781227301] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.794068274] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.794123159] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.794163766] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.794207580] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000085 -0.000061 0.000080 [component_container_isolated-3] -0.000085 1.000000 0.000015 0.000085 [component_container_isolated-3] 0.000061 -0.000015 1.000000 -0.000116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.794234401] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.169,0.049,-0.167} [component_container_isolated-3] [DEBUG] [1762964983.794283174] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.794326006] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.794362175] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879474 0.000120 0.475948 -0.000852 [component_container_isolated-3] -0.004828 0.999951 0.008670 0.060301 [component_container_isolated-3] -0.475923 -0.009922 0.879431 0.017952 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.794386311] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.419,-0.315} [component_container_isolated-3] [DEBUG] [1762964983.794419905] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.387,28.372,-0.125} [component_container_isolated-3] [DEBUG] [1762964983.794469730] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.804915970] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.804992206] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.805031892] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.805078050] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000095 0.000084 -0.000582 [component_container_isolated-3] -0.000095 1.000000 0.000166 0.000207 [component_container_isolated-3] -0.000084 -0.000166 1.000000 0.000782 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.805103689] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.030,-0.013} {-0.006,-0.205,-0.247} [component_container_isolated-3] [DEBUG] [1762964983.805153534] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.805198961] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.805238987] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 0.000043 0.191406 -0.006442 [component_container_isolated-3] -0.001816 0.999957 0.009089 0.060590 [component_container_isolated-3] -0.191398 -0.009268 0.981469 0.017243 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.805264075] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.541,11.034,-0.106} [component_container_isolated-3] [DEBUG] [1762964983.805296948] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.029,0.014} {-0.487,11.242,0.143} [component_container_isolated-3] [DEBUG] [1762964983.805346563] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.820858667] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.820955903] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.821001680] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.821052347] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000016 0.000271 0.000523 [component_container_isolated-3] -0.000016 1.000000 -0.000039 0.000153 [component_container_isolated-3] -0.000271 0.000039 1.000000 0.000438 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.821080972] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.017,0.002} {0.174,0.082,0.215} [component_container_isolated-3] [DEBUG] [1762964983.821135806] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.821184239] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.821223484] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979127 -0.000014 0.203249 -0.006739 [component_container_isolated-3] 0.002463 0.999927 -0.011797 0.059261 [component_container_isolated-3] -0.203234 0.012052 0.979056 0.018096 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.821248191] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.705,11.726,0.144} [component_container_isolated-3] [DEBUG] [1762964983.821281725] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.017,-0.003} {0.487,11.646,-0.076} [component_container_isolated-3] [DEBUG] [1762964983.821335808] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.828590062] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.828647311] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.828696385] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.828755368] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000016 0.000271 0.000523 [component_container_isolated-3] -0.000016 1.000000 -0.000039 0.000153 [component_container_isolated-3] -0.000271 0.000039 1.000000 0.000438 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.828790875] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.017,0.002} {0.176,0.098,0.214} [component_container_isolated-3] [DEBUG] [1762964983.828858865] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.828916756] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.829009733] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979127 -0.000014 0.203249 -0.006739 [component_container_isolated-3] 0.002463 0.999927 -0.011797 0.059261 [component_container_isolated-3] -0.203234 0.012052 0.979056 0.018096 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.829044109] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.705,11.726,0.144} [component_container_isolated-3] [DEBUG] [1762964983.829088714] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.017,-0.003} {0.485,11.630,-0.075} [component_container_isolated-3] [DEBUG] [1762964983.829168366] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.831148949] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.831226076] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.831269429] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.831316148] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000025 0.000052 -0.000011 [component_container_isolated-3] 0.000025 1.000000 0.000007 -0.000052 [component_container_isolated-3] -0.000052 -0.000007 1.000000 0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.831341877] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.003} {-0.169,0.052,-0.165} [component_container_isolated-3] [DEBUG] [1762964983.831393596] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.831437380] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.831161413] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.831526239] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.831475372] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879449 0.000095 0.475993 -0.000859 [component_container_isolated-3] -0.004803 0.999951 0.008676 0.060304 [component_container_isolated-3] -0.475969 -0.009916 0.879406 0.017945 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.831636390] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.422,-0.313} [component_container_isolated-3] [DEBUG] [1762964983.831669904] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.387,28.372,-0.125} [component_container_isolated-3] [DEBUG] [1762964983.831582226] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.831735168] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.831771147] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000110 0.000142 0.000250 [component_container_isolated-3] 0.000110 1.000000 -0.000025 -0.000383 [component_container_isolated-3] -0.000142 0.000025 1.000000 0.000437 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.831816323] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.035} {0.045,-0.434,-0.146} [component_container_isolated-3] [DEBUG] [1762964983.831870327] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.831938918] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.831974195] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982688 0.000018 0.185270 -0.006920 [component_container_isolated-3] -0.000134 1.000000 0.000613 0.060641 [component_container_isolated-3] -0.185270 -0.000627 0.982688 0.017783 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.831996227] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.677,-0.008} [component_container_isolated-3] [DEBUG] [1762964983.832028338] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.037} {-0.053,11.111,0.141} [component_container_isolated-3] [DEBUG] [1762964983.832079055] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.838189294] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.838243378] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.838283244] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.838326496] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000110 0.000142 0.000250 [component_container_isolated-3] 0.000110 1.000000 -0.000025 -0.000383 [component_container_isolated-3] -0.000142 0.000025 1.000000 0.000437 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.838352065] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.012,-0.034} {0.047,-0.426,-0.140} [component_container_isolated-3] [DEBUG] [1762964983.838418452] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.838462536] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.838501781] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982688 0.000018 0.185270 -0.006920 [component_container_isolated-3] -0.000134 1.000000 0.000613 0.060641 [component_container_isolated-3] -0.185270 -0.000627 0.982688 0.017783 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.838526709] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.677,-0.008} [component_container_isolated-3] [DEBUG] [1762964983.838560132] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.036} {-0.056,11.103,0.134} [component_container_isolated-3] [DEBUG] [1762964983.838563830] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.838663891] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.838703456] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.838750526] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000045 0.000058 0.000365 [component_container_isolated-3] 0.000045 1.000000 -0.000180 0.000092 [component_container_isolated-3] -0.000058 0.000180 1.000000 0.000382 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.838775364] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.030,-0.013} {0.005,-0.202,-0.244} [component_container_isolated-3] [DEBUG] [1762964983.838827173] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.838627020] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.838886576] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.839021884] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981500 0.000033 0.191463 -0.006382 [component_container_isolated-3] -0.001772 0.999959 0.008908 0.060624 [component_container_isolated-3] -0.191455 -0.009083 0.981459 0.017367 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.839050118] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.530,11.038,-0.103} [component_container_isolated-3] [DEBUG] [1762964983.839081158] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.030,0.013} {-0.487,11.242,0.143} [component_container_isolated-3] [DEBUG] [1762964983.839149308] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.872887169] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.872965438] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.873008941] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.873054148] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000062 -0.000008 0.000072 [component_container_isolated-3] 0.000062 1.000000 0.000048 -0.000081 [component_container_isolated-3] 0.000008 -0.000048 1.000000 0.000013 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.873079436] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.003} {-0.172,0.051,-0.162} [component_container_isolated-3] [DEBUG] [1762964983.873130293] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.873173716] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.873213983] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879453 0.000017 0.475986 -0.000861 [component_container_isolated-3] -0.004741 0.999951 0.008724 0.060298 [component_container_isolated-3] -0.475963 -0.009929 0.879409 0.017934 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.873239181] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.422,-0.309} [component_container_isolated-3] [DEBUG] [1762964983.873272154] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.387,28.372,-0.125} [component_container_isolated-3] [DEBUG] [1762964983.873321769] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.883607682] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.883662637] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.883700359] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.883743852] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000085 0.000027 -0.000562 [component_container_isolated-3] 0.000085 1.000000 -0.000063 -0.000350 [component_container_isolated-3] -0.000027 0.000063 1.000000 0.000199 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.883768269] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.030,-0.013} {0.008,-0.200,-0.239} [component_container_isolated-3] [DEBUG] [1762964983.883815619] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.883859143] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.883896263] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981495 -0.000038 0.191490 -0.006444 [component_container_isolated-3] -0.001687 0.999959 0.008846 0.060605 [component_container_isolated-3] -0.191482 -0.009005 0.981455 0.017492 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.883954084] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.526,11.039,-0.098} [component_container_isolated-3] [DEBUG] [1762964983.883990002] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.029,0.013} {-0.487,11.242,0.143} [component_container_isolated-3] [DEBUG] [1762964983.884048314] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.891607250] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.891657836] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.891693665] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.891744742] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000034 -0.000178 -0.000280 [component_container_isolated-3] -0.000034 1.000000 0.000047 0.000086 [component_container_isolated-3] 0.000178 -0.000047 1.000000 -0.000070 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.891772305] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.012,-0.034} {0.044,-0.436,-0.142} [component_container_isolated-3] [DEBUG] [1762964983.891824234] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.891870432] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.891908625] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982721 0.000042 0.185095 -0.006936 [component_container_isolated-3] -0.000167 1.000000 0.000661 0.060626 [component_container_isolated-3] -0.185094 -0.000680 0.982720 0.017811 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.891964452] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.040,10.667,-0.010} [component_container_isolated-3] [DEBUG] [1762964983.891997996] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.036} {-0.056,11.103,0.134} [component_container_isolated-3] [DEBUG] [1762964983.892056438] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.895748729] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.895801289] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.895840154] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.895885610] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000016 0.000271 0.000523 [component_container_isolated-3] -0.000016 1.000000 -0.000039 0.000153 [component_container_isolated-3] -0.000271 0.000039 1.000000 0.000438 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.895910608] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.017,0.003} {0.178,0.113,0.213} [component_container_isolated-3] [DEBUG] [1762964983.895991633] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.896039625] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.896078869] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979127 -0.000014 0.203249 -0.006739 [component_container_isolated-3] 0.002463 0.999927 -0.011797 0.059261 [component_container_isolated-3] -0.203234 0.012052 0.979056 0.018096 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.896104378] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.705,11.726,0.144} [component_container_isolated-3] [DEBUG] [1762964983.896135237] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.003} {0.483,11.615,-0.075} [component_container_isolated-3] [DEBUG] [1762964983.896188188] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.918137626] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.918194224] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.918235473] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.918280359] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000051 0.000032 0.000068 [component_container_isolated-3] -0.000051 1.000000 0.000026 0.000186 [component_container_isolated-3] -0.000032 -0.000026 1.000000 -0.000020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.918305898] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.003} {-0.173,0.053,-0.165} [component_container_isolated-3] [DEBUG] [1762964983.918354811] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.918396210] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.918431888] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879437 0.000050 0.476015 -0.000851 [component_container_isolated-3] -0.004792 0.999950 0.008750 0.060317 [component_container_isolated-3] -0.475991 -0.009976 0.879394 0.017918 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.918456155] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.650,28.424,-0.312} [component_container_isolated-3] [DEBUG] [1762964983.918488977] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.387,28.372,-0.125} [component_container_isolated-3] [DEBUG] [1762964983.918541888] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.929190595] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.929246792] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.929287590] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.929333137] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000109 0.000143 0.000077 [component_container_isolated-3] -0.000109 1.000000 -0.000007 0.000096 [component_container_isolated-3] -0.000143 0.000007 1.000000 0.000223 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.929359307] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.030,-0.013} {0.009,-0.192,-0.245} [component_container_isolated-3] [DEBUG] [1762964983.929408321] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.929453988] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.929490137] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981467 0.000070 0.191630 -0.006432 [component_container_isolated-3] -0.001797 0.999959 0.008838 0.060608 [component_container_isolated-3] -0.191621 -0.009019 0.981427 0.017618 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.929515145] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.526,11.047,-0.105} [component_container_isolated-3] [DEBUG] [1762964983.929548659] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.029,0.013} {-0.487,11.242,0.143} [component_container_isolated-3] [DEBUG] [1762964983.929603784] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.936468203] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.936524901] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.936566531] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.936611276] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000155 -0.000140 0.000169 [component_container_isolated-3] -0.000155 1.000000 -0.000110 0.000777 [component_container_isolated-3] 0.000140 0.000110 1.000000 -0.000855 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.936637286] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.035} {0.050,-0.444,-0.151} [component_container_isolated-3] [DEBUG] [1762964983.936685709] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.936729893] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.936766994] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982747 0.000215 0.184957 -0.006952 [component_container_isolated-3] -0.000322 1.000000 0.000551 0.060793 [component_container_isolated-3] -0.184957 -0.000601 0.982746 0.017653 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.936790228] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.035,10.659,-0.019} [component_container_isolated-3] [DEBUG] [1762964983.936820907] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.012,0.037} {-0.056,11.103,0.134} [component_container_isolated-3] [DEBUG] [1762964983.936837909] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.936968569] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.936876433] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.937028413] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.937144204] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000109 0.000143 0.000077 [component_container_isolated-3] -0.000109 1.000000 -0.000007 0.000096 [component_container_isolated-3] -0.000143 0.000007 1.000000 0.000223 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.937180634] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.030,-0.012} {0.009,-0.184,-0.252} [component_container_isolated-3] [DEBUG] [1762964983.937249986] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.937315582] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.937356580] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981467 0.000070 0.191630 -0.006432 [component_container_isolated-3] -0.001797 0.999959 0.008838 0.060608 [component_container_isolated-3] -0.191621 -0.009019 0.981427 0.017618 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.937376438] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.526,11.047,-0.105} [component_container_isolated-3] [DEBUG] [1762964983.937398320] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.029,0.013} {-0.486,11.233,0.150} [component_container_isolated-3] [DEBUG] [1762964983.937439198] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.941806358] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.941855873] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.941894045] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.941963829] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000155 -0.000140 0.000169 [component_container_isolated-3] -0.000155 1.000000 -0.000110 0.000777 [component_container_isolated-3] 0.000140 0.000110 1.000000 -0.000855 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.941991141] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.036} {0.057,-0.452,-0.160} [component_container_isolated-3] [DEBUG] [1762964983.942040415] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.942085221] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.942125417] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982747 0.000215 0.184957 -0.006952 [component_container_isolated-3] -0.000322 1.000000 0.000551 0.060793 [component_container_isolated-3] -0.184957 -0.000601 0.982746 0.017653 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.942149904] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.035,10.659,-0.019} [component_container_isolated-3] [DEBUG] [1762964983.942182977] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.013,0.038} {-0.061,11.111,0.143} [component_container_isolated-3] [DEBUG] [1762964983.942235978] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.943438064] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.943484282] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.943519950] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.943563063] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000062 0.000081 -0.000828 [component_container_isolated-3] 0.000062 1.000000 -0.000018 -0.000078 [component_container_isolated-3] -0.000081 0.000018 1.000000 0.000157 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.943588992] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.017,0.003} {0.179,0.118,0.217} [component_container_isolated-3] [DEBUG] [1762964983.943639519] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.943685496] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.943725473] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979111 -0.000071 0.203328 -0.006780 [component_container_isolated-3] 0.002526 0.999927 -0.011815 0.059234 [component_container_isolated-3] -0.203313 0.012082 0.979039 0.018072 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.943748757] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.707,11.731,0.148} [component_container_isolated-3] [DEBUG] [1762964983.943780849] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.017,-0.004} {0.483,11.615,-0.075} [component_container_isolated-3] [DEBUG] [1762964983.943832457] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.947277617] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.947334846] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.947379411] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.947425810] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000042 -0.000058 -0.000038 [component_container_isolated-3] 0.000042 1.000000 -0.000045 -0.000168 [component_container_isolated-3] 