[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} [component_container_isolated-3] [DEBUG] [1762964985.022401543] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.005} {0.546,11.567,-0.035} [component_container_isolated-3] [DEBUG] [1762964985.022459314] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.029703799] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.029755969] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.029798680] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.029843947] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000086 0.000027 0.000077 [component_container_isolated-3] 0.000086 1.000000 -0.000098 -0.000130 [component_container_isolated-3] -0.000027 0.000098 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] [1762964985.029868994] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.163,0.041,-0.163} [component_container_isolated-3] [DEBUG] [1762964985.029917858] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.029993252] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.030029882] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879425 0.000034 0.476037 -0.000929 [component_container_isolated-3] -0.004713 0.999952 0.008635 0.060280 [component_container_isolated-3] -0.476014 -0.009838 0.879383 0.017925 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.030052605] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.425,-0.307} [component_container_isolated-3] [DEBUG] [1762964985.030084215] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964985.030139150] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.041354008] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.041420665] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.041463357] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.041508303] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000005 -0.000100 0.000001 [component_container_isolated-3] -0.000005 1.000000 -0.000015 -0.000023 [component_container_isolated-3] 0.000100 0.000015 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] [1762964985.041534894] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.039} {0.074,-0.465,-0.184} [component_container_isolated-3] [DEBUG] [1762964985.041585580] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.041633272] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.041671655] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000018 0.185150 -0.006990 [component_container_isolated-3] -0.000109 1.000000 0.000485 0.059956 [component_container_isolated-3] -0.185150 -0.000497 0.982710 0.017447 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.041694348] [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] [1762964985.041724927] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.040} {-0.067,11.135,0.180} [component_container_isolated-3] [DEBUG] [1762964985.041774171] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.048132954] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.048199802] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.048239698] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.048283221] [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] [1762964985.048308049] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.033,-0.012} {-0.006,-0.173,-0.264} [component_container_isolated-3] [DEBUG] [1762964985.048356411] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.048399163] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.048434801] [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] [1762964985.048459598] [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] [1762964985.048494114] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.033,0.013} {-0.475,11.214,0.158} [component_container_isolated-3] [DEBUG] [1762964985.048545111] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.055222413] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.055287187] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.055327895] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.055371919] [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] [1762964985.055397087] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.005} {0.110,0.163,0.169} [component_container_isolated-3] [DEBUG] [1762964985.055446932] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.055491788] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.055530812] [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] [1762964985.055555309] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.696,11.726,0.137} [component_container_isolated-3] [DEBUG] [1762964985.055588432] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.005} {0.550,11.565,-0.037} [component_container_isolated-3] [DEBUG] [1762964985.055639219] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.068182434] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.068246607] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.068285330] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.068328683] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000005 -0.000100 0.000001 [component_container_isolated-3] -0.000005 1.000000 -0.000015 -0.000023 [component_container_isolated-3] 0.000100 0.000015 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] [1762964985.068352839] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.039} {0.074,-0.470,-0.184} [component_container_isolated-3] [DEBUG] [1762964985.068400280] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.068444084] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.068483218] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000018 0.185150 -0.006990 [component_container_isolated-3] -0.000109 1.000000 0.000485 0.059956 [component_container_isolated-3] -0.185150 -0.000497 0.982710 0.017447 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.068507905] [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] [1762964985.068542161] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.067,11.140,0.180} [component_container_isolated-3] [DEBUG] [1762964985.068594371] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.074106778] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.074164689] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.074205627] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.074249581] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000059 -0.000044 0.000138 [component_container_isolated-3] -0.000059 1.000000 0.000058 -0.000027 [component_container_isolated-3] 0.000044 -0.000058 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] [1762964985.074274739] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.166,0.038,-0.167} [component_container_isolated-3] [DEBUG] [1762964985.074323612] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.074366624] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.074402333] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 0.000059 0.475998 -0.000911 [component_container_isolated-3] -0.004772 0.999951 0.008694 0.060275 [component_container_isolated-3] -0.475974 -0.009917 0.879403 0.017930 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.074426398] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.423,-0.311} [component_container_isolated-3] [DEBUG] [1762964985.074460083] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964985.074513094] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.091336513] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.091401918] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.091444088] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.091490206] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000106 0.000075 -0.000490 [component_container_isolated-3] 0.000106 1.000000 -0.000106 -0.000670 [component_container_isolated-3] -0.000075 0.000106 1.000000 0.000333 