0.000058 0.000045 1.000000 0.000016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.947452340] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.003} {-0.171,0.050,-0.162} [component_container_isolated-3] [DEBUG] [1762964983.947505372] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.947548504] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.947586206] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879465 0.000035 0.475964 -0.000849 [component_container_isolated-3] -0.004750 0.999951 0.008705 0.060309 [component_container_isolated-3] -0.475940 -0.009917 0.879422 0.017913 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.947613167] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.421,-0.309} [component_container_isolated-3] [DEBUG] [1762964983.947644567] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.387,28.372,-0.125} [component_container_isolated-3] [DEBUG] [1762964983.947696016] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.965986626] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.966067521] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.966111886] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.966162452] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000025 -0.000129 0.000072 [component_container_isolated-3] -0.000025 1.000000 0.000006 0.000087 [component_container_isolated-3] 0.000129 -0.000006 1.000000 -0.000335 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.966191918] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.017,0.003} {0.179,0.111,0.215} [component_container_isolated-3] [DEBUG] [1762964983.966212768] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.966296568] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.966341113] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.966401058] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000155 -0.000140 0.000169 [component_container_isolated-3] -0.000155 1.000000 -0.000110 0.000777 [component_container_isolated-3] 0.000140 0.000110 1.000000 -0.000855 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.966428360] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.015,-0.037} {0.063,-0.460,-0.168} [component_container_isolated-3] [DEBUG] [1762964983.966246523] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.966542578] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.966580530] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979137 -0.000048 0.203202 -0.006801 [component_container_isolated-3] 0.002500 0.999927 -0.011809 0.059221 [component_container_isolated-3] -0.203186 0.012070 0.979066 0.017983 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.966603234] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.706,11.723,0.146} [component_container_isolated-3] [DEBUG] [1762964983.966634213] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.017,-0.004} {0.483,11.615,-0.075} [component_container_isolated-3] [DEBUG] [1762964983.966685010] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.966777637] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.966827262] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.966865134] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982747 0.000215 0.184957 -0.006952 [component_container_isolated-3] -0.000322 1.000000 0.000551 0.060793 [component_container_isolated-3] -0.184957 -0.000601 0.982746 0.017653 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.966889891] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.035,10.659,-0.019} [component_container_isolated-3] [DEBUG] [1762964983.966941810] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.065,11.119,0.152} [component_container_isolated-3] [DEBUG] [1762964983.966988970] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.968004590] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.968058213] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.968106324] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.968156821] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000021 0.000014 0.000049 [component_container_isolated-3] 0.000021 1.000000 -0.000051 -0.000076 [component_container_isolated-3] -0.000014 0.000051 1.000000 0.000038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.968183041] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.003} {-0.168,0.051,-0.161} [component_container_isolated-3] [DEBUG] [1762964983.968238357] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.968283583] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.968319862] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879458 0.000041 0.475976 -0.000839 [component_container_isolated-3] -0.004730 0.999951 0.008654 0.060294 [component_container_isolated-3] -0.475953 -0.009862 0.879416 0.017908 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.968347054] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.421,-0.308} [component_container_isolated-3] [DEBUG] [1762964983.968379436] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.387,28.372,-0.125} [component_container_isolated-3] [DEBUG] [1762964983.968431495] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.980494884] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.980550099] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.980594023] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.980641914] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000021 -0.000388 0.001007 [component_container_isolated-3] 0.000021 1.000000 0.000091 -0.000316 [component_container_isolated-3] 0.000388 -0.000091 1.000000 -0.001457 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.980667994] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.030,-0.014} {0.004,-0.206,-0.250} [component_container_isolated-3] [DEBUG] [1762964983.980718521] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.980764679] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.980801649] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 0.000032 0.191249 -0.006255 [component_container_isolated-3] -0.001772 0.999959 0.008930 0.060553 [component_container_isolated-3] -0.191241 -0.009104 0.981501 0.017285 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.980824964] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.531,11.025,-0.103} [component_container_isolated-3] [DEBUG] [1762964983.980858628] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.029,0.014} {-0.486,11.233,0.150} [component_container_isolated-3] [DEBUG] [1762964983.980910998] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.991666509] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.991729048] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.991770247] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.991816796] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000026 0.000123 -0.000402 [component_container_isolated-3] 0.000026 1.000000 0.000193 -0.000319 [component_container_isolated-3] -0.000123 -0.000193 1.000000 0.000585 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.991843106] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.017,0.003} {0.168,0.118,0.217} [component_container_isolated-3] [DEBUG] [1762964983.991892410] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.991966662] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.992009464] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979112 -0.000112 0.203323 -0.006875 [component_container_isolated-3] 0.002527 0.999929 -0.011616 0.059149 [component_container_isolated-3] -0.203307 0.011887 0.979043 0.018022 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.992034010] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.696,11.730,0.148} [component_container_isolated-3] [DEBUG] [1762964983.992064629] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.017,-0.004} {0.483,11.615,-0.075} [component_container_isolated-3] [DEBUG] [1762964983.992115246] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964983.995333401] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964983.995391112] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964983.995437771] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964983.995484871] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000155 -0.000140 0.000169 [component_container_isolated-3] -0.000155 1.000000 -0.000110 0.000777 [component_container_isolated-3] 0.000140 0.000110 1.000000 -0.000855 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964983.995506302] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.015,-0.038} {0.069,-0.468,-0.177} [component_container_isolated-3] [DEBUG] [1762964983.995553131] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964983.995613777] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964983.995660657] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982747 0.000215 0.184957 -0.006952 [component_container_isolated-3] -0.000322 1.000000 0.000551 0.060793 [component_container_isolated-3] -0.184957 -0.000601 0.982746 0.017653 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964983.995687858] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.035,10.659,-0.019} [component_container_isolated-3] [DEBUG] [1762964983.995716583] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.015,0.040} {-0.070,11.127,0.161} [component_container_isolated-3] [DEBUG] [1762964983.995781407] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.003972119] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.004026674] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.004068043] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.004113459] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000045 0.000084 -0.000241 [component_container_isolated-3] -0.000045 1.000000 0.000086 0.000136 [component_container_isolated-3] -0.000084 -0.000086 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.004140912] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.003} {-0.173,0.055,-0.164} [component_container_isolated-3] [DEBUG] [1762964984.004195456] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.004242746] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.004283885] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879418 0.000039 0.476050 -0.000855 [component_container_isolated-3] -0.004776 0.999950 0.008739 0.060299 [component_container_isolated-3] -0.476026 -0.009959 0.879375 0.017917 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.004309955] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.649,28.426,-0.311} [component_container_isolated-3] [DEBUG] [1762964984.004342567] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.387,28.372,-0.125} [component_container_isolated-3] [DEBUG] [1762964984.004391621] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.018052990] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.018123054] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.018181496] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.018244997] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000029 0.000240 -0.000897 [component_container_isolated-3] 0.000029 1.000000 -0.000066 -0.000133 [component_container_isolated-3] -0.000240 0.000066 1.000000 0.001269 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.018283691] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.030,-0.012} {0.008,-0.192,-0.249} [component_container_isolated-3] [DEBUG] [1762964984.018351801] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.018425973] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.018478703] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981496 0.000016 0.191485 -0.006292 [component_container_isolated-3] -0.001745 0.999959 0.008864 0.060500 [component_container_isolated-3] -0.191477 -0.009034 0.981456 0.017540 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.018513891] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.527,11.039,-0.102} [component_container_isolated-3] [DEBUG] [1762964984.018556632] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.029,0.013} {-0.486,11.233,0.150} [component_container_isolated-3] [DEBUG] [1762964984.018631385] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.027850872] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.027906318] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.027976252] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.028023442] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000029 0.000240 -0.000897 [component_container_isolated-3] 0.000029 1.000000 -0.000066 -0.000133 [component_container_isolated-3] -0.000240 0.000066 1.000000 0.001269 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.028053489] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.029,-0.011} {0.011,-0.178,-0.247} [component_container_isolated-3] [DEBUG] [1762964984.028106130] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.028155614] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.028195981] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981496 0.000016 0.191485 -0.006292 [component_container_isolated-3] -0.001745 0.999959 0.008864 0.060500 [component_container_isolated-3] -0.191477 -0.009034 0.981456 0.017540 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.028224496] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.527,11.039,-0.102} [component_container_isolated-3] [DEBUG] [1762964984.028256507] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.029,0.012} {-0.490,11.220,0.148} [component_container_isolated-3] [DEBUG] [1762964984.028307414] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.030029493] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.030081552] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.030121428] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.030166775] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000024 -0.000106 0.000038 [component_container_isolated-3] -0.000023 1.000000 0.000011 -0.000031 [component_container_isolated-3] 0.000106 -0.000011 1.000000 -0.000047 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.030192504] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.003} {-0.173,0.049,-0.165} [component_container_isolated-3] [DEBUG] [1762964984.030240526] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.030283909] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.030320298] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879469 0.000055 0.475956 -0.000864 [component_container_isolated-3] -0.004798 0.999950 0.008750 0.060299 [component_container_isolated-3] -0.475932 -0.009979 0.879425 0.017918 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.030345757] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.650,28.420,-0.313} [component_container_isolated-3] [DEBUG] [1762964984.030379461] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.387,28.372,-0.125} [component_container_isolated-3] [DEBUG] [1762964984.030432342] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.032166714] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.032212632] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.032248611] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.032292635] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000084 0.000223 0.000182 [component_container_isolated-3] -0.000084 1.000000 0.000097 0.000521 [component_container_isolated-3] -0.000223 -0.000097 1.000000 0.000612 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.032318244] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.017,0.004} {0.162,0.130,0.212} [component_container_isolated-3] [DEBUG] [1762964984.032368189] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.032413726] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.032452791] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 -0.000050 0.203540 -0.006850 [component_container_isolated-3] 0.002445 0.999931 -0.011518 0.059181 [component_container_isolated-3] -0.203526 0.011774 0.978999 0.018201 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.032477047] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.689,11.743,0.143} [component_container_isolated-3] [DEBUG] [1762964984.032506994] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.016,-0.005} {0.483,11.615,-0.075} [component_container_isolated-3] [DEBUG] [1762964984.032556008] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.037261214] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.037312231] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.037351075] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.037393426] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000084 0.000223 0.000182 [component_container_isolated-3] -0.000084 1.000000 0.000097 0.000521 [component_container_isolated-3] -0.000223 -0.000097 1.000000 0.000612 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.037417372] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.016,0.005} {0.156,0.143,0.207} [component_container_isolated-3] [DEBUG] [1762964984.037463871] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.037506111] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.037541329] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 -0.000050 0.203540 -0.006850 [component_container_isolated-3] 0.002445 0.999931 -0.011518 0.059181 [component_container_isolated-3] -0.203526 0.011774 0.978999 0.018201 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.037564964] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.689,11.743,0.143} [component_container_isolated-3] [DEBUG] [1762964984.037597496] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.016,-0.005} {0.490,11.602,-0.070} [component_container_isolated-3] [DEBUG] [1762964984.037653002] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.040486142] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.040540636] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.040580813] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.040626390] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000061 0.000287 0.000159 [component_container_isolated-3] -0.000061 1.000000 0.000058 0.000532 [component_container_isolated-3] -0.000287 -0.000058 1.000000 0.000507 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.040652229] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.016,-0.037} {0.066,-0.452,-0.181} [component_container_isolated-3] [DEBUG] [1762964984.040701484] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.040750858] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.040791475] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982693 0.000264 0.185239 -0.006914 [component_container_isolated-3] -0.000383 1.000000 0.000609 0.061031 [component_container_isolated-3] -0.185239 -0.000670 0.982693 0.017661 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.040816684] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.039,10.675,-0.022} [component_container_isolated-3] [DEBUG] [1762964984.040851590] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.015,0.039} {-0.070,11.127,0.161} [component_container_isolated-3] [DEBUG] [1762964984.040902137] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.049738723] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.049789319] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.049827222] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.049870214] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000024 -0.000106 0.000038 [component_container_isolated-3] -0.000023 1.000000 0.000011 -0.000031 [component_container_isolated-3] 0.000106 -0.000011 1.000000 -0.000047 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.049894801] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.003} {-0.174,0.043,-0.166} [component_container_isolated-3] [DEBUG] [1762964984.049993950] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.050044927] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.050085425] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879469 0.000055 0.475956 -0.000864 [component_container_isolated-3] -0.004798 0.999950 0.008750 0.060299 [component_container_isolated-3] -0.475932 -0.009979 0.879425 0.017918 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.050110432] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.650,28.420,-0.313} [component_container_isolated-3] [DEBUG] [1762964984.050143526] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.386,28.378,-0.123} [component_container_isolated-3] [DEBUG] [1762964984.050199192] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.071897651] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.071981802] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.072022389] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.072067776] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000016 0.000009 -0.000087 [component_container_isolated-3] 0.000016 1.000000 0.000138 -0.000217 [component_container_isolated-3] -0.000009 -0.000138 1.000000 -0.000116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.072093425] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.016,-0.037} {0.058,-0.451,-0.180} [component_container_isolated-3] [DEBUG] [1762964984.072146726] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.072193406] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.072234484] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982692 0.000222 0.185248 -0.006908 [component_container_isolated-3] -0.000367 1.000000 0.000747 0.061103 [component_container_isolated-3] -0.185248 -0.000802 0.982692 0.017647 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.072258991] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.047,10.676,-0.021} [component_container_isolated-3] [DEBUG] [1762964984.072293316] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.015,0.039} {-0.070,11.127,0.161} [component_container_isolated-3] [DEBUG] [1762964984.072343592] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.078653042] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.078755908] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.078814330] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.078872651] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000087 -0.000086 0.000222 [component_container_isolated-3] -0.000087 1.000000 0.000062 0.000363 [component_container_isolated-3] 0.000086 -0.000062 1.000000 -0.000686 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.078907147] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.030,-0.012} {0.008,-0.183,-0.252} [component_container_isolated-3] [DEBUG] [1762964984.079023259] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.079114754] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.079160932] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981512 0.000090 0.191401 -0.006299 [component_container_isolated-3] -0.001832 0.999958 0.008925 0.060507 [component_container_isolated-3] -0.191392 -0.009111 0.981471 0.017502 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.079183896] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.532,11.034,-0.107} [component_container_isolated-3] [DEBUG] [1762964984.079207992] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.029,0.012} {-0.490,11.220,0.148} [component_container_isolated-3] [DEBUG] [1762964984.079308694] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.083105315] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.083159318] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.083199725] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.083243158] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000084 0.000223 0.000182 [component_container_isolated-3] -0.000084 1.000000 0.000097 0.000521 [component_container_isolated-3] -0.000223 -0.000097 1.000000 0.000612 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.083267655] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.016,0.005} {0.151,0.156,0.202} [component_container_isolated-3] [DEBUG] [1762964984.083324694] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.083366774] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.083401290] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 -0.000050 0.203540 -0.006850 [component_container_isolated-3] 0.002445 0.999931 -0.011518 0.059181 [component_container_isolated-3] -0.203526 0.011774 0.978999 0.018201 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.083422941] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.689,11.743,0.143} [component_container_isolated-3] [DEBUG] [1762964984.083454972] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.015,-0.006} {0.496,11.589,-0.065} [component_container_isolated-3] [DEBUG] [1762964984.083509046] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.104055955] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.104116511] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.104156848] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.104201543] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000016 0.000009 -0.000087 [component_container_isolated-3] 0.000016 1.000000 0.000138 -0.000217 [component_container_isolated-3] -0.000009 -0.000138 1.000000 -0.000116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.104226621] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.012,0.016,-0.038} {0.050,-0.451,-0.179} [component_container_isolated-3] [DEBUG] [1762964984.104276456] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.104321102] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.104361679] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982692 