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.091515895] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.033,-0.011} {0.000,-0.169,-0.258} [component_container_isolated-3] [DEBUG] [1762964985.091566883] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.091613652] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.091653768] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981482 0.000050 0.191555 -0.006366 [component_container_isolated-3] -0.001773 0.999960 0.008824 0.060654 [component_container_isolated-3] -0.191547 -0.009000 0.981442 0.017916 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.091679347] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.525,11.043,-0.104} [component_container_isolated-3] [DEBUG] [1762964985.091712020] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.032,0.013} {-0.475,11.214,0.158} [component_container_isolated-3] [DEBUG] [1762964985.091762176] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.107422784] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.107498358] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.107547291] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.107606114] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000043 0.000039 -0.000338 [component_container_isolated-3] 0.000043 1.000000 0.000039 -0.000173 [component_container_isolated-3] -0.000039 -0.000039 1.000000 0.000257 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.107642343] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.005} {0.108,0.165,0.172} [component_container_isolated-3] [DEBUG] [1762964985.107709441] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.107774155] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.107825332] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979120 0.000027 0.203283 -0.006882 [component_container_isolated-3] 0.002384 0.999930 -0.011617 0.059423 [component_container_isolated-3] -0.203269 0.011859 0.979051 0.018338 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.107855029] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.694,11.728,0.140} [component_container_isolated-3] [DEBUG] [1762964985.107892661] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.006} {0.550,11.565,-0.037} [component_container_isolated-3] [DEBUG] [1762964985.108009394] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.110952725] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.111008031] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.111049450] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.111094125] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000069 0.000028 -0.000151 [component_container_isolated-3] -0.000069 1.000000 -0.000036 0.000078 [component_container_isolated-3] -0.000028 0.000036 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] [1762964985.111119333] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.164,0.040,-0.171} [component_container_isolated-3] [DEBUG] [1762964985.111168908] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.111211840] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.111252517] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879433 0.000137 0.476022 -0.000910 [component_container_isolated-3] -0.004842 0.999951 0.008657 0.060277 [component_container_isolated-3] -0.475998 -0.009918 0.879391 0.017944 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.111277175] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.424,-0.315} [component_container_isolated-3] [DEBUG] [1762964985.111309877] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964985.111364241] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.121187431] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.121257034] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.121297561] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.121340814] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000102 -0.000072 -0.000542 [component_container_isolated-3] -0.000102 1.000000 0.000052 0.000465 [component_container_isolated-3] 0.000072 -0.000052 1.000000 0.000191 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.121365391] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.033,-0.011} {-0.003,-0.173,-0.264} [component_container_isolated-3] [DEBUG] [1762964985.121412871] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.121455392] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.121491752] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981496 0.000140 0.191484 -0.006454 [component_container_isolated-3] -0.001875 0.999959 0.008876 0.060721 [component_container_isolated-3] -0.191475 -0.009071 0.981456 0.017995 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.121515026] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.530,11.039,-0.109} [component_container_isolated-3] [DEBUG] [1762964985.121548390] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.032,0.012} {-0.475,11.214,0.158} [component_container_isolated-3] [DEBUG] [1762964985.121600479] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.126581312] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.126634493] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.126682545] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.126744844] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000102 -0.000072 -0.000542 [component_container_isolated-3] -0.000102 1.000000 0.000052 0.000465 [component_container_isolated-3] 0.000072 -0.000052 1.000000 0.000191 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.126781905] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.034,-0.011} {-0.005,-0.177,-0.270} [component_container_isolated-3] [DEBUG] [1762964985.126853121] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.126908927] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.126976176] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981496 0.000140 0.191484 -0.006454 [component_container_isolated-3] -0.001875 0.999959 0.008876 0.060721 [component_container_isolated-3] -0.191475 -0.009071 0.981456 0.017995 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.127011844] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.530,11.039,-0.109} [component_container_isolated-3] [DEBUG] [1762964985.127054145] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.033,0.012} {-0.471,11.218,0.164} [component_container_isolated-3] [DEBUG] [1762964985.127132935] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.127568407] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.127624254] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.127666364] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.127712492] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000035 0.000093 -0.000149 [component_container_isolated-3] 0.000035 1.000000 0.000010 0.000071 [component_container_isolated-3] -0.000093 -0.000010 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] [1762964985.127738081] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.039} {0.074,-0.465,-0.182} [component_container_isolated-3] [DEBUG] [1762964985.127794909] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.127833744] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.127936670] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982693 -0.000019 0.185242 -0.006984 [component_container_isolated-3] -0.000074 1.000000 0.000495 0.059967 [component_container_isolated-3] -0.185242 -0.000500 0.982693 0.017473 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.127960315] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.675,-0.004} [component_container_isolated-3] [DEBUG] [1762964985.127983029] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.067,11.140,0.180} [component_container_isolated-3] [DEBUG] [1762964985.128026191] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.132756244] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.132821228] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.132861044] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.132902754] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000035 0.000093 -0.000149 [component_container_isolated-3] 0.000035 1.000000 0.000010 0.000071 [component_container_isolated-3] -0.000093 -0.000010 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] [1762964985.132954032] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.073,-0.460,-0.180} [component_container_isolated-3] [DEBUG] [1762964985.133005100] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.133048212] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.133083950] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982693 -0.000019 0.185242 -0.006984 [component_container_isolated-3] -0.000074 1.000000 0.000495 0.059967 [component_container_isolated-3] -0.185242 -0.000500 0.982693 0.017473 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.133108758] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.675,-0.004} [component_container_isolated-3] [DEBUG] [1762964985.133142061] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.067,11.135,0.178} [component_container_isolated-3] [DEBUG] [1762964985.133193299] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.134581921] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.134650392] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.134690649] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.134740925] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000031 0.000000 0.000564 [component_container_isolated-3] -0.000031 1.000000 -0.000004 0.000232 [component_container_isolated-3] -0.000000 0.000004 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] [1762964985.134767806] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.005} {0.108,0.165,0.170} [component_container_isolated-3] [DEBUG] [1762964985.134820947] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.134865753] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.134905679] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979120 0.000058 0.203283 -0.006821 [component_container_isolated-3] 0.002354 0.999930 -0.011621 0.059453 [component_container_isolated-3] -0.203270 0.011857 0.979051 0.018313 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.134962999] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.694,11.728,0.138} [component_container_isolated-3] [DEBUG] [1762964985.134997715] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.005} {0.550,11.565,-0.037} [component_container_isolated-3] [DEBUG] [1762964985.135119437] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.135834944] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.135886462] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.135964201] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.136010770] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000118 -0.000063 -0.000041 [component_container_isolated-3] 0.000118 1.000000 -0.000268 -0.000120 [component_container_isolated-3] 0.000063 0.000268 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] [1762964985.136036779] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.002} {-0.149,0.036,-0.164} [component_container_isolated-3] [DEBUG] [1762964985.136085402] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.136127673] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.136163692] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879463 0.000160 0.475967 -0.000923 [component_container_isolated-3] -0.004723 0.999954 0.008390 0.060260 [component_container_isolated-3] -0.475944 -0.009626 0.879423 0.017962 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.136185964] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.627,28.421,-0.308} [component_container_isolated-3] [DEBUG] [1762964985.136215881] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964985.136271558] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.139639800] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.139699434] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.139737146] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.139779697] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000031 0.000000 0.000564 [component_container_isolated-3] -0.000031 1.000000 -0.000004 0.000232 [component_container_isolated-3] -0.000000 0.000004 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] [1762964985.139804154] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.005} {0.109,0.165,0.168} [component_container_isolated-3] [DEBUG] [1762964985.139852016] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.139894507] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.139957026] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979120 0.000058 0.203283 -0.006821 [component_container_isolated-3] 0.002354 0.999930 -0.011621 0.059453 [component_container_isolated-3] -0.203270 0.011857 0.979051 0.018313 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.139982545] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.694,11.728,0.138} [component_container_isolated-3] [DEBUG] [1762964985.140014446] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.012,-0.005} {0.550,11.565,-0.036} [component_container_isolated-3] [DEBUG] [1762964985.140066846] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.161228059] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.161288053] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.161328971] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.161373587] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000019 0.000010 0.000068 [component_container_isolated-3] -0.000019 1.000000 0.000308 0.000038 [component_container_isolated-3] -0.000010 -0.000308 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] [1762964985.161398314] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.002} {-0.166,0.037,-0.165} [component_container_isolated-3] [DEBUG] [1762964985.161447898] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.161730148] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.161773721] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879459 0.000030 0.475976 -0.000936 [component_container_isolated-3] -0.004742 0.999951 0.008698 0.060260 [component_container_isolated-3] -0.475952 -0.009906 0.879416 0.017942 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.161798448] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.645,28.421,-0.309} [component_container_isolated-3] [DEBUG] [1762964985.161822825] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964985.161863081] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.170443929] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.170505136] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.170545883] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.170591170] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000079 -0.000084 -0.000222 [component_container_isolated-3] 0.000079 1.000000 0.000035 -0.000518 [component_container_isolated-3] 0.000084 -0.000035 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] [1762964985.170616398] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.033,-0.011} {-0.007,-0.182,-0.266} [component_container_isolated-3] [DEBUG] [1762964985.170665802] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.170715938] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.170756375] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981512 0.000056 0.191402 -0.006556 [component_container_isolated-3] -0.001795 0.999959 0.008911 0.060673 [component_container_isolated-3] -0.191393 -0.009090 0.981471 0.018015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.170781994] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.531,11.034,-0.105} [component_container_isolated-3] [DEBUG] [1762964985.170815528] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.032,0.013} {-0.471,11.218,0.164} [component_container_isolated-3] [DEBUG] [1762964985.170866366] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.173623561] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.173687573] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.173727269] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.173772516] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000006 -0.000159 0.000142 [component_container_isolated-3] -0.000006 1.000000 0.000010 0.000050 [component_container_isolated-3] 0.000159 -0.000010 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] [1762964985.173798665] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.039} {0.073,-0.469,-0.180} [component_container_isolated-3] [DEBUG] [1762964985.173847739] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.173892675] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.173965714] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982723 -0.000015 0.185085 -0.006972 [component_container_isolated-3] -0.000080 1.000000 0.000505 0.059982 [component_container_isolated-3] -0.185085 -0.000511 0.982722 0.017448 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.173993488] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.666,-0.005} [component_container_isolated-3] [DEBUG] [1762964985.174026010] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.067,11.135,0.178} [component_container_isolated-3] [DEBUG] [1762964985.174079732] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.183377709] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.183435469] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.183477319] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.183523528] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000287 0.000114 0.000047 [component_container_isolated-3] 0.000286 1.000000 0.000030 -0.001233 [component_container_isolated-3] -0.000114 -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] [1762964985.183548605] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.014,0.005} {0.107,0.172,0.185} [component_container_isolated-3] [DEBUG] [1762964985.183597379] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.183678013] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.183720955] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 -0.000229 0.203395 -0.006791 [component_container_isolated-3] 0.002642 0.999929 -0.011590 0.059099 [component_container_isolated-3] -0.203378 0.011885 0.979028 0.018339 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.183744319] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.696,11.735,0.155} [component_container_isolated-3] [DEBUG] [1762964985.183774837] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.005} {0.550,11.565,-0.036} [component_container_isolated-3] [DEBUG] [1762964985.183825855] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.197800142] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.197852132] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.197892789] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.197964717] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000007 0.000042 -0.000040 [component_container_isolated-3] -0.000007 1.000000 0.000080 0.000038 [component_container_isolated-3] -0.000042 -0.000080 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] [1762964985.197992229] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.002} {-0.171,0.039,-0.165} [component_container_isolated-3] [DEBUG] [1762964985.198041032] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.198083233] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.198119001] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879439 -0.000002 0.476012 -0.000944 [component_container_isolated-3] -0.004749 0.999950 0.008778 0.060260 [component_container_isolated-3] -0.475989 -0.009980 0.879395 0.017939 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.198140853] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.650,28.424,-0.309} [component_container_isolated-3] [DEBUG] [1762964985.198172483] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964985.198223120] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.207065046] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.207121053] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.207162102] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.207209101] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000022 0.000083 -0.000122 [component_container_isolated-3] 0.000022 1.000000 0.000031 -0.000030 [component_container_isolated-3] -0.000083 -0.000031 1.000000 0.000300 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.207234239] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.071,-0.464,-0.179} [component_container_isolated-3] [DEBUG] [1762964985.207289154] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.207341644] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.207381190] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982707 -0.000043 0.185166 -0.006965 [component_container_isolated-3] -0.000058 1.000000 0.000536 0.059991 [component_container_isolated-3] -0.185166 -0.000537 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] [1762964985.207404474] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.671,-0.003} [component_container_isolated-3] [DEBUG] [1762964985.207437137] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.067,11.135,0.178} [component_container_isolated-3] [DEBUG] [1762964985.207495077] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.211519774] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.211575169] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.211616027] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.211661214] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000287 0.000114 0.000047 [component_container_isolated-3] 0.000286 1.000000 0.000030 -0.001233 [component_container_isolated-3] -0.000114 -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] [1762964985.211686803] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.006} {0.105,0.178,0.201} [component_container_isolated-3] [DEBUG] [1762964985.211734914] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.211776915] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.211811761] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 -0.000229 0.203395 -0.006791 [component_container_isolated-3] 0.002642 0.999929 -0.011590 0.059099 [component_container_isolated-3] -0.203378 0.011885 0.979028 0.018339 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.211835827] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.696,11.735,0.155} [component_container_isolated-3] [DEBUG] [1762964985.211868980] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.006} {0.549,11.558,-0.052} [component_container_isolated-3] [DEBUG] [1762964985.211917714] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.214598012] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.214661454] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.214716068] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.214760823] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000055 -0.000158 0.000434 [component_container_isolated-3] -0.000055 1.000000 0.000073 0.000340 [component_container_isolated-3] 0.000158 -0.000073 1.000000 -0.000942 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.214786783] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.033,-0.012} {-0.012,-0.191,-0.269} [component_container_isolated-3] [DEBUG] [1762964985.214837079] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.214881604] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.214917563] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 0.000096 0.191247 -0.006618 [component_container_isolated-3] -0.001849 0.999958 0.008984 0.060696 [component_container_isolated-3] -0.191238 -0.009172 0.981501 0.017741 