0.000222 0.185248 -0.006908 [component_container_isolated-3] -0.000367 1.000000 0.000747 0.061103 [component_container_isolated-3] -0.185248 -0.000802 0.982692 0.017647 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.104386206] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.047,10.676,-0.021} [component_container_isolated-3] [DEBUG] [1762964984.104420231] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.062,11.126,0.160} [component_container_isolated-3] [DEBUG] [1762964984.104471930] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.106571219] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.106619160] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.106662513] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.106713060] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000019 -0.000044 -0.000058 [component_container_isolated-3] 0.000019 1.000000 -0.000371 0.000016 [component_container_isolated-3] 0.000044 0.000371 1.000000 -0.000012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.106740582] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.153,0.041,-0.165} [component_container_isolated-3] [DEBUG] [1762964984.106792291] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.106835413] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.106871983] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879490 0.000215 0.475918 -0.000870 [component_container_isolated-3] -0.004779 0.999954 0.008379 0.060295 [component_container_isolated-3] -0.475894 -0.009643 0.879450 0.017941 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.106894917] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.628,28.418,-0.311} [component_container_isolated-3] [DEBUG] [1762964984.106973126] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.386,28.378,-0.123} [component_container_isolated-3] [DEBUG] [1762964984.107027049] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.114559925] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.114613077] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.114653144] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.114699773] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000047 -0.000008 -0.000137 [component_container_isolated-3] 0.000047 1.000000 0.000042 0.000108 [component_container_isolated-3] 0.000008 -0.000042 1.000000 -0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.114726043] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.030,-0.012} {0.006,-0.184,-0.249} [component_container_isolated-3] [DEBUG] [1762964984.114774255] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.114818920] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.114859668] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 0.000036 0.191393 -0.006326 [component_container_isolated-3] -0.001785 0.999958 0.008967 0.060524 [component_container_isolated-3] -0.191385 -0.009143 0.981472 0.017486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.114884696] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.534,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964984.114954780] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.029,0.012} {-0.490,11.220,0.148} [component_container_isolated-3] [DEBUG] [1762964984.115054250] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.125280950] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.125333811] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.125375230] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.125420056] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000084 0.000223 0.000182 [component_container_isolated-3] -0.000084 1.000000 0.000097 0.000521 [component_container_isolated-3] -0.000223 -0.000097 1.000000 0.000612 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.125445494] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.015,0.006} {0.145,0.169,0.198} [component_container_isolated-3] [DEBUG] [1762964984.125492674] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.125571835] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.125611080] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 -0.000050 0.203540 -0.006850 [component_container_isolated-3] 0.002445 0.999931 -0.011518 0.059181 [component_container_isolated-3] -0.203526 0.011774 0.978999 0.018201 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.125634685] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.689,11.743,0.143} [component_container_isolated-3] [DEBUG] [1762964984.125666326] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.006} {0.503,11.576,-0.060} [component_container_isolated-3] [DEBUG] [1762964984.125715650] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.131384717] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.131434552] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.131471783] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.131516007] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000047 -0.000008 -0.000137 [component_container_isolated-3] 0.000047 1.000000 0.000042 0.000108 [component_container_isolated-3] 0.000008 -0.000042 1.000000 -0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.131541045] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.030,-0.012} {0.003,-0.184,-0.247} [component_container_isolated-3] [DEBUG] [1762964984.131591221] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.131637099] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.131676334] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 0.000036 0.191393 -0.006326 [component_container_isolated-3] -0.001785 0.999958 0.008967 0.060524 [component_container_isolated-3] -0.191385 -0.009143 0.981472 0.017486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.131700309] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.534,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964984.131733342] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.012} {-0.488,11.220,0.146} [component_container_isolated-3] [DEBUG] [1762964984.131785282] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.134622470] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.134672956] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.134712021] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.134754863] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000140 0.000152 -0.000050 [component_container_isolated-3] 0.000140 1.000000 0.000123 -0.000202 [component_container_isolated-3] -0.000152 -0.000123 1.000000 0.000149 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.134780241] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.160,0.049,-0.157} [component_container_isolated-3] [DEBUG] [1762964984.134828233] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.134870704] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.134910730] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879418 0.000033 0.476051 -0.000886 [component_container_isolated-3] -0.004640 0.999953 0.008501 0.060269 [component_container_isolated-3] -0.476028 -0.009685 0.879377 0.017960 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.134963732] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.631,28.426,-0.302} [component_container_isolated-3] [DEBUG] [1762964984.134997196] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.386,28.378,-0.123} [component_container_isolated-3] [DEBUG] [1762964984.135052662] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.144179211] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.144229617] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.144266939] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.144309790] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000084 0.000223 0.000182 [component_container_isolated-3] -0.000084 1.000000 0.000097 0.000521 [component_container_isolated-3] -0.000223 -0.000097 1.000000 0.000612 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.144334498] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.015,0.006} {0.140,0.181,0.193} [component_container_isolated-3] [DEBUG] [1762964984.144380315] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.144425992] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.144464606] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 -0.000050 0.203540 -0.006850 [component_container_isolated-3] 0.002445 0.999931 -0.011518 0.059181 [component_container_isolated-3] -0.203526 0.011774 0.978999 0.018201 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.144488081] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.689,11.743,0.143} [component_container_isolated-3] [DEBUG] [1762964984.144520393] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.007} {0.510,11.564,-0.055} [component_container_isolated-3] [DEBUG] [1762964984.144572923] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.157347149] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.157396122] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.157427893] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.157463611] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000140 -0.000084 -0.000465 [component_container_isolated-3] 0.000140 1.000000 -0.000105 -0.000989 [component_container_isolated-3] 0.000084 0.000105 1.000000 0.000051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.157483289] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.038} {0.056,-0.455,-0.171} [component_container_isolated-3] [DEBUG] [1762964984.157522724] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.157557741] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.157584352] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982707 0.000104 0.185165 -0.006993 [component_container_isolated-3] -0.000227 1.000000 0.000642 0.060945 [component_container_isolated-3] -0.185165 -0.000673 0.982707 0.017670 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.157601384] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.039,10.671,-0.013} [component_container_isolated-3] [DEBUG] [1762964984.157622845] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.062,11.126,0.160} [component_container_isolated-3] [DEBUG] [1762964984.157666358] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.160002540] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.160052686] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.160085749] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.160120916] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000047 -0.000008 -0.000137 [component_container_isolated-3] 0.000047 1.000000 0.000042 0.000108 [component_container_isolated-3] 0.000008 -0.000042 1.000000 -0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.160141265] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.030,-0.012} {0.001,-0.185,-0.244} [component_container_isolated-3] [DEBUG] [1762964984.160179989] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.160213994] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.160240003] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 0.000036 0.191393 -0.006326 [component_container_isolated-3] -0.001785 0.999958 0.008967 0.060524 [component_container_isolated-3] -0.191385 -0.009143 0.981472 0.017486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.160257747] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.534,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964984.160279068] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.012} {-0.486,11.220,0.143} [component_container_isolated-3] [DEBUG] [1762964984.160316910] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.166595090] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.166647200] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.166686044] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.166729687] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000114 -0.000061 0.000063 [component_container_isolated-3] -0.000114 1.000000 0.000124 0.000122 [component_container_isolated-3] 0.000061 -0.000124 1.000000 -0.000064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.166754995] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.003} {-0.167,0.046,-0.164} [component_container_isolated-3] [DEBUG] [1762964984.166803959] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.166845208] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.166885014] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879447 0.000075 0.475998 -0.000891 [component_container_isolated-3] -0.004753 0.999952 0.008626 0.060267 [component_container_isolated-3] -0.475974 -0.009849 0.879404 0.017959 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.166908729] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.423,-0.310} [component_container_isolated-3] [DEBUG] [1762964984.166975967] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.386,28.378,-0.123} [component_container_isolated-3] [DEBUG] [1762964984.167033788] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.181847789] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.181902854] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.181975573] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.182017042] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000041 0.000008 0.000151 [component_container_isolated-3] -0.000041 1.000000 -0.000155 0.000337 [component_container_isolated-3] -0.000008 0.000155 1.000000 0.000287 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.182038684] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.037} {0.065,-0.455,-0.173} [component_container_isolated-3] [DEBUG] [1762964984.182080443] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.182117143] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.182144335] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000173 0.185173 -0.006998 [component_container_isolated-3] -0.000267 1.000000 0.000487 0.060939 [component_container_isolated-3] -0.185173 -0.000528 0.982706 0.017728 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.182161889] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.031,10.671,-0.016} [component_container_isolated-3] [DEBUG] [1762964984.182184863] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.062,11.126,0.160} [component_container_isolated-3] [DEBUG] [1762964984.182223797] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.192074630] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.192122080] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.192154252] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.192189199] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000081 -0.000043 -0.000208 [component_container_isolated-3] -0.000081 1.000000 -0.000296 0.000225 [component_container_isolated-3] 0.000043 0.000296 1.000000 0.000298 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.192209337] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.015,0.007} {0.157,0.179,0.188} [component_container_isolated-3] [DEBUG] [1762964984.192247320] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.192279651] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.192305461] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979075 0.000090 0.203498 -0.006862 [component_container_isolated-3] 0.002364 0.999927 -0.011814 0.059234 [component_container_isolated-3] -0.203485 0.012048 0.979004 0.018379 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.192321281] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.705,11.741,0.138} [component_container_isolated-3] [DEBUG] [1762964984.192342511] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.007} {0.510,11.564,-0.055} [component_container_isolated-3] [DEBUG] [1762964984.192379472] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.208591703] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.208652069] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.208694580] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.208739896] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000047 -0.000008 -0.000137 [component_container_isolated-3] 0.000047 1.000000 0.000042 0.000108 [component_container_isolated-3] 0.000008 -0.000042 1.000000 -0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.208767279] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.030,-0.012} {-0.002,-0.185,-0.241} [component_container_isolated-3] [DEBUG] [1762964984.208819639] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.208863643] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.208903399] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 0.000036 0.191393 -0.006326 [component_container_isolated-3] -0.001785 0.999958 0.008967 0.060524 [component_container_isolated-3] -0.191385 -0.009143 0.981472 0.017486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.208947603] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.534,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964984.208982460] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.012} {-0.484,11.221,0.140} [component_container_isolated-3] [DEBUG] [1762964984.209034830] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.216719095] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.216772877] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.216813986] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.216859132] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000054 -0.000027 0.000033 [component_container_isolated-3] -0.000054 1.000000 -0.000053 0.000133 [component_container_isolated-3] 0.000027 0.000053 1.000000 -0.000148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.216884731] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.164,0.044,-0.167} [component_container_isolated-3] [DEBUG] [1762964984.217089863] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.217135941] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.217173953] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 0.000147 0.475974 -0.000898 [component_container_isolated-3] -0.004807 0.999952 0.008573 0.060279 [component_container_isolated-3] -0.475949 -0.009827 0.879418 0.017949 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.217197078] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.421,-0.313} [component_container_isolated-3] [DEBUG] [1762964984.217227365] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.386,28.378,-0.123} [component_container_isolated-3] [DEBUG] [1762964984.217276179] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.226689566] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.226735804] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.226771733] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.226814384] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000097 -0.000062 -0.000149 [component_container_isolated-3] 0.000097 1.000000 -0.000005 -0.000146 [component_container_isolated-3] 0.000062 0.000005 1.000000 -0.000192 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.226840404] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.037} {0.065,-0.458,-0.168} [component_container_isolated-3] [DEBUG] [1762964984.226889808] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.226964882] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.227007283] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 0.000078 0.185112 -0.007039 [component_container_isolated-3] -0.000170 1.000000 0.000482 0.060918 [component_container_isolated-3] -0.185112 -0.000505 0.982717 0.017742 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.227030908] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.029,10.668,-0.010} [component_container_isolated-3] [DEBUG] [1762964984.227062749] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.062,11.126,0.160} [component_container_isolated-3] [DEBUG] [1762964984.227122954] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.245248950] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.245307442] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.245349311] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.245393185] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000001 -0.000107 0.000213 [component_container_isolated-3] -0.000001 1.000000 -0.000058 -0.000024 [component_container_isolated-3] 0.000107 0.000058 1.000000 -0.000162 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.245419225] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.160,0.038,-0.167} [component_container_isolated-3] [DEBUG] [1762964984.245467748] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.245523444] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.245592626] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.245635238] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.245683590] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000002 -0.000028 -0.000170 [component_container_isolated-3] -0.000002 1.000000 0.000176 0.000143 [component_container_isolated-3] 0.000028 -0.000176 1.000000 -0.000207 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.245710331] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.006} {0.147,0.177,0.188} [component_container_isolated-3] [DEBUG] [1762964984.245760356] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.245817916] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.245856610] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979081 0.000056 0.203471 -0.006919 [component_container_isolated-3] 0.002361 0.999929 -0.011639 0.059298 [component_container_isolated-3] -0.203457 0.011876 0.979012 0.018446 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.245878682] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.739,0.138} [component_container_isolated-3] [DEBUG] [1762964984.245909131] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.007} {0.510,11.564,-0.055} [component_container_isolated-3] [DEBUG] [1762964984.245539384] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.245982140] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.246018640] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879510 0.000176 0.475880 -0.000894 [component_container_isolated-3] -0.004807 0.999952 0.008515 0.060283 [component_container_isolated-3] -0.475856 -0.009776 0.879469 0.017907 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.246077853] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.415,-0.313} [component_container_isolated-3] [DEBUG] [1762964984.246100947] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.386,28.378,-0.123} [component_container_isolated-3] [DEBUG] [1762964984.246146183] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.246536208] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.246608697] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.246657390] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.246711222] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000047 -0.000008 -0.000137 [component_container_isolated-3] 0.000047 1.000000 0.000042 0.000108 [component_container_isolated-3] 0.000008 -0.000042 1.000000 -0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.246740679] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.030,-0.012} {-0.004,-0.186,-0.239} [component_container_isolated-3] [DEBUG] [1762964984.246792087] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.246838375] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.246876218] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 0.000036 0.191393 -0.006326 [component_container_isolated-3] -0.001785 0.999958 0.008967 0.060524 [component_container_isolated-3] -0.191385 -0.009143 0.981472 0.017486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.246899753] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.534,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964984.246963083] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.012} {-0.483,11.221,0.137} [component_container_isolated-3] [DEBUG] [1762964984.247017197] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.251992579] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.252054377] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.252096126] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.252140321] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000002 -0.000028 -0.000170 [component_container_isolated-3] -0.000002 1.000000 0.000176 0.000143 [component_container_isolated-3] 0.000028 -0.000176 1.000000 -0.000207 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.252164737] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.006} {0.137,0.176,0.188} [component_container_isolated-3] [DEBUG] [1762964984.252212809] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.252258025] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.252294014] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979081 0.000056 0.203471 -0.006919 [component_container_isolated-3] 0.002361 0.999929 -0.011639 0.059298 [component_container_isolated-3] -0.203457 0.011876 0.979012 0.018446 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.252315906] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.739,0.138} [component_container_isolated-3] [DEBUG] [1762964984.252350903] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.007} {0.520,11.565,-0.055} [component_container_isolated-3] [DEBUG] [1762964984.252403754] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.255587985] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.255649082] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.255700279] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.255763270] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000036 