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.214979641] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.535,11.025,-0.108} [component_container_isolated-3] [DEBUG] [1762964985.215013596] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.033,0.013} {-0.471,11.218,0.164} [component_container_isolated-3] [DEBUG] [1762964985.215067098] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.230091231] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.230161365] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.230203375] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.230248571] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000041 0.000104 -0.000142 [component_container_isolated-3] -0.000041 1.000000 -0.000018 0.000101 [component_container_isolated-3] -0.000104 0.000018 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] [1762964985.230274040] [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] [1762964985.230323474] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.230366035] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.230402074] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 0.000043 0.476104 -0.000954 [component_container_isolated-3] -0.004791 0.999950 0.008760 0.060271 [component_container_isolated-3] -0.476079 -0.009984 0.879346 0.017969 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.230424166] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.651,28.430,-0.312} [component_container_isolated-3] [DEBUG] [1762964985.230454404] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964985.230512335] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.240096178] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.240156162] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.240195698] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.240241064] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000089 0.000009 -0.000570 [component_container_isolated-3] 0.000089 1.000000 -0.000322 -0.000143 [component_container_isolated-3] -0.000009 0.000322 1.000000 0.000931 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.240266693] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.033,-0.011} {0.007,-0.190,-0.264} [component_container_isolated-3] [DEBUG] [1762964985.240314645] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.240359481] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.240396461] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981540 0.000070 0.191255 -0.006732 [component_container_isolated-3] -0.001759 0.999961 0.008663 0.060689 [component_container_isolated-3] -0.191247 -0.008839 0.981502 0.017853 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.240421729] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.516,11.026,-0.103} [component_container_isolated-3] [DEBUG] [1762964985.240455374] [zed_multi.right]: +++ Diff [map -> odom] - {0.002,-0.033,0.012} {-0.471,11.218,0.164} [component_container_isolated-3] [DEBUG] [1762964985.240508976] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.245683849] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.245747430] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.245785212] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.245828325] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000006 -0.000008 -0.000044 [component_container_isolated-3] 0.000006 1.000000 -0.000124 0.000057 [component_container_isolated-3] 0.000008 0.000124 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] [1762964985.245855547] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.078,-0.464,-0.179} [component_container_isolated-3] [DEBUG] [1762964985.245903809] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.245978542] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.246017376] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 -0.000025 0.185158 -0.006963 [component_container_isolated-3] -0.000052 1.000000 0.000411 0.060005 [component_container_isolated-3] -0.185158 -0.000414 0.982709 0.017517 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.246041712] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.024,10.670,-0.003} [component_container_isolated-3] [DEBUG] [1762964985.246072561] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.067,11.135,0.178} [component_container_isolated-3] [DEBUG] [1762964985.246122997] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.253880763] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.253970895] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.254010651] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.254054354] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000275 0.000137 -0.000404 [component_container_isolated-3] -0.000274 1.000000 -0.000200 0.001240 [component_container_isolated-3] -0.000137 0.000200 1.000000 0.000587 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.254079372] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.006} {0.117,0.186,0.185} [component_container_isolated-3] [DEBUG] [1762964985.254127644] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.254169544] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.254210182] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979069 0.000081 0.203529 -0.006766 [component_container_isolated-3] 0.002369 0.999928 -0.011790 0.059263 [component_container_isolated-3] -0.203515 0.012025 0.978998 0.018528 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.254234118] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.704,11.743,0.139} [component_container_isolated-3] [DEBUG] [1762964985.254266179] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.006} {0.549,11.558,-0.052} [component_container_isolated-3] [DEBUG] [1762964985.254315684] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.261215290] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.261351220] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.261393240] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.261446953] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000071 -0.000088 0.000180 [component_container_isolated-3] 0.000071 1.000000 -0.000019 -0.000226 [component_container_isolated-3] 0.000088 0.000019 1.000000 -0.000140 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.261475517] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.002} {-0.169,0.040,-0.164} [component_container_isolated-3] [DEBUG] [1762964985.261531434] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.261577031] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.261613891] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 -0.000011 0.476027 -0.000959 [component_container_isolated-3] -0.004719 0.999951 0.008741 0.060249 [component_container_isolated-3] -0.476003 -0.009933 0.879387 0.017970 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.261636034] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.425,-0.307} [component_container_isolated-3] [DEBUG] [1762964985.261666872] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964985.261756514] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.271351458] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.271416372] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.271456518] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.271501174] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000166 0.000122 0.000259 [component_container_isolated-3] -0.000166 1.000000 0.000231 0.000296 [component_container_isolated-3] -0.000122 -0.000231 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] [1762964985.271526392] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.034,-0.011} {-0.006,-0.183,-0.273} [component_container_isolated-3] [DEBUG] [1762964985.271574784] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.271621624] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.271661750] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 0.000189 0.191375 -0.006746 [component_container_isolated-3] -0.001926 0.999959 0.008894 0.060740 [component_container_isolated-3] -0.191365 -0.009098 0.981477 0.017888 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.271686888] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.531,11.032,-0.112} [component_container_isolated-3] [DEBUG] [1762964985.271720573] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.033,0.012} {-0.471,11.218,0.164} [component_container_isolated-3] [DEBUG] [1762964985.271772632] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.278374640] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.278441328] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.278481534] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.278525368] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000057 -0.000017 0.000053 [component_container_isolated-3] -0.000057 1.000000 0.000105 -0.000247 [component_container_isolated-3] 0.000017 -0.000105 1.000000 -0.000074 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.278549644] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.072,-0.465,-0.182} [component_container_isolated-3] [DEBUG] [1762964985.278596534] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.278639266] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.278675354] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000011 0.185141 -0.006956 [component_container_isolated-3] -0.000108 1.000000 0.000516 0.059988 [component_container_isolated-3] -0.185141 -0.000528 0.982712 0.017526 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.278697877] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.669,-0.006} [component_container_isolated-3] [DEBUG] [1762964985.278730460] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.067,11.135,0.178} [component_container_isolated-3] [DEBUG] [1762964985.278782579] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.299329299] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.299393191] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.299431754] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.299475348] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000012 0.000050 -0.000153 [component_container_isolated-3] 0.000012 1.000000 0.000151 -0.000051 [component_container_isolated-3] -0.000050 -0.000151 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] [1762964985.299499624] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.006} {0.108,0.189,0.186} [component_container_isolated-3] [DEBUG] [1762964985.299548467] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.299593984] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.299632297] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979059 0.000038 0.203578 -0.006793 [component_container_isolated-3] 0.002381 0.999929 -0.011639 0.059302 [component_container_isolated-3] -0.203564 0.011880 0.978989 0.018606 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.299655902] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.745,0.139} [component_container_isolated-3] [DEBUG] [1762964985.299688104] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.006} {0.549,11.558,-0.052} [component_container_isolated-3] [DEBUG] [1762964985.299736416] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.305297807] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.305357952] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.305398900] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.305442754] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000016 0.000053 -0.000079 [component_container_isolated-3] -0.000016 1.000000 -0.000018 0.000165 [component_container_isolated-3] -0.000053 0.000018 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] [1762964985.305468453] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.168,0.043,-0.165} [component_container_isolated-3] [DEBUG] [1762964985.305517236] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.305560729] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.305596648] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879406 0.000012 0.476073 -0.000960 [component_container_isolated-3] -0.004736 0.999951 0.008723 0.060255 [component_container_isolated-3] -0.476050 -0.009926 0.879362 0.017981 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.305621094] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.428,-0.309} [component_container_isolated-3] [DEBUG] [1762964985.305653877] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964985.305753357] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.320473519] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.320549133] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.320591795] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.320637372] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000043 -0.000037 0.000707 [component_container_isolated-3] 0.000043 1.000000 0.000040 0.000022 [component_container_isolated-3] 0.000037 -0.000040 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] [1762964985.320663512] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.034,-0.012} {-0.009,-0.185,-0.271} [component_container_isolated-3] [DEBUG] [1762964985.320714750] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.320759565] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.320799752] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 0.000139 0.191339 -0.006668 [component_container_isolated-3] -0.001883 0.999958 0.008934 0.060766 [component_container_isolated-3] -0.191329 -0.009129 0.981483 0.017615 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.320826012] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.533,11.030,-0.110} [component_container_isolated-3] [DEBUG] [1762964985.320857843] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.033,0.013} {-0.471,11.218,0.164} [component_container_isolated-3] [DEBUG] [1762964985.320907869] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.323312471] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.323373607] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.323414646] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.323459351] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000068 0.000118 -0.000082 [component_container_isolated-3] 0.000068 1.000000 -0.000031 -0.000327 [component_container_isolated-3] -0.000118 0.000031 1.000000 0.000403 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.323484219] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.074,-0.459,-0.178} [component_container_isolated-3] [DEBUG] [1762964985.323532791] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.323576745] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.323615710] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982690 -0.000051 0.185257 -0.006946 [component_container_isolated-3] -0.000040 1.000000 0.000486 0.059909 [component_container_isolated-3] -0.185257 -0.000485 0.982690 0.017630 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.323639505] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,0.000} {-0.028,10.676,-0.002} [component_container_isolated-3] [DEBUG] [1762964985.323669723] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.039} {-0.067,11.135,0.178} [component_container_isolated-3] [DEBUG] [1762964985.323719508] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.331777677] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.331835738] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.331876476] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.331956629] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000028 -0.000118 0.000281 [component_container_isolated-3] 0.000028 1.000000 -0.000161 0.000090 [component_container_isolated-3] 0.000118 0.000161 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] [1762964985.331983951] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.006} {0.117,0.182,0.188} [component_container_isolated-3] [DEBUG] [1762964985.332033075] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.332077319] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.332112617] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 0.000043 0.203463 -0.006787 [component_container_isolated-3] 