0.000045 -0.000110 [component_container_isolated-3] -0.000036 1.000000 0.000016 0.000020 [component_container_isolated-3] -0.000045 -0.000016 1.000000 0.000211 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.255800130] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.037} {0.064,-0.456,-0.170} [component_container_isolated-3] [DEBUG] [1762964984.255869412] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.255966678] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.256028186] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000110 0.185156 -0.007074 [component_container_isolated-3] -0.000206 1.000000 0.000499 0.060907 [component_container_isolated-3] -0.185156 -0.000528 0.982709 0.017784 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.256063774] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.031,10.670,-0.012} [component_container_isolated-3] [DEBUG] [1762964984.256107156] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.062,11.126,0.160} [component_container_isolated-3] [DEBUG] [1762964984.256182651] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.257580049] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.257628362] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.257666524] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.257710368] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000001 -0.000107 0.000213 [component_container_isolated-3] -0.000001 1.000000 -0.000058 -0.000024 [component_container_isolated-3] 0.000107 0.000058 1.000000 -0.000162 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.257737931] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.157,0.032,-0.167} [component_container_isolated-3] [DEBUG] [1762964984.257788127] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.257832021] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.257867228] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879510 0.000176 0.475880 -0.000894 [component_container_isolated-3] -0.004807 0.999952 0.008515 0.060283 [component_container_isolated-3] -0.475856 -0.009776 0.879469 0.017907 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.257889751] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.415,-0.313} [component_container_isolated-3] [DEBUG] [1762964984.257958873] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.389,28.384,-0.123} [component_container_isolated-3] [DEBUG] [1762964984.258017966] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.265658667] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.265719965] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.265762265] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.265807622] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000047 -0.000008 -0.000137 [component_container_isolated-3] 0.000047 1.000000 0.000042 0.000108 [component_container_isolated-3] 0.000008 -0.000042 1.000000 -0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.265833972] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.030,-0.012} {-0.006,-0.186,-0.236} [component_container_isolated-3] [DEBUG] [1762964984.265882555] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.265947389] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.265986524] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 0.000036 0.191393 -0.006326 [component_container_isolated-3] -0.001785 0.999958 0.008967 0.060524 [component_container_isolated-3] -0.191385 -0.009143 0.981472 0.017486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.266010129] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.534,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964984.266041659] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.012} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.266094520] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.271563324] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.271621826] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.271663776] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.271708942] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000002 -0.000028 -0.000170 [component_container_isolated-3] -0.000002 1.000000 0.000176 0.000143 [component_container_isolated-3] 0.000028 -0.000176 1.000000 -0.000207 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.271734130] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.006} {0.126,0.174,0.188} [component_container_isolated-3] [DEBUG] [1762964984.271781250] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.271823080] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.271858167] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979081 0.000056 0.203471 -0.006919 [component_container_isolated-3] 0.002361 0.999929 -0.011639 0.059298 [component_container_isolated-3] -0.203457 0.011876 0.979012 0.018446 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.271882013] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.739,0.138} [component_container_isolated-3] [DEBUG] [1762964984.271914615] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.014,-0.006} {0.530,11.567,-0.055} [component_container_isolated-3] [DEBUG] [1762964984.272003956] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.281134022] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.281194978] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.281236868] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.281284038] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000061 -0.000180 0.000064 [component_container_isolated-3] -0.000061 1.000000 0.000100 0.000137 [component_container_isolated-3] 0.000180 -0.000100 1.000000 -0.000698 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.281309988] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.038} {0.059,-0.466,-0.173} [component_container_isolated-3] [DEBUG] [1762964984.281360865] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.281406202] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.281447761] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982742 0.000151 0.184979 -0.007122 [component_container_isolated-3] -0.000267 1.000000 0.000598 0.060912 [component_container_isolated-3] -0.184979 -0.000637 0.982742 0.017668 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.281480433] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.660,-0.016} [component_container_isolated-3] [DEBUG] [1762964984.281521973] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.040} {-0.062,11.126,0.160} [component_container_isolated-3] [DEBUG] [1762964984.281582598] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.294289375] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.294340182] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.294380119] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.294423922] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000061 -0.000180 0.000064 [component_container_isolated-3] -0.000061 1.000000 0.000100 0.000137 [component_container_isolated-3] 0.000180 -0.000100 1.000000 -0.000698 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.294449231] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.039} {0.053,-0.477,-0.177} [component_container_isolated-3] [DEBUG] [1762964984.294496972] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.294540064] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.294575862] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982742 0.000151 0.184979 -0.007122 [component_container_isolated-3] -0.000267 1.000000 0.000598 0.060912 [component_container_isolated-3] -0.184979 -0.000637 0.982742 0.017668 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.294597293] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.660,-0.016} [component_container_isolated-3] [DEBUG] [1762964984.294629194] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.040} {-0.056,11.137,0.164} [component_container_isolated-3] [DEBUG] [1762964984.294679460] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.297204152] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.297247705] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.297278313] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.297312338] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000057 0.000056 -0.000008 [component_container_isolated-3] 0.000057 1.000000 -0.000017 -0.000023 [component_container_isolated-3] -0.000056 0.000017 1.000000 0.000138 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.297331024] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.156,0.035,-0.164} [component_container_isolated-3] [DEBUG] [1762964984.297369377] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.297402771] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.297428350] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879484 0.000135 0.475929 -0.000888 [component_container_isolated-3] -0.004751 0.999953 0.008497 0.060286 [component_container_isolated-3] -0.475906 -0.009734 0.879443 0.017893 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.297445112] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.634,28.418,-0.310} [component_container_isolated-3] [DEBUG] [1762964984.297465651] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.389,28.384,-0.123} [component_container_isolated-3] [DEBUG] [1762964984.297503073] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.306970523] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.307025769] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.307066366] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.307109609] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000093 0.000212 -0.000378 [component_container_isolated-3] 0.000093 1.000000 -0.000033 -0.000207 [component_container_isolated-3] -0.000212 0.000033 1.000000 0.001051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.307134707] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.030,-0.011} {-0.005,-0.174,-0.231} [component_container_isolated-3] [DEBUG] [1762964984.307183550] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.307229738] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.307269444] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981473 -0.000050 0.191601 -0.006369 [component_container_isolated-3] -0.001694 0.999959 0.008934 0.060512 [component_container_isolated-3] -0.191593 -0.009093 0.981432 0.017784 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.307293801] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.531,11.046,-0.099} [component_container_isolated-3] [DEBUG] [1762964984.307325501] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.030,0.012} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.307375186] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.335609587] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.335657548] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.335690000] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.335725107] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000061 -0.000180 0.000064 [component_container_isolated-3] -0.000061 1.000000 0.000100 0.000137 [component_container_isolated-3] 0.000180 -0.000100 1.000000 -0.000698 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.335744655] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.039} {0.047,-0.487,-0.180} [component_container_isolated-3] [DEBUG] [1762964984.335782828] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.335818215] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.335844626] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982742 0.000151 0.184979 -0.007122 [component_container_isolated-3] -0.000267 1.000000 0.000598 0.060912 [component_container_isolated-3] -0.184979 -0.000637 0.982742 0.017668 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.335861007] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.660,-0.016} [component_container_isolated-3] [DEBUG] [1762964984.335882668] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.041} {-0.049,11.147,0.167} [component_container_isolated-3] [DEBUG] [1762964984.335940569] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.338080796] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.338131343] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.338170137] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.338213680] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000008 -0.000106 0.000210 [component_container_isolated-3] 0.000008 1.000000 -0.000033 0.000086 [component_container_isolated-3] 0.000106 0.000033 1.000000 -0.000348 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.338237826] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.006} {0.128,0.168,0.188} [component_container_isolated-3] [DEBUG] [1762964984.338285086] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.338326235] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.338364688] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979103 0.000055 0.203367 -0.006945 [component_container_isolated-3] 0.002368 0.999929 -0.011672 0.059354 [component_container_isolated-3] -0.203353 0.011910 0.979033 0.018467 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.338388784] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.697,11.733,0.139} [component_container_isolated-3] [DEBUG] [1762964984.338422369] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.006} {0.530,11.567,-0.055} [component_container_isolated-3] [DEBUG] [1762964984.338474338] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.341729585] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.341783928] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.341825728] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.341870163] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000049 -0.000156 -0.000153 [component_container_isolated-3] -0.000049 1.000000 -0.000185 0.000050 [component_container_isolated-3] 0.000156 0.000185 1.000000 -0.000588 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.341895782] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.030,-0.012} {0.006,-0.183,-0.233} [component_container_isolated-3] [DEBUG] [1762964984.341968821] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.342015661] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.342051079] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 0.000034 0.191447 -0.006448 [component_container_isolated-3] -0.001741 0.999960 0.008749 0.060507 [component_container_isolated-3] -0.191439 -0.008920 0.981464 0.017817 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.342075716] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.521,11.037,-0.102} [component_container_isolated-3] [DEBUG] [1762964984.342109640] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.030,0.012} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.342161389] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.344904037] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.344980052] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.345012524] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.345047020] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000001 -0.000048 -0.000172 [component_container_isolated-3] -0.000001 1.000000 -0.000192 -0.000046 [component_container_isolated-3] 0.000048 0.000192 1.000000 0.000017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.345075955] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.145,0.033,-0.164} [component_container_isolated-3] [DEBUG] [1762964984.345129347] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.345173912] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.345209661] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879506 0.000227 0.475887 -0.000892 [component_container_isolated-3] -0.004752 0.999954 0.008305 0.060281 [component_container_isolated-3] -0.475863 -0.009566 0.879467 0.017900 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.345231532] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.623,28.416,-0.310} [component_container_isolated-3] [DEBUG] [1762964984.345261760] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.005,-0.003} {-0.389,28.384,-0.123} [component_container_isolated-3] [DEBUG] [1762964984.345310744] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.356181514] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.356237842] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.356278299] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.356321822] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000001 -0.000048 -0.000172 [component_container_isolated-3] -0.000001 1.000000 -0.000192 -0.000046 [component_container_isolated-3] 0.000048 0.000192 1.000000 0.000017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.356346159] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.002} {-0.134,0.030,-0.164} [component_container_isolated-3] [DEBUG] [1762964984.356393509] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.356435229] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.356469765] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879506 0.000227 0.475887 -0.000892 [component_container_isolated-3] -0.004752 0.999954 0.008305 0.060281 [component_container_isolated-3] -0.475863 -0.009566 0.879467 0.017900 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.356491466] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.623,28.416,-0.310} [component_container_isolated-3] [DEBUG] [1762964984.356521093] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.400,28.387,-0.123} [component_container_isolated-3] [DEBUG] [1762964984.356573403] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.367375352] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.367430267] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.367468910] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.367512684] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000101 0.000290 -0.000202 [component_container_isolated-3] 0.000101 1.000000 0.000083 -0.000336 [component_container_isolated-3] -0.000290 -0.000083 1.000000 0.000684 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.367538163] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.006} {0.124,0.185,0.194} [component_container_isolated-3] [DEBUG] [1762964984.367584391] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.367625339] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.367661178] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979044 -0.000060 0.203650 -0.006961 [component_container_isolated-3] 0.002472 0.999930 -0.011588 0.059364 [component_container_isolated-3] -0.203635 0.011849 0.978975 0.018649 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.367684803] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.750,0.145} [component_container_isolated-3] [DEBUG] [1762964984.367716133] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.014,-0.007} {0.530,11.567,-0.055} [component_container_isolated-3] [DEBUG] [1762964984.367765517] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.369644195] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.369694260] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.369727233] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.369762631] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000061 -0.000180 0.000064 [component_container_isolated-3] -0.000061 1.000000 0.000100 0.000137 [component_container_isolated-3] 0.000180 -0.000100 1.000000 -0.000698 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.369783621] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.040} {0.042,-0.497,-0.184} [component_container_isolated-3] [DEBUG] [1762964984.369823818] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.369862462] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.369892639] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982742 0.000151 0.184979 -0.007122 [component_container_isolated-3] -0.000267 1.000000 0.000598 0.060912 [component_container_isolated-3] -0.184979 -0.000637 0.982742 0.017668 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.369910914] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.660,-0.016} [component_container_isolated-3] [DEBUG] [1762964984.369963545] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.042} {-0.043,11.157,0.171} [component_container_isolated-3] [DEBUG] [1762964984.370006807] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.378758080] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.378823735] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.378864623] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.378911633] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000005 0.000076 0.000079 [component_container_isolated-3] -0.000005 1.000000 0.000159 -0.000160 [component_container_isolated-3] -0.000076 -0.000159 1.000000 -0.000061 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.378963262] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.030,-0.012} {-0.003,-0.179,-0.234} [component_container_isolated-3] [DEBUG] [1762964984.379017185] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.379064996] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.379105463] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981488 0.000008 0.191522 -0.006492 [component_container_isolated-3] -0.001747 0.999959 0.008908 0.060484 [component_container_isolated-3] -0.191514 -0.009078 0.981448 0.017814 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.379130411] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.530,11.041,-0.102} [component_container_isolated-3] [DEBUG] [1762964984.379162733] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.030,0.012} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.379211947] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.387716969] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.387776643] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.387822571] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.387869310] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000001 -0.000048 -0.000172 [component_container_isolated-3] -0.000001 1.000000 -0.000192 -0.000046 [component_container_isolated-3] 0.000048 0.000192 1.000000 0.000017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.387893907] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.123,0.027,-0.164} [component_container_isolated-3] [DEBUG] [1762964984.387973008] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.388019878] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.388055897] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879506 0.000227 0.475887 -0.000892 [component_container_isolated-3] -0.004752 0.999954 0.008305 0.060281 [component_container_isolated-3] -0.475863 -0.009566 0.879467 0.017900 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.388079572] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.623,28.416,-0.310} [component_container_isolated-3] [DEBUG] [1762964984.388112895] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.411,28.390,-0.123} [component_container_isolated-3] [DEBUG] [1762964984.388164043] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.393660039] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.393716287] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.393768426] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.393828150] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000061 -0.000180 0.000064 [component_container_isolated-3] -0.000061 1.000000 0.000100 0.000137 [component_container_isolated-3] 0.000180 -0.000100 1.000000 -0.000698 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.393862897] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.041} {0.036,-0.507,-0.187} [component_container_isolated-3] [DEBUG] [1762964984.393962687] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.394030316] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.394085331] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982742 0.000151 0.184979 -0.007122 [component_container_isolated-3] -0.000267 1.000000 0.000598 0.060912 [component_container_isolated-3] -0.184979 -0.000637 0.982742 0.017668 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.394117503] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.037,10.660,-0.016} [component_container_isolated-3] [DEBUG] [1762964984.394161537] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.015,0.042} {-0.036,11.168,0.175} [component_container_isolated-3] [DEBUG] [1762964984.394240327] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.398592890] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.398657754] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.398707949] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.398770629] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000062 -0.000480 0.000578 [component_container_isolated-3] -0.000062 1.000000 -0.000143 0.000170 [component_container_isolated-3] 0.000480 0.000143 1.000000 -0.001315 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.398806197] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.005} {0.132,0.157,0.190} [component_container_isolated-3] [DEBUG] [1762964984.398875039] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.398960722] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.399054852] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979141 0.000029 0.203180 -0.006958 [component_container_isolated-3] 0.002405 0.999928 -0.011733 0.059394 [component_container_isolated-3] -0.203165 0.011976 0.979071 0.018395 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.399093656] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.701,11.722,0.141} [component_container_isolated-3] [DEBUG] [1762964984.399135977] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.005} {0.530,11.567,-0.055} [component_container_isolated-3] [DEBUG] [1762964984.399214687] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.416799310] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.416851760] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.416890794] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.416971529] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000002 0.000102 0.000267 [component_container_isolated-3] -0.000002 1.000000 -0.000035 0.000011 [component_container_isolated-3] -0.000102 0.000035 1.000000 0.000147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.417000494] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.030,-0.012} {-0.001,-0.173,-0.234} [component_container_isolated-3] [DEBUG] [1762964984.417053736] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.417100425] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.417140451] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981469 0.000017 0.191622 -0.006503 [component_container_isolated-3] -0.001750 0.999959 0.008873 0.060469 [component_container_isolated-3] -0.191614 -0.009044 0.981429 0.017835 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.417165569] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.528,11.047,-0.102} [component_container_isolated-3] [DEBUG] [1762964984.417196087] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.012} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.417244810] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.419769071] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.419821792] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.419862299] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.419907075] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000001 -0.000048 -0.000172 [component_container_isolated-3] -0.000001 1.000000 -0.000192 -0.000046 [component_container_isolated-3] 0.000048 0.000192 1.000000 0.000017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.419962931] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.002} {-0.112,0.024,-0.164} [component_container_isolated-3] [DEBUG] [1762964984.420013127] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.420056340] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.420091888] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879506 0.000227 0.475887 -0.000892 [component_container_isolated-3] -0.004752 0.999954 0.008305 0.060281 [component_container_isolated-3] -0.475863 -0.009566 0.879467 0.017900 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.420115803] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.623,28.416,-0.310} [component_container_isolated-3] [DEBUG] [1762964984.420148215] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.422,28.392,-0.123} [component_container_isolated-3] [DEBUG] [1762964984.420200064] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.420906072] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.420989983] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.421036482] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.421091386] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000072 0.000048 0.000119 [component_container_isolated-3] 0.000072 1.000000 0.000041 -0.000217 [component_container_isolated-3] -0.000048 -0.000041 1.000000 0.000307 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.421135972] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.015,0.005} {0.130,0.160,0.195} [component_container_isolated-3] [DEBUG] [1762964984.421198952] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.421237145] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.421271100] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979132 -0.000050 0.203227 -0.006920 [component_container_isolated-3] 0.002478 0.999929 -0.011692 0.059392 [component_container_isolated-3] -0.203212 0.011951 0.979062 0.018359 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.421301047] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.699,11.725,0.145} [component_container_isolated-3] [DEBUG] [1762964984.421341815] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.006} {0.530,11.567,-0.055} [component_container_isolated-3] [DEBUG] [1762964984.421412309] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.441511133] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.441566068] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.441608459] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.441653355] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000008 -0.000206 -0.000203 [component_container_isolated-3] 0.000008 1.000000 0.000008 -0.000124 [component_container_isolated-3] 0.000206 -0.000008 1.000000 -0.000329 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.441680056] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.030,-0.012} {-0.002,-0.184,-0.233} [component_container_isolated-3] [DEBUG] [1762964984.441728859] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.441772362] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.441808571] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981508 0.000008 0.191420 -0.006552 [component_container_isolated-3] -0.001740 0.999959 0.008882 0.060436 [component_container_isolated-3] -0.191412 -0.009050 0.981468 0.017805 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.441831705] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.528,11.035,-0.102} [component_container_isolated-3] [DEBUG] [1762964984.441864678] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.030,0.012} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.441916357] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.451524797] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.451586865] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.451628275] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.451672870] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000049 0.000218 -0.000144 [component_container_isolated-3] 0.000049 1.000000 -0.000141 -0.000400 [component_container_isolated-3] -0.000218 0.000141 1.000000 0.000563 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.451697928] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.040} {0.044,-0.495,-0.184} [component_container_isolated-3] [DEBUG] [1762964984.451746270] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.451791697] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.451832184] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000130 0.185193 -0.007159 [component_container_isolated-3] -0.000218 1.000000 0.000457 0.060840 [component_container_isolated-3] -0.185193 -0.000489 0.982702 0.017726 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.451856540] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.029,10.672,-0.013} [component_container_isolated-3] [DEBUG] [1762964984.451888702] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.042} {-0.036,11.168,0.175} [component_container_isolated-3] [DEBUG] [1762964984.451975277] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.454608406] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.454656478] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.454693639] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.454734927] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000053 -0.000029 0.000023 [component_container_isolated-3] -0.000053 1.000000 0.000079 0.000159 [component_container_isolated-3] 0.000029 -0.000079 1.000000 -0.000214 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.454759314] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.005} {0.125,0.158,0.192} [component_container_isolated-3] [DEBUG] [1762964984.454804170] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.454843896] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.454881838] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979138 -0.000014 0.203198 -0.006898 [component_container_isolated-3] 0.002425 0.999930 -0.011613 0.059412 [component_container_isolated-3] -0.203184 0.011864 0.979069 0.018295 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.454905513] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.694,11.723,0.142} [component_container_isolated-3] [DEBUG] [1762964984.454980506] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.006} {0.530,11.567,-0.055} [component_container_isolated-3] [DEBUG] [1762964984.455035742] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.464209351] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.464262553] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.464304633] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.464351072] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000001 -0.000048 -0.000172 [component_container_isolated-3] -0.000001 1.000000 -0.000192 -0.000046 [component_container_isolated-3] 0.000048 0.000192 1.000000 0.000017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.464376921] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.002} {-0.101,0.022,-0.164} [component_container_isolated-3] [DEBUG] [1762964984.464426025] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.464467194] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.464501970] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879506 0.000227 0.475887 -0.000892 [component_container_isolated-3] -0.004752 0.999954 0.008305 0.060281 [component_container_isolated-3] -0.475863 -0.009566 0.879467 0.017900 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.464524904] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.623,28.416,-0.310} [component_container_isolated-3] [DEBUG] [1762964984.464555643] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.433,28.395,-0.123} [component_container_isolated-3] [DEBUG] [1762964984.464606139] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.477567322] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.477613059] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.477645301] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.477679847] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000049 0.000218 -0.000144 [component_container_isolated-3] 0.000049 1.000000 -0.000141 -0.000400 [component_container_isolated-3] -0.000218 0.000141 1.000000 0.000563 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.477699144] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.040} {0.052,-0.482,-0.182} [component_container_isolated-3] [DEBUG] [1762964984.477737166] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.477770219] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.477795768] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000130 0.185193 -0.007159 [component_container_isolated-3] -0.000218 1.000000 0.000457 0.060840 [component_container_isolated-3] -0.185193 -0.000489 0.982702 0.017726 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.477811729] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.029,10.672,-0.013} [component_container_isolated-3] [DEBUG] [1762964984.477832909] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.041} {-0.045,11.155,0.172} [component_container_isolated-3] [DEBUG] [1762964984.477875560] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.486838658] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.486901979] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.486969187] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.487018341] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000028 -0.000020 0.000519 [component_container_isolated-3] 0.000028 1.000000 -0.000076 -0.000074 [component_container_isolated-3] 0.000020 0.000076 1.000000 -0.000368 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.487047156] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.030,-0.012} {0.003,-0.186,-0.232} [component_container_isolated-3] [DEBUG] [1762964984.487102211] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.487150684] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.487191331] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981512 -0.000004 0.191401 -0.006517 [component_container_isolated-3] -0.001713 0.999960 0.008806 0.060398 [component_container_isolated-3] -0.191393 -0.008971 0.981472 0.017694 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.487214846] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.524,11.034,-0.100} [component_container_isolated-3] [DEBUG] [1762964984.487245415] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.013} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.487302464] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.509144647] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.509191787] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.509223297] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.509257252] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000064 0.000054 0.000079 [component_container_isolated-3] 0.000064 1.000000 -0.000131 -0.000325 [component_container_isolated-3] -0.000054 0.000131 1.000000 0.000106 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.509276168] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.005} {0.133,0.161,0.195} [component_container_isolated-3] [DEBUG] [1762964984.509313539] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.509346152] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.509371370] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979127 -0.000050 0.203251 -0.006864 [component_container_isolated-3] 0.002489 0.999928 -0.011744 0.059376 [component_container_isolated-3] -0.203236 0.012005 0.979056 0.018270 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.509388322] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.702,11.726,0.146} [component_container_isolated-3] [DEBUG] [1762964984.509409052] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.006} {0.530,11.567,-0.055} [component_container_isolated-3] [DEBUG] [1762964984.509446363] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.515740293] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.515786541] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.515818322] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.515853730] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000049 0.000218 -0.000144 [component_container_isolated-3] 0.000049 1.000000 -0.000141 -0.000400 [component_container_isolated-3] -0.000218 0.000141 1.000000 0.000563 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.515872756] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.039} {0.060,-0.470,-0.179} [component_container_isolated-3] [DEBUG] [1762964984.515910879] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.515982536] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.516011471] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000130 0.185193 -0.007159 [component_container_isolated-3] -0.000218 1.000000 0.000457 0.060840 [component_container_isolated-3] -0.185193 -0.000489 0.982702 0.017726 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.516028684] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.029,10.672,-0.013} [component_container_isolated-3] [DEBUG] [1762964984.516050986] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.013,0.041} {-0.054,11.143,0.169} [component_container_isolated-3] [DEBUG] [1762964984.516090612] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.519878175] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.519968708] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.520015297] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.520060834] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000073 0.000102 0.000047 [component_container_isolated-3] -0.000073 1.000000 -0.000032 0.000416 [component_container_isolated-3] -0.000102 0.000032 1.000000 0.000360 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.520089890] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.030,-0.012} {0.005,-0.180,-0.236} [component_container_isolated-3] [DEBUG] [1762964984.520144073] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.520191494] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.520229196] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981492 0.000073 0.191501 -0.006482 [component_container_isolated-3] -0.001786 0.999960 0.008774 0.060427 [component_container_isolated-3] -0.191493 -0.008954 0.981453 0.017674 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.520251588] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.523,11.040,-0.104} [component_container_isolated-3] [DEBUG] [1762964984.520282327] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.012} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.520331010] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.522887502] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.522975150] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.523018653] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.523065112] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000044 0.000073 0.000310 [component_container_isolated-3] 0.000044 1.000000 0.000287 -0.000053 [component_container_isolated-3] -0.000073 -0.000287 1.000000 0.000012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.523090450] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.002} {-0.117,0.026,-0.162} [component_container_isolated-3] [DEBUG] [1762964984.523140666] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.523182636] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.523217954] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879472 0.000052 0.475951 -0.000863 [component_container_isolated-3] -0.004709 0.999952 0.008591 0.060277 [component_container_isolated-3] -0.475928 -0.009797 0.879430 0.017862 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.523240827] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.638,28.420,-0.307} [component_container_isolated-3] [DEBUG] [1762964984.523273690] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.433,28.395,-0.123} [component_container_isolated-3] [DEBUG] [1762964984.523324988] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.529830372] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.529884976] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.529954158] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.530004184] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000044 0.000073 0.000310 [component_container_isolated-3] 0.000044 1.000000 0.000287 -0.000053 [component_container_isolated-3] -0.000073 -0.000287 1.000000 0.000012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.530032768] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.002} {-0.134,0.030,-0.159} [component_container_isolated-3] [DEBUG] [1762964984.530087372] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.530135645] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.530176102] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879472 0.000052 0.475951 -0.000863 [component_container_isolated-3] -0.004709 0.999952 0.008591 0.060277 [component_container_isolated-3] -0.475928 -0.009797 0.879430 0.017862 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.530200829] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.638,28.420,-0.307} [component_container_isolated-3] [DEBUG] [1762964984.530332821] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.418,28.391,-0.126} [component_container_isolated-3] [DEBUG] [1762964984.530384340] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.535617163] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.535665165] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.535698308] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.535734868] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000049 0.000218 -0.000144 [component_container_isolated-3] 0.000049 1.000000 -0.000141 -0.000400 [component_container_isolated-3] -0.000218 0.000141 1.000000 0.000563 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.535756028] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.068,-0.457,-0.176} [component_container_isolated-3] [DEBUG] [1762964984.535795303] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.535831041] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.535858233] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000130 0.185193 -0.007159 [component_container_isolated-3] -0.000218 1.000000 0.000457 0.060840 [component_container_isolated-3] -0.185193 -0.000489 0.982702 0.017726 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.535876188] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.029,10.672,-0.013} [component_container_isolated-3] [DEBUG] [1762964984.535898941] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.013,0.040} {-0.062,11.130,0.166} [component_container_isolated-3] [DEBUG] [1762964984.536004723] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.540140101] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.540194384] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.540234281] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.540278705] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000007 0.000078 -0.000231 [component_container_isolated-3] -0.000007 1.000000 -0.000166 0.000091 [component_container_isolated-3] -0.000078 0.000166 1.000000 0.000126 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.540304104] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.015,0.005} {0.142,0.166,0.195} [component_container_isolated-3] [DEBUG] [1762964984.540351194] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.540391881] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.540426618] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979111 -0.000009 0.203327 -0.006851 [component_container_isolated-3] 0.002483 0.999926 -0.011909 0.059366 [component_container_isolated-3] -0.203312 0.012165 0.979038 0.018268 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.540449802] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.712,11.731,0.145} [component_container_isolated-3] [DEBUG] [1762964984.540482154] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.006} {0.530,11.567,-0.055} [component_container_isolated-3] [DEBUG] [1762964984.540532841] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.549314261] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.549359648] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.549396348] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.549439480] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000007 0.000078 -0.000231 [component_container_isolated-3] -0.000007 1.000000 -0.000166 0.000091 [component_container_isolated-3] -0.000078 0.000166 1.000000 0.000126 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.549464268] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.006} {0.151,0.170,0.194} [component_container_isolated-3] [DEBUG] [1762964984.549513612] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.549558297] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.549596390] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979111 -0.000009 0.203327 -0.006851 [component_container_isolated-3] 0.002483 0.999926 -0.011909 0.059366 [component_container_isolated-3] -0.203312 0.012165 0.979038 0.018268 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.549619815] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.712,11.731,0.145} [component_container_isolated-3] [DEBUG] [1762964984.549650223] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.006} {0.520,11.562,-0.055} [component_container_isolated-3] [DEBUG] [1762964984.549699156] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.555024837] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.555077548] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.555117885] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.555169623] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000044 0.000073 0.000310 [component_container_isolated-3] 0.000044 1.000000 0.000287 -0.000053 [component_container_isolated-3] -0.000073 -0.000287 1.000000 0.000012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.555194130] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.002} {-0.150,0.034,-0.157} [component_container_isolated-3] [DEBUG] [1762964984.555243254] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.555285264] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.555321473] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879472 0.000052 0.475951 -0.000863 [component_container_isolated-3] -0.004709 0.999952 0.008591 0.060277 [component_container_isolated-3] -0.475928 -0.009797 0.879430 0.017862 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.555344427] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.638,28.420,-0.307} [component_container_isolated-3] [DEBUG] [1762964984.555374004] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.403,28.387,-0.128} [component_container_isolated-3] [DEBUG] [1762964984.555443927] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.555500545] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.555463104] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.555542516] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.555646023] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000006 0.000035 -0.000269 [component_container_isolated-3] 0.000006 1.000000 0.000136 0.000074 [component_container_isolated-3] -0.000035 -0.000136 1.000000 0.000057 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.555670911] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.030,-0.012} {-0.003,-0.178,-0.236} [component_container_isolated-3] [DEBUG] [1762964984.555725225] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.555770421] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.555806460] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981486 0.000041 0.191535 -0.006490 [component_container_isolated-3] -0.001780 0.999959 0.008910 0.060454 [component_container_isolated-3] -0.191527 -0.009086 0.981445 0.017667 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.555828802] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.530,11.042,-0.104} [component_container_isolated-3] [DEBUG] [1762964984.555858960] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.012} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.555907543] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.577958094] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.578009752] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.578047895] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.578090697] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000090 -0.000176 0.000157 [component_container_isolated-3] 0.000090 1.000000 -0.000136 -0.000438 [component_container_isolated-3] 0.000176 0.000136 1.000000 -0.000318 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.578115364] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.030,-0.012} {0.005,-0.188,-0.230} [component_container_isolated-3] [DEBUG] [1762964984.578163506] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.578208111] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.578247917] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981519 -0.000021 0.191363 -0.006491 [component_container_isolated-3] -0.001689 0.999960 0.008774 0.060399 [component_container_isolated-3] -0.191356 -0.008936 0.981480 0.017616 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.578272675] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.522,11.032,-0.099} [component_container_isolated-3] [DEBUG] [1762964984.578305347] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.013} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.578357216] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.583109512] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.583168354] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.583209914] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.583256342] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000108 0.000007 0.000047 [component_container_isolated-3] -0.000108 1.000000 -0.000093 0.000131 [component_container_isolated-3] -0.000007 0.000093 1.000000 0.000017 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.583283344] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.074,-0.457,-0.182} [component_container_isolated-3] [DEBUG] [1762964984.583335984] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.583385960] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.583426036] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982677 0.000026 0.185329 -0.007090 [component_container_isolated-3] -0.000124 1.000000 0.000516 0.060671 [component_container_isolated-3] -0.185329 -0.000530 0.982676 0.017697 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.583450954] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.001,0.000} {-0.031,10.680,-0.007} [component_container_isolated-3] [DEBUG] [1762964984.583484458] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.013,0.040} {-0.069,11.138,0.178} [component_container_isolated-3] [DEBUG] [1762964984.583539052] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.587985013] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.588036541] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.588075335] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.588120432] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000007 0.000078 -0.000231 [component_container_isolated-3] -0.000007 1.000000 -0.000166 0.000091 [component_container_isolated-3] -0.000078 0.000166 1.000000 0.000126 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.588144608] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.006} {0.161,0.175,0.194} [component_container_isolated-3] [DEBUG] [1762964984.588191437] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.588232536] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.588271440] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979111 -0.000009 0.203327 -0.006851 [component_container_isolated-3] 0.002483 0.999926 -0.011909 0.059366 [component_container_isolated-3] -0.203312 0.012165 0.979038 0.018268 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.588294805] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.712,11.731,0.145} [component_container_isolated-3] [DEBUG] [1762964984.588327517] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.014,-0.006} {0.511,11.558,-0.054} [component_container_isolated-3] [DEBUG] [1762964984.588376471] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.601439247] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.601492810] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.601534359] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.601579655] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000113 0.000014 -0.000352 [component_container_isolated-3] -0.000113 1.000000 0.000176 0.000126 [component_container_isolated-3] -0.000014 -0.000176 1.000000 0.000046 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.601605845] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.002} {-0.160,0.035,-0.163} [component_container_isolated-3] [DEBUG] [1762964984.601655019] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.601700777] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.601741424] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879465 0.000067 0.475963 -0.000880 [component_container_isolated-3] -0.004821 0.999950 0.008767 0.060289 [component_container_isolated-3] -0.475939 -0.010005 0.879422 0.017862 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.601765761] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.652,28.420,-0.314} [component_container_isolated-3] [DEBUG] [1762964984.601796600] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.403,28.387,-0.128} [component_container_isolated-3] [DEBUG] [1762964984.601846605] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.609447551] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.609503929] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.609546941] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.609596045] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000130 -0.000050 0.000091 [component_container_isolated-3] -0.000130 1.000000 0.000082 0.000599 [component_container_isolated-3] 0.000050 -0.000082 1.000000 -0.000272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.609623567] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.000,0.031,-0.012} {-0.000,-0.191,-0.238} [component_container_isolated-3] [DEBUG] [1762964984.609675306] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.609722025] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.609761942] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981529 0.000091 0.191314 -0.006480 [component_container_isolated-3] -0.001818 0.999959 0.008856 0.060484 [component_container_isolated-3] -0.191306 -0.009041 0.981489 0.017513 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.609786288] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.528,11.029,-0.106} [component_container_isolated-3] [DEBUG] [1762964984.609816406] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.013} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.609865179] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.612588941] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.612642413] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.612687719] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.612733447] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000059 -0.000373 -0.000773 [component_container_isolated-3] 0.000059 1.000000 -0.000009 -0.000579 [component_container_isolated-3] 0.000373 0.000009 1.000000 -0.000990 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.612759496] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.013,-0.039} {0.074,-0.478,-0.179} [component_container_isolated-3] [DEBUG] [1762964984.612807558] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.612851582] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.612886759] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982746 -0.000031 0.184963 -0.007284 [component_container_isolated-3] -0.000064 1.000000 0.000507 0.060385 [component_container_isolated-3] -0.184963 -0.000510 0.982745 0.017400 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.612909192] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.030,10.659,-0.004} [component_container_isolated-3] [DEBUG] [1762964984.612990648] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.013,0.041} {-0.069,11.138,0.178} [component_container_isolated-3] [DEBUG] [1762964984.613044651] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.618636760] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.618690303] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.618729618] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.618774203] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000113 0.000014 -0.000352 [component_container_isolated-3] -0.000113 1.000000 0.000176 0.000126 [component_container_isolated-3] -0.000014 -0.000176 1.000000 0.000046 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.618799231] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.170,0.036,-0.169} [component_container_isolated-3] [DEBUG] [1762964984.618847342] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.618894553] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.618970468] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879465 0.000067 0.475963 -0.000880 [component_container_isolated-3] -0.004821 0.999950 0.008767 0.060289 [component_container_isolated-3] -0.475939 -0.010005 0.879422 0.017862 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.618995756] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.652,28.420,-0.314} [component_container_isolated-3] [DEBUG] [1762964984.619026555] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964984.619079416] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.625696603] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.625743723] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.625779110] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.625815069] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000132 -0.000013 0.000170 [component_container_isolated-3] -0.000132 1.000000 0.000320 0.000348 [component_container_isolated-3] 0.000013 -0.000320 1.000000 -0.000029 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.625834777] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.006} {0.143,0.174,0.186} [component_container_isolated-3] [DEBUG] [1762964984.625873270] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.625906103] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.625958493] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979113 0.000055 0.203315 -0.006820 [component_container_isolated-3] 0.002351 0.999930 -0.011589 0.059422 [component_container_isolated-3] -0.203301 0.011825 0.979045 0.018235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.625977990] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.692,11.730,0.138} [component_container_isolated-3] [DEBUG] [1762964984.625999632] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.014,-0.006} {0.511,11.558,-0.054} [component_container_isolated-3] [DEBUG] [1762964984.626039788] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.637073941] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.637128996] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.637171567] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.637215531] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000132 -0.000013 0.000170 [component_container_isolated-3] -0.000132 1.000000 0.000320 0.000348 [component_container_isolated-3] 0.000013 -0.000320 1.000000 -0.000029 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.637240990] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.006} {0.124,0.173,0.179} [component_container_isolated-3] [DEBUG] [1762964984.637292278] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.637333276] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.637369565] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979113 0.000055 0.203315 -0.006820 [component_container_isolated-3] 0.002351 0.999930 -0.011589 0.059422 [component_container_isolated-3] -0.203301 0.011825 0.979045 0.018235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.637393020] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.692,11.730,0.138} [component_container_isolated-3] [DEBUG] [1762964984.637422847] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.006} {0.531,11.559,-0.047} [component_container_isolated-3] [DEBUG] [1762964984.637471500] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.641953179] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.642011030] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.642051347] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.642095080] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000065 0.000177 -0.000157 [component_container_isolated-3] 0.000065 1.000000 0.000036 -0.000393 [component_container_isolated-3] -0.000177 -0.000036 1.000000 0.000768 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.642120799] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.030,-0.012} {-0.002,-0.180,-0.234} [component_container_isolated-3] [DEBUG] [1762964984.642170815] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.642214688] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.642255046] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981495 0.000020 0.191488 -0.006463 [component_container_isolated-3] -0.001755 0.999959 0.008892 0.060469 [component_container_isolated-3] -0.191480 -0.009063 0.981455 0.017592 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.642279983] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.529,11.039,-0.102} [component_container_isolated-3] [DEBUG] [1762964984.642314349] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.012} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.642366809] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.644889807] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.644973617] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.645016680] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.645061595] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000043 0.000198 0.000740 [component_container_isolated-3] -0.000043 1.000000 -0.000022 0.000697 [component_container_isolated-3] -0.000198 0.000022 1.000000 0.001003 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.645087605] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.076,-0.467,-0.181} [component_container_isolated-3] [DEBUG] [1762964984.645137671] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.645184079] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.645221150] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000016 0.185158 -0.007183 [component_container_isolated-3] -0.000107 1.000000 0.000485 0.060337 [component_container_isolated-3] -0.185158 -0.000497 0.982709 0.017457 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.645244224] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.029,10.670,-0.006} [component_container_isolated-3] [DEBUG] [1762964984.645278690] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.069,11.138,0.178} [component_container_isolated-3] [DEBUG] [1762964984.645332653] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.661170239] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.661233480] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.661274017] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.661317981] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000084 -0.000022 0.000218 [component_container_isolated-3] 0.000084 1.000000 -0.000132 -0.000175 [component_container_isolated-3] 0.000022 0.000132 1.000000 -0.000003 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.661343019] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.002} {-0.163,0.034,-0.165} [component_container_isolated-3] [DEBUG] [1762964984.661390830] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.661434884] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.661469621] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879476 0.000056 0.475944 -0.000867 [component_container_isolated-3] -0.004737 0.999951 0.008636 0.060270 [component_container_isolated-3] -0.475920 -0.009849 0.879433 0.017865 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.661494368] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.419,-0.309} [component_container_isolated-3] [DEBUG] [1762964984.661526439] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964984.661576645] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.668506119] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.668566474] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.668604897] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.668649102] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000132 -0.000013 0.000170 [component_container_isolated-3] -0.000132 1.000000 0.000320 0.000348 [component_container_isolated-3] 0.000013 -0.000320 1.000000 -0.000029 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.668674500] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.006} {0.106,0.173,0.171} [component_container_isolated-3] [DEBUG] [1762964984.668722332] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.668767288] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.668815730] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979113 0.000055 0.203315 -0.006820 [component_container_isolated-3] 0.002351 0.999930 -0.011589 0.059422 [component_container_isolated-3] -0.203301 0.011825 0.979045 0.018235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.668846679] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.692,11.730,0.138} [component_container_isolated-3] [DEBUG] [1762964984.668879953] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.006} {0.551,11.559,-0.039} [component_container_isolated-3] [DEBUG] [1762964984.668969153] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.672757909] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.672812102] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.672851197] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.672895201] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000003 -0.000010 -0.000517 [component_container_isolated-3] -0.000003 1.000000 -0.000034 0.000190 [component_container_isolated-3] 0.000010 0.000034 1.000000 0.000063 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.672946218] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.030,-0.012} {-0.000,-0.181,-0.234} [component_container_isolated-3] [DEBUG] [1762964984.673001684] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.673048744] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.673088841] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981497 0.000029 0.191479 -0.006562 [component_container_isolated-3] -0.001758 0.999959 0.008857 0.060483 [component_container_isolated-3] -0.191471 -0.009030 0.981457 0.017655 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.673113748] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.527,11.039,-0.103} [component_container_isolated-3] [DEBUG] [1762964984.673145279] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.030,0.012} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.673194873] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.678781202] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.678832580] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.678873027] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.678949473] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000015 -0.000039 0.000159 [component_container_isolated-3] -0.000015 1.000000 0.000026 -0.000035 [component_container_isolated-3] 0.000039 -0.000026 1.000000 0.000096 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.678978649] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.074,-0.469,-0.182} [component_container_isolated-3] [DEBUG] [1762964984.679034345] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.679083349] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.679123966] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 0.000025 0.185120 -0.007111 [component_container_isolated-3] -0.000122 1.000000 0.000512 0.060317 [component_container_isolated-3] -0.185120 -0.000525 0.982716 0.017484 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.679147992] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.031,10.668,-0.007} [component_container_isolated-3] [DEBUG] [1762964984.679178711] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.040} {-0.069,11.138,0.178} [component_container_isolated-3] [DEBUG] [1762964984.679228075] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.697529226] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.697586776] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.697626141] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.697670776] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000003 -0.000051 -0.000176 [component_container_isolated-3] -0.000003 1.000000 0.000037 -0.000017 [component_container_isolated-3] 0.000051 -0.000037 1.000000 -0.000186 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.697696275] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.002} {-0.165,0.032,-0.165} [component_container_isolated-3] [DEBUG] [1762964984.697744216] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.697790705] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.697830722] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879500 0.000041 0.475899 -0.000889 [component_container_isolated-3] -0.004740 0.999951 0.008673 0.060257 [component_container_isolated-3] -0.475875 -0.009883 0.879457 0.017847 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.697854557] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.416,-0.309} [component_container_isolated-3] [DEBUG] [1762964984.697887290] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964984.697968845] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.708145410] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.708203361] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.708243087] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.708286740] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000128 -0.000041 0.000276 [component_container_isolated-3] -0.000128 1.000000 -0.000071 0.000302 [component_container_isolated-3] 0.000041 0.000071 1.000000 0.000321 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.708310926] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.031,-0.011} {0.004,-0.183,-0.242} [component_container_isolated-3] [DEBUG] [1762964984.708358617] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.708402211] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.708442437] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981505 0.000168 0.191439 -0.006553 [component_container_isolated-3] -0.001885 0.999960 0.008787 0.060554 [component_container_isolated-3] -0.191430 -0.008985 0.981465 0.017760 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.708466273] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.525,11.036,-0.110} [component_container_isolated-3] [DEBUG] [1762964984.708496601] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.012} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.708544733] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.716340030] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.716393692] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.716433739] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.716479045] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000013 0.000085 -0.000049 [component_container_isolated-3] 0.000013 1.000000 -0.000001 -0.000128 [component_container_isolated-3] -0.000085 0.000001 1.000000 -0.000233 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.716505736] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.039} {0.074,-0.464,-0.181} [component_container_isolated-3] [DEBUG] [1762964984.716557024] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.716602932] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.716643439] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982700 0.000013 0.185203 -0.007080 [component_container_isolated-3] -0.000109 1.000000 0.000510 0.060279 [component_container_isolated-3] -0.185203 -0.000522 0.982700 0.017480 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.716667656] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.030,10.673,-0.006} [component_container_isolated-3] [DEBUG] [1762964984.716700418] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.069,11.138,0.178} [component_container_isolated-3] [DEBUG] [1762964984.716760834] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.720955725] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.721013365] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.721063901] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.721125689] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000149 0.000125 -0.000093 [component_container_isolated-3] 0.000149 1.000000 0.000029 -0.000599 [component_container_isolated-3] -0.000125 -0.000029 1.000000 0.000706 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.721161838] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.006} {0.104,0.180,0.180} [component_container_isolated-3] [DEBUG] [1762964984.721229788] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.721292267] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.721345750] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979088 -0.000097 0.203437 -0.006782 [component_container_isolated-3] 0.002501 0.999930 -0.011560 0.059337 [component_container_isolated-3] -0.203422 0.011827 0.979020 0.018387 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.721379173] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.692,11.737,0.146} [component_container_isolated-3] [DEBUG] [1762964984.721420172] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.007} {0.551,11.559,-0.039} [component_container_isolated-3] [DEBUG] [1762964984.721546403] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.731066785] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.731125406] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.731168178] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.731211832] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000010 0.000115 -0.000191 [component_container_isolated-3] 0.000010 1.000000 0.000055 0.000129 [component_container_isolated-3] -0.000115 -0.000055 1.000000 0.000247 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.731237300] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.168,0.038,-0.164} [component_container_isolated-3] [DEBUG] [1762964984.731285973] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.731334165] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.731370735] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879445 0.000006 0.476000 -0.000916 [component_container_isolated-3] -0.004731 0.999951 0.008728 0.060261 [component_container_isolated-3] -0.475977 -0.009927 0.879402 0.017876 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.731394100] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.423,-0.308} [component_container_isolated-3] [DEBUG] [1762964984.731424387] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964984.731474513] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.744148557] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.744196880] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.744234822] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.744278285] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000016 -0.000029 -0.000248 [component_container_isolated-3] -0.000016 1.000000 0.000020 0.000101 [component_container_isolated-3] 0.000029 -0.000020 1.000000 0.000250 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.744301850] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.073,-0.466,-0.182} [component_container_isolated-3] [DEBUG] [1762964984.744348680] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.744392133] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.744429534] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000025 0.185175 -0.007068 [component_container_isolated-3] -0.000125 1.000000 0.000530 0.060260 [component_container_isolated-3] -0.185175 -0.000544 0.982705 0.017515 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.744453750] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.032,10.671,-0.007} [component_container_isolated-3] [DEBUG] [1762964984.744487986] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.069,11.138,0.178} [component_container_isolated-3] [DEBUG] [1762964984.744542009] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.748056701] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.748109752] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.748150560] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.748193943] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000108 0.000017 0.000151 [component_container_isolated-3] 0.000108 1.000000 0.000169 -0.000291 [component_container_isolated-3] -0.000017 -0.000169 1.000000 -0.000513 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.748218991] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.030,-0.012} {-0.006,-0.182,-0.235} [component_container_isolated-3] [DEBUG] [1762964984.748266311] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.748309574] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.748348358] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981501 0.000030 0.191455 -0.006554 [component_container_isolated-3] -0.001777 0.999958 0.008956 0.060561 [component_container_isolated-3] -0.191447 -0.009130 0.981461 0.017744 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.748372184] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.533,11.037,-0.104} [component_container_isolated-3] [DEBUG] [1762964984.748404525] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.012} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.748453990] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.764549088] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.764605566] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.764645332] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.764691500] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000029 -0.000100 -0.000004 [component_container_isolated-3] -0.000029 1.000000 0.000009 0.000123 [component_container_isolated-3] 0.000100 -0.000009 1.000000 -0.000349 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.764717690] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.006} {0.104,0.174,0.178} [component_container_isolated-3] [DEBUG] [1762964984.764767505] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.764814625] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.764853790] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979108 -0.000070 0.203339 -0.006769 [component_container_isolated-3] 0.002470 0.999930 -0.011551 0.059320 [component_container_isolated-3] -0.203324 0.011812 0.979040 0.018403 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.764877775] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.691,11.731,0.145} [component_container_isolated-3] [DEBUG] [1762964984.764910989] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.006} {0.551,11.559,-0.039} [component_container_isolated-3] [DEBUG] [1762964984.765003776] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.766822329] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.766874879] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.766916609] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.766998465] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000085 0.000057 0.000065 [component_container_isolated-3] -0.000085 1.000000 0.000052 0.000042 [component_container_isolated-3] -0.000057 -0.000052 1.000000 0.000009 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.767025166] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.171,0.041,-0.169} [component_container_isolated-3] [DEBUG] [1762964984.767075272] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.767119086] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.767157780] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879418 0.000056 0.476050 -0.000921 [component_container_isolated-3] -0.004816 0.999950 0.008779 0.060269 [component_container_isolated-3] -0.476026 -0.010014 0.879374 0.017887 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.767181856] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.652,28.426,-0.314} [component_container_isolated-3] [DEBUG] [1762964984.767214478] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964984.767264834] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.776394630] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.776444816] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.776484552] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.776530700] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000212 -0.000278 0.000025 [component_container_isolated-3] 0.000212 1.000000 0.000029 -0.001293 [component_container_isolated-3] 0.000278 -0.000030 1.000000 -0.001210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.776555828] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.040} {0.071,-0.482,-0.170} [component_container_isolated-3] [DEBUG] [1762964984.776604631] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.776648625] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.776684654] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982757 -0.000190 0.184901 -0.007140 [component_container_isolated-3] 0.000088 1.000000 0.000560 0.059767 [component_container_isolated-3] -0.184902 -0.000534 0.982757 0.017195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.776706966] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.655,0.005} [component_container_isolated-3] [DEBUG] [1762964984.776736653] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.013,0.041} {-0.069,11.138,0.178} [component_container_isolated-3] [DEBUG] [1762964984.776790626] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.782369981] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.782422822] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.782461927] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.782509147] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000065 -0.000003 -0.000363 [component_container_isolated-3] 0.000065 1.000000 0.000005 -0.000216 [component_container_isolated-3] 0.000003 -0.000005 1.000000 0.000308 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.782534596] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.030,-0.011} {-0.006,-0.183,-0.232} [component_container_isolated-3] [DEBUG] [1762964984.782581385] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.782626321] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.782666037] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981502 -0.000035 0.191452 -0.006604 [component_container_isolated-3] -0.001712 0.999958 0.008961 0.060533 [component_container_isolated-3] -0.191445 -0.009123 0.981461 0.017799 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.782690593] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.533,11.037,-0.100} [component_container_isolated-3] [DEBUG] [1762964984.782723687] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.030,0.012} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.782773692] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.783798169] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.783847152] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.783885466] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.783951902] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000029 -0.000100 -0.000004 [component_container_isolated-3] -0.000029 1.000000 0.000009 0.000123 [component_container_isolated-3] 0.000100 -0.000009 1.000000 -0.000349 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.783978924] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.006} {0.103,0.168,0.177} [component_container_isolated-3] [DEBUG] [1762964984.784028148] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.784074837] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.784113521] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979108 -0.000070 0.203339 -0.006769 [component_container_isolated-3] 0.002470 0.999930 -0.011551 0.059320 [component_container_isolated-3] -0.203324 0.011812 0.979040 0.018403 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.784135333] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.691,11.731,0.145} [component_container_isolated-3] [DEBUG] [1762964984.784171842] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.006} {0.552,11.565,-0.037} [component_container_isolated-3] [DEBUG] [1762964984.784228230] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.801436704] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.801521937] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.801582683] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.801643489] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000039 -0.000040 0.000043 [component_container_isolated-3] -0.000039 1.000000 0.000105 0.000030 [component_container_isolated-3] 0.000040 -0.000105 1.000000 -0.000049 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.801676542] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.177,0.039,-0.171} [component_container_isolated-3] [DEBUG] [1762964984.801742598] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.801793195] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.801835786] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879437 0.000040 0.476015 -0.000931 [component_container_isolated-3] -0.004855 0.999949 0.008885 0.060279 [component_container_isolated-3] -0.475990 -0.010124 0.879392 0.017890 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.801860794] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.660,28.424,-0.316} [component_container_isolated-3] [DEBUG] [1762964984.801891803] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964984.801998217] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.811558955] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.811617627] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.811667883] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.811729140] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000212 -0.000278 0.000025 [component_container_isolated-3] 0.000212 1.000000 0.000029 -0.001293 [component_container_isolated-3] 0.000278 -0.000030 1.000000 -0.001210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.811763626] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.012,-0.041} {0.069,-0.498,-0.158} [component_container_isolated-3] [DEBUG] [1762964984.811830414] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.811890649] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.811976422] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982757 -0.000190 0.184901 -0.007140 [component_container_isolated-3] 0.000088 1.000000 0.000560 0.059767 [component_container_isolated-3] -0.184902 -0.000534 0.982757 0.017195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.812011950] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.655,0.005} [component_container_isolated-3] [DEBUG] [1762964984.812055924] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.012,0.042} {-0.070,11.154,0.165} [component_container_isolated-3] [DEBUG] [1762964984.812136809] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.817057095] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.817109816] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.817151305] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.817194357] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000071 -0.000051 0.000256 [component_container_isolated-3] -0.000071 1.000000 -0.000030 0.000150 [component_container_isolated-3] 0.000051 0.000030 1.000000 -0.000377 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.817218964] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.030,-0.012} {-0.004,-0.185,-0.236} [component_container_isolated-3] [DEBUG] [1762964984.817265644] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.817307564] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.817347249] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981512 0.000040 0.191402 -0.006606 [component_container_isolated-3] -0.001782 0.999958 0.008931 0.060532 [component_container_isolated-3] -0.191394 -0.009107 0.981471 0.017776 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.817371907] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.532,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964984.817404789] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.012} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.817456939] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.822760117] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.822817947] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.822857873] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.822902849] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000000 0.000148 -0.000350 [component_container_isolated-3] -0.000000 1.000000 0.000033 0.000320 [component_container_isolated-3] -0.000148 -0.000033 1.000000 0.000287 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.822957975] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.006} {0.101,0.177,0.177} [component_container_isolated-3] [DEBUG] [1762964984.823009303] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.823053447] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.823094054] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 -0.000076 0.203484 -0.006801 [component_container_isolated-3] 0.002472 0.999931 -0.011518 0.059349 [component_container_isolated-3] -0.203469 0.011780 0.979010 0.018473 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.823118421] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.740,0.145} [component_container_isolated-3] [DEBUG] [1762964984.823151775] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.006} {0.552,11.565,-0.037} [component_container_isolated-3] [DEBUG] [1762964984.823202141] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.841322927] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.841377712] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.841429611] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.841489816] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000053 0.000063 0.000059 [component_container_isolated-3] 0.000053 1.000000 0.000082 -0.000012 [component_container_isolated-3] -0.000063 -0.000082 1.000000 0.000056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.841525935] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.182,0.043,-0.168} [component_container_isolated-3] [DEBUG] [1762964984.841594065] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.841656033] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.841709746] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879407 -0.000045 0.476070 -0.000932 [component_container_isolated-3] -0.004803 0.999948 0.008966 0.060286 [component_container_isolated-3] -0.476046 -0.010171 0.879361 0.017898 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.841742769] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.663,28.427,-0.313} [component_container_isolated-3] [DEBUG] [1762964984.841784899] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964984.841862147] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.868216217] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.868269228] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.868306900] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.868350664] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000000 0.000148 -0.000350 [component_container_isolated-3] -0.000000 1.000000 0.000033 0.000320 [component_container_isolated-3] -0.000148 -0.000033 1.000000 0.000287 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.868375100] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.006} {0.099,0.185,0.177} [component_container_isolated-3] [DEBUG] [1762964984.868422641] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.868469180] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.868508194] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 -0.000076 0.203484 -0.006801 [component_container_isolated-3] 0.002472 0.999931 -0.011518 0.059349 [component_container_isolated-3] -0.203469 0.011780 0.979010 0.018473 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.868531259] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.740,0.145} [component_container_isolated-3] [DEBUG] [1762964984.868564622] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.007} {0.553,11.556,-0.037} [component_container_isolated-3] [DEBUG] [1762964984.868625068] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.869692236] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.869745688] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.869785844] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.869828065] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000115 0.000102 -0.000461 [component_container_isolated-3] 0.000115 1.000000 -0.000025 -0.000336 [component_container_isolated-3] -0.000102 0.000025 1.000000 0.000702 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.869852041] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.030,-0.011} {-0.003,-0.180,-0.229} [component_container_isolated-3] [DEBUG] [1762964984.869900153] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.869986117] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.870025171] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981492 -0.000069 0.191502 -0.006673 [component_container_isolated-3] -0.001668 0.999959 0.008906 0.060474 [component_container_isolated-3] -0.191495 -0.009061 0.981452 0.017936 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.870049899] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.529,11.040,-0.097} [component_container_isolated-3] [DEBUG] [1762964984.870082621] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.030,0.012} {-0.481,11.222,0.135} [component_container_isolated-3] [DEBUG] [1762964984.870135202] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.876353036] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.876410286] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.876461203] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.876524804] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000200 0.000293 0.000076 [component_container_isolated-3] -0.000200 1.000000 -0.000069 0.001240 [component_container_isolated-3] -0.000293 0.000069 1.000000 0.001131 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.876563308] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.013,-0.040} {0.073,-0.481,-0.169} [component_container_isolated-3] [DEBUG] [1762964984.876631488] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.876696933] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.876753110] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000020 0.185189 -0.007084 [component_container_isolated-3] -0.000112 1.000000 0.000491 0.059860 [component_container_isolated-3] -0.185189 -0.000503 0.982703 0.017330 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.876787035] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.672,-0.007} [component_container_isolated-3] [DEBUG] [1762964984.876833714] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.013,0.041} {-0.070,11.154,0.165} [component_container_isolated-3] [DEBUG] [1762964984.876914559] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.882576111] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.882630064] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.882680470] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.882741106] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000200 0.000293 0.000076 [component_container_isolated-3] -0.000200 1.000000 -0.000069 0.001240 [component_container_isolated-3] -0.000293 0.000069 1.000000 0.001131 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.882776894] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.039} {0.078,-0.464,-0.181} [component_container_isolated-3] [DEBUG] [1762964984.882844624] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.882906622] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.882995892] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000020 0.185189 -0.007084 [component_container_isolated-3] -0.000112 1.000000 0.000491 0.059860 [component_container_isolated-3] -0.185189 -0.000503 0.982703 0.017330 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.883031861] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.672,-0.007} [component_container_isolated-3] [DEBUG] [1762964984.883076356] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.071,11.137,0.177} [component_container_isolated-3] [DEBUG] [1762964984.883155718] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.889021319] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.889076825] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.889121621] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.889167509] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000017 -0.000072 0.000014 [component_container_isolated-3] 0.000017 1.000000 -0.000057 -0.000012 [component_container_isolated-3] 0.000072 0.000057 1.000000 -0.000042 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.889193037] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.179,0.039,-0.167} [component_container_isolated-3] [DEBUG] [1762964984.889242221] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.889284492] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.889320731] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879441 -0.000033 0.476007 -0.000932 [component_container_isolated-3] -0.004785 0.999949 0.008910 0.060289 [component_container_isolated-3] -0.475983 -0.010113 0.879396 0.017906 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.889343825] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.659,28.423,-0.312} [component_container_isolated-3] [DEBUG] [1762964984.889376939] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964984.889426794] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.894023122] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.894101361] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.894139163] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.894180122] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000115 0.000102 -0.000461 [component_container_isolated-3] 0.000115 1.000000 -0.000025 -0.000336 [component_container_isolated-3] -0.000102 0.000025 1.000000 0.000702 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.894203366] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.030,-0.010} {-0.002,-0.174,-0.223} [component_container_isolated-3] [DEBUG] [1762964984.894245627] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.894281946] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.894309158] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981492 -0.000069 0.191502 -0.006673 [component_container_isolated-3] -0.001668 0.999959 0.008906 0.060474 [component_container_isolated-3] -0.191495 -0.009061 0.981452 0.017936 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.894327303] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.529,11.040,-0.097} [component_container_isolated-3] [DEBUG] [1762964984.894349926] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.029,0.011} {-0.483,11.216,0.128} [component_container_isolated-3] [DEBUG] [1762964984.894388359] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.900617536] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.900672721] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.900711916] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.900754647] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000115 0.000102 -0.000461 [component_container_isolated-3] 0.000115 1.000000 -0.000025 -0.000336 [component_container_isolated-3] -0.000102 0.000025 1.000000 0.000702 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.900779625] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.002,0.029,-0.010} {-0.000,-0.168,-0.216} [component_container_isolated-3] [DEBUG] [1762964984.900829110] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.900877262] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.900914533] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981492 -0.000069 0.191502 -0.006673 [component_container_isolated-3] -0.001668 0.999959 0.008906 0.060474 [component_container_isolated-3] -0.191495 -0.009061 0.981452 0.017936 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.900961172] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.529,11.040,-0.097} [component_container_isolated-3] [DEBUG] [1762964984.900995057] [zed_multi.right]: +++ Diff [map -> odom] - {0.004,-0.029,0.010} {-0.486,11.210,0.121} [component_container_isolated-3] [DEBUG] [1762964984.901050613] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.910724798] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.910780595] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.910823336] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.910869334] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000018 -0.000094 0.000393 [component_container_isolated-3] -0.000018 1.000000 -0.000071 0.000055 [component_container_isolated-3] 0.000094 0.000071 1.000000 -0.000305 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.910895153] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.006} {0.104,0.180,0.175} [component_container_isolated-3] [DEBUG] [1762964984.911005744] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.911054087] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.911093292] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 -0.000044 0.203392 -0.006770 [component_container_isolated-3] 0.002453 0.999930 -0.011589 0.059372 [component_container_isolated-3] -0.203378 0.011846 0.979029 0.018474 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.911116075] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.735,0.144} [component_container_isolated-3] [DEBUG] [1762964984.911146093] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.006} {0.553,11.556,-0.037} [component_container_isolated-3] [DEBUG] [1762964984.911194124] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.914348809] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.914416268] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.914469780] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.914531849] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000028 0.000105 -0.000040 [component_container_isolated-3] 0.000028 1.000000 -0.000066 0.000021 [component_container_isolated-3] -0.000105 0.000067 1.000000 0.000147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.914569741] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.003} {-0.175,0.045,-0.166} [component_container_isolated-3] [DEBUG] [1762964984.914638001] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.914700290] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.914754594] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879392 -0.000026 0.476099 -0.000923 [component_container_isolated-3] -0.004757 0.999950 0.008843 0.060294 [component_container_isolated-3] -0.476075 -0.010041 0.879347 0.017934 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.914788028] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.654,28.429,-0.310} [component_container_isolated-3] [DEBUG] [1762964984.914830990] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964984.914907486] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.916094633] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.916144498] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.916184004] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.916226655] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000018 -0.000094 0.000393 [component_container_isolated-3] -0.000018 1.000000 -0.000071 0.000055 [component_container_isolated-3] 0.000094 0.000071 1.000000 -0.000305 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.916249970] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.006} {0.108,0.174,0.174} [component_container_isolated-3] [DEBUG] [1762964984.916296478] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.916336735] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.916370600] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 -0.000044 0.203392 -0.006770 [component_container_isolated-3] 0.002453 0.999930 -0.011589 0.059372 [component_container_isolated-3] -0.203378 0.011846 0.979029 0.018474 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.916392432] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.735,0.144} [component_container_isolated-3] [DEBUG] [1762964984.916424443] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.006} {0.550,11.562,-0.036} [component_container_isolated-3] [DEBUG] [1762964984.916473436] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.927376449] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.927433928] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.927487360] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.927548808] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000052 0.000037 0.000057 [component_container_isolated-3] -0.000052 1.000000 0.000074 0.000160 [component_container_isolated-3] -0.000037 -0.000074 1.000000 0.000118 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.927586580] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.073,-0.462,-0.184} [component_container_isolated-3] [DEBUG] [1762964984.927655632] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.927718933] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.927773968] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 0.000057 0.185225 -0.007051 [component_container_isolated-3] -0.000165 1.000000 0.000565 0.059923 [component_container_isolated-3] -0.185225 -0.000586 0.982696 0.017391 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.927807271] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.674,-0.010} [component_container_isolated-3] [DEBUG] [1762964984.927850985] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.071,11.137,0.177} [component_container_isolated-3] [DEBUG] [1762964984.927956907] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.933359324] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.933418728] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.933456510] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.933499743] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000052 0.000037 0.000057 [component_container_isolated-3] -0.000052 1.000000 0.000074 0.000160 [component_container_isolated-3] -0.000037 -0.000074 1.000000 0.000118 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.933523688] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.069,-0.460,-0.187} [component_container_isolated-3] [DEBUG] [1762964984.933571640] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.933615874] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.933653787] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 0.000057 0.185225 -0.007051 [component_container_isolated-3] -0.000165 1.000000 0.000565 0.059923 [component_container_isolated-3] -0.185225 -0.000586 0.982696 0.017391 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.933676981] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.674,-0.010} [component_container_isolated-3] [DEBUG] [1762964984.933707459] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.040} {-0.067,11.135,0.180} [component_container_isolated-3] [DEBUG] [1762964984.933777994] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.933828300] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.933860451] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.933869759] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.934074440] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000051 -0.000121 0.000191 [component_container_isolated-3] -0.000051 1.000000 -0.000260 -0.000054 [component_container_isolated-3] 0.000121 0.000260 1.000000 -0.000107 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.934102454] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.160,0.038,-0.169} [component_container_isolated-3] [DEBUG] [1762964984.934154663] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.934214257] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.934269022] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879449 0.000142 0.475993 -0.000895 [component_container_isolated-3] -0.004807 0.999952 0.008583 0.060290 [component_container_isolated-3] -0.475969 -0.009837 0.879407 0.017940 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.934302155] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.422,-0.313} [component_container_isolated-3] [DEBUG] [1762964984.934333164] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964984.934380885] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.940152067] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.940202653] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.940242029] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.940285772] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000018 -0.000094 0.000393 [component_container_isolated-3] -0.000018 1.000000 -0.000071 0.000055 [component_container_isolated-3] 0.000094 0.000071 1.000000 -0.000305 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.940312523] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.005} {0.112,0.169,0.173} [component_container_isolated-3] [DEBUG] [1762964984.940364442] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.940408657] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.940448473] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 -0.000044 0.203392 -0.006770 [component_container_isolated-3] 0.002453 0.999930 -0.011589 0.059372 [component_container_isolated-3] -0.203378 0.011846 0.979029 0.018474 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.940472409] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.735,0.144} [component_container_isolated-3] [DEBUG] [1762964984.940505161] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.005} {0.546,11.567,-0.035} [component_container_isolated-3] [DEBUG] [1762964984.940554816] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.946713618] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.946784263] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.946826553] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.946873152] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000211 -0.000021 0.001244 [component_container_isolated-3] -0.000211 1.000000 0.000024 0.001010 [component_container_isolated-3] 0.000021 -0.000024 1.000000 -0.000500 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.946899132] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {-0.001,0.030,-0.010} {-0.002,-0.169,-0.228} [component_container_isolated-3] [DEBUG] [1762964984.946983674] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.947030834] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.947067333] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981496 0.000134 0.191481 -0.006387 [component_container_isolated-3] -0.001879 0.999958 0.008930 0.060690 [component_container_isolated-3] -0.191472 -0.009125 0.981456 0.017866 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.947092992] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.533,11.039,-0.110} [component_container_isolated-3] [DEBUG] [1762964984.947126657] [zed_multi.right]: +++ Diff [map -> odom] - {0.003,-0.030,0.011} {-0.486,11.210,0.121} [component_container_isolated-3] [DEBUG] [1762964984.947178936] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.957466924] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.957524474] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.957563609] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.957607232] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000211 -0.000021 0.001244 [component_container_isolated-3] -0.000211 1.000000 0.000024 0.001010 [component_container_isolated-3] 0.000021 -0.000024 1.000000 -0.000500 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.957632100] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.000,0.031,-0.011} {-0.003,-0.170,-0.240} [component_container_isolated-3] [DEBUG] [1762964984.957679720] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.957724686] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.957764462] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981496 0.000134 0.191481 -0.006387 [component_container_isolated-3] -0.001879 0.999958 0.008930 0.060690 [component_container_isolated-3] -0.191472 -0.009125 0.981456 0.017866 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.957788749] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.533,11.039,-0.110} [component_container_isolated-3] [DEBUG] [1762964984.957821802] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.031,0.012} {-0.482,11.211,0.134} [component_container_isolated-3] [DEBUG] [1762964984.957874142] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.961859242] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.961914628] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.961977348] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.962022394] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000110 -0.000154 0.000015 [component_container_isolated-3] 0.000110 1.000000 -0.000057 -0.000150 [component_container_isolated-3] 0.000154 0.000057 1.000000 -0.000344 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.962048414] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.002} {-0.157,0.029,-0.162} [component_container_isolated-3] [DEBUG] [1762964984.962099441] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.962146822] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.962187098] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879522 0.000073 0.475857 -0.000915 [component_container_isolated-3] -0.004696 0.999953 0.008527 0.060268 [component_container_isolated-3] -0.475834 -0.009734 0.879481 0.017889 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.962211555] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.634,28.414,-0.306} [component_container_isolated-3] [DEBUG] [1762964984.962242214] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964984.962292069] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.977908372] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.978003724] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.978074780] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.978124796] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000041 -0.000095 0.000029 [component_container_isolated-3] 0.000041 1.000000 -0.000138 -0.000077 [component_container_isolated-3] 0.000095 0.000138 1.000000 -0.000133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.978153851] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.077,-0.466,-0.184} [component_container_isolated-3] [DEBUG] [1762964984.978207003] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.978256487] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.978297035] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000042 0.185132 -0.007030 [component_container_isolated-3] -0.000123 1.000000 0.000427 0.059944 [component_container_isolated-3] -0.185132 -0.000443 0.982714 0.017423 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.978320930] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.026,10.669,-0.007} [component_container_isolated-3] [DEBUG] [1762964984.978352230] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.040} {-0.067,11.135,0.180} [component_container_isolated-3] [DEBUG] [1762964984.978402416] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.997868992] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.997964845] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.998007747] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.998052633] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000146 -0.000196 -0.000320 [component_container_isolated-3] -0.000146 1.000000 -0.000155 0.000109 [component_container_isolated-3] 0.000196 0.000155 1.000000 -0.000546 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.998078703] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.005} {0.121,0.158,0.165} [component_container_isolated-3] [DEBUG] [1762964984.998129680] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.998173915] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.998211456] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979137 0.000130 0.203200 -0.006817 [component_container_isolated-3] 0.002305 0.999928 -0.011745 0.059408 [component_container_isolated-3] -0.203187 0.011968 0.979067 0.018367 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.998235743] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.700,11.723,0.135} [component_container_isolated-3] [DEBUG] [1762964984.998269277] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.012,-0.005} {0.546,11.567,-0.035} [component_container_isolated-3] [DEBUG] [1762964984.998321366] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964984.998962801] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964984.999014440] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964984.999054186] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964984.999097789] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000211 -0.000021 0.001244 [component_container_isolated-3] -0.000211 1.000000 0.000024 0.001010 [component_container_isolated-3] 0.000021 -0.000024 1.000000 -0.000500 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964984.999121955] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.032,-0.011} {-0.004,-0.172,-0.252} [component_container_isolated-3] [DEBUG] [1762964984.999169105] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964984.999212117] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964984.999246994] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981496 0.000134 0.191481 -0.006387 [component_container_isolated-3] -0.001879 0.999958 0.008930 0.060690 [component_container_isolated-3] -0.191472 -0.009125 0.981456 0.017866 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964984.999270849] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.533,11.039,-0.110} [component_container_isolated-3] [DEBUG] [1762964984.999302360] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.032,0.012} {-0.479,11.213,0.146} [component_container_isolated-3] [DEBUG] [1762964984.999352285] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.000111655] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.000177601] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.000231564] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.000280468] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000101 0.000177 -0.000292 [component_container_isolated-3] -0.000101 1.000000 0.000208 0.000230 [component_container_isolated-3] -0.000177 -0.000208 1.000000 0.000335 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.000309974] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.003} {-0.168,0.039,-0.168} [component_container_isolated-3] [DEBUG] [1762964985.000364007] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.000411989] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.000451715] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879438 0.000063 0.476013 -0.000930 [component_container_isolated-3] -0.004799 0.999950 0.008734 0.060287 [component_container_isolated-3] -0.475989 -0.009965 0.879395 0.017901 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.000477273] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.649,28.424,-0.313} [component_container_isolated-3] [DEBUG] [1762964985.000507682] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964985.000558589] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.009087737] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.009151339] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.009195854] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.009242874] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000019 0.000118 0.000034 [component_container_isolated-3] 0.000019 1.000000 0.000073 -0.000141 [component_container_isolated-3] -0.000118 -0.000073 1.000000 0.000028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.009269925] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.073,-0.459,-0.183} [component_container_isolated-3] [DEBUG] [1762964985.009321584] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.009369576] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.009408049] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982692 0.000010 0.185248 -0.007006 [component_container_isolated-3] -0.000105 1.000000 0.000501 0.059953 [component_container_isolated-3] -0.185248 -0.000511 0.982692 0.017440 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.009432756] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.676,-0.006} [component_container_isolated-3] [DEBUG] [1762964985.009464407] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.040} {-0.067,11.135,0.180} [component_container_isolated-3] [DEBUG] [1762964985.009515174] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.022029563] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.022105729] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.022147238] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.022191442] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000036 0.000046 0.000164 [component_container_isolated-3] 0.000036 1.000000 0.000088 -0.000091 [component_container_isolated-3] -0.000046 -0.000088 1.000000 0.000091 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.022216670] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.005} {0.115,0.160,0.167} [component_container_isolated-3] [DEBUG] [1762964985.022267117] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.022310399] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.022345366] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979128 0.000077 0.203245 -0.006824 [component_container_isolated-3] 0.002341 0.999929 -0.011656 0.059428 [component_container_isolated-3] -0.203232 0.011889 0.979059 0.018332 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.022369262] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.696,11.726,0.137} [