0.002408 0.999928 -0.011800 0.059344 [component_container_isolated-3] -0.203449 0.012043 0.979011 0.018626 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.332134809] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.705,11.739,0.141} [component_container_isolated-3] [DEBUG] [1762964985.332166580] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.006} {0.549,11.558,-0.052} [component_container_isolated-3] [DEBUG] [1762964985.332218679] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.344495665] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.344556482] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.344596217] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.344640101] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000019 -0.000118 0.000134 [component_container_isolated-3] -0.000019 1.000000 -0.000128 0.000033 [component_container_isolated-3] 0.000118 0.000128 1.000000 -0.000074 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.344665059] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.002} {-0.161,0.036,-0.166} [component_container_isolated-3] [DEBUG] [1762964985.344715125] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.344756894] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.344795147] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879462 0.000089 0.475970 -0.000951 [component_container_isolated-3] -0.004753 0.999952 0.008596 0.060261 [component_container_isolated-3] -0.475946 -0.009822 0.879420 0.017981 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.344819414] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.421,-0.310} [component_container_isolated-3] [DEBUG] [1762964985.344850393] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964985.344900569] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.345693603] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.345749951] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.345796319] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.345843159] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000065 0.000162 -0.000481 [component_container_isolated-3] 0.000065 1.000000 -0.000010 -0.000254 [component_container_isolated-3] -0.000162 0.000010 1.000000 0.000955 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.345868738] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.001,0.033,-0.011} {-0.008,-0.176,-0.267} [component_container_isolated-3] [DEBUG] [1762964985.345943821] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.345994157] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.346031358] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981493 0.000077 0.191498 -0.006667 [component_container_isolated-3] -0.001820 0.999959 0.008923 0.060762 [component_container_isolated-3] -0.191489 -0.009107 0.981453 0.017724 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.346055575] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.532,11.040,-0.106} [component_container_isolated-3] [DEBUG] [1762964985.346089329] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.033,0.012} {-0.471,11.218,0.164} [component_container_isolated-3] [DEBUG] [1762964985.346142030] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.357900536] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.357980448] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.358021477] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.358065230] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000080 -0.000101 -0.000019 [component_container_isolated-3] -0.000080 1.000000 0.000113 0.000577 [component_container_isolated-3] 0.000101 -0.000113 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] [1762964985.358089847] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.067,-0.465,-0.182} [component_container_isolated-3] [DEBUG] [1762964985.358250464] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.358292684] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.358328132] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000007 0.185158 -0.006950 [component_container_isolated-3] -0.000120 1.000000 0.000599 0.059959 [component_container_isolated-3] -0.185158 -0.000611 0.982709 0.017635 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.358350715] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,0.000} {-0.036,10.670,-0.007} [component_container_isolated-3] [DEBUG] [1762964985.358380943] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.067,11.135,0.178} [component_container_isolated-3] [DEBUG] [1762964985.358429406] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.361198093] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.361295990] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.361344362] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.361403004] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000031 0.000027 -0.000068 [component_container_isolated-3] -0.000031 1.000000 0.000088 0.000041 [component_container_isolated-3] -0.000027 -0.000088 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] [1762964985.361435556] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.166,0.038,-0.167} [component_container_isolated-3] [DEBUG] [1762964985.361488938] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.361535167] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.361572638] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879449 0.000074 0.475994 -0.000954 [component_container_isolated-3] -0.004785 0.999951 0.008684 0.060273 [component_container_isolated-3] -0.475969 -0.009915 0.879406 0.017972 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.361596514] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.422,-0.312} [component_container_isolated-3] [DEBUG] [1762964985.361627754] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964985.361687047] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.363561056] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.363612875] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.363654404] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.363701193] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000034 0.000067 -0.000255 [component_container_isolated-3] 0.000034 1.000000 0.000060 -0.000217 [component_container_isolated-3] -0.000067 -0.000060 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] [1762964985.363727974] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.006} {0.114,0.186,0.190} [component_container_isolated-3] [DEBUG] [1762964985.363778711] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.363996828] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.364064858] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979069 -0.000002 0.203529 -0.006795 [component_container_isolated-3] 0.002443 0.999928 -0.011740 0.059358 [component_container_isolated-3] -0.203515 0.011991 0.978999 0.018753 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.364090888] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.702,11.743,0.143} [component_container_isolated-3] [DEBUG] [1762964985.364114723] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.006} {0.549,11.558,-0.052} [component_container_isolated-3] [DEBUG] [1762964985.364160240] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.368558289] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.368619296] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.368658050] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.368703106] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000034 0.000067 -0.000255 [component_container_isolated-3] 0.000034 1.000000 0.000060 -0.000217 [component_container_isolated-3] -0.000067 -0.000060 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] [1762964985.368728244] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.007} {0.110,0.190,0.191} [component_container_isolated-3] [DEBUG] [1762964985.368777137] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.368821582] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.368860897] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979069 -0.000002 0.203529 -0.006795 [component_container_isolated-3] 0.002443 0.999928 -0.011740 0.059358 [component_container_isolated-3] -0.203515 0.011991 0.978999 0.018753 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.368886787] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.702,11.743,0.143} [component_container_isolated-3] [DEBUG] [1762964985.368952492] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.007} {0.552,11.554,-0.054} [component_container_isolated-3] [DEBUG] [1762964985.369008710] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.374548138] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.374614165] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.374653540] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.374697674] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000144 -0.000007 0.000579 [component_container_isolated-3] -0.000144 1.000000 -0.000011 0.000698 [component_container_isolated-3] 0.000007 0.000011 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] [1762964985.374722622] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.034,-0.012} {-0.008,-0.176,-0.275} [component_container_isolated-3] [DEBUG] [1762964985.374770984] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.374814998] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.374851959] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981494 0.000221 0.191491 -0.006555 [component_container_isolated-3] -0.001964 0.999958 0.008912 0.060927 [component_container_isolated-3] -0.191481 -0.009123 0.981454 0.017701 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.374877808] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.533,11.039,-0.115} [component_container_isolated-3] [DEBUG] [1762964985.374910581] [zed_multi.right]: +++ Diff [map -> odom] - {0.001,-0.033,0.013} {-0.471,11.218,0.164} [component_container_isolated-3] [DEBUG] [1762964985.375029758] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.381247843] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.381301856] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.381342744] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.381387019] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000010 0.000040 0.000055 [component_container_isolated-3] 0.000010 1.000000 -0.000023 -0.000000 [component_container_isolated-3] -0.000040 0.000023 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] [1762964985.381411045] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.069,-0.462,-0.182} [component_container_isolated-3] [DEBUG] [1762964985.381459497] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.381500937] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.381537306] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000001 0.185197 -0.006950 [component_container_isolated-3] -0.000109 1.000000 0.000576 0.059979 [component_container_isolated-3] -0.185197 -0.000587 0.982701 0.017647 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.381560671] [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] [1762964985.381597952] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.067,11.135,0.178} [component_container_isolated-3] [DEBUG] [1762964985.381652817] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.397712316] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.397764937] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.397807097] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.397851071] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000144 -0.000007 0.000579 [component_container_isolated-3] -0.000144 1.000000 -0.000011 0.000698 [component_container_isolated-3] 0.000007 0.000011 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] [1762964985.397875558] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.002,0.035,-0.012} {-0.007,-0.177,-0.283} [component_container_isolated-3] [DEBUG] [1762964985.397954860] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.398002330] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.398038068] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981494 0.000221 0.191491 -0.006555 [component_container_isolated-3] -0.001964 0.999958 0.008912 0.060927 [component_container_isolated-3] -0.191481 -0.009123 0.981454 0.017701 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.398061784] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.533,11.039,-0.115} [component_container_isolated-3] [DEBUG] [1762964985.398093705] [zed_multi.right]: +++ Diff [map -> odom] - {0.000,-0.034,0.013} {-0.470,11.218,0.173} [component_container_isolated-3] [DEBUG] [1762964985.398147427] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.404994484] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.405062554] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.405101368] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.405145262] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000088 0.000003 -0.000108 [component_container_isolated-3] -0.000088 1.000000 0.000052 0.000009 [component_container_isolated-3] -0.000003 -0.000052 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] [1762964985.405171141] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.003} {-0.169,0.038,-0.172} [component_container_isolated-3] [DEBUG] [1762964985.405223511] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.405267725] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.405307842] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879447 0.000127 0.475996 -0.000962 [component_container_isolated-3] -0.004873 0.999950 0.008737 0.060285 [component_container_isolated-3] -0.475972 -0.010003 0.879404 0.017978 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.405331758] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.652,28.423,-0.317} [component_container_isolated-3] [DEBUG] [1762964985.405362667] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964985.405411961] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.418907674] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.418992046] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.419035579] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.419081627] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000022 -0.000083 0.000172 [component_container_isolated-3] -0.000022 1.000000 -0.000015 -0.000129 [component_container_isolated-3] 0.000083 0.000015 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] [1762964985.419107867] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.070,-0.467,-0.183} [component_container_isolated-3] [DEBUG] [1762964985.419158273] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.419203069] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.419240139] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 0.000025 0.185116 -0.006931 [component_container_isolated-3] -0.000131 1.000000 0.000561 0.059982 [component_container_isolated-3] -0.185116 -0.000576 0.982717 0.017625 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.419264466] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,0.000} {-0.034,10.668,-0.008} [component_container_isolated-3] [DEBUG] [1762964985.419298711] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.067,11.135,0.178} [component_container_isolated-3] [DEBUG] [1762964985.419352995] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.427589124] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.427650421] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.427698052] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.427748669] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000076 -0.000008 0.000371 [component_container_isolated-3] -0.000076 1.000000 0.000155 0.000194 [component_container_isolated-3] 0.000008 -0.000155 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] [1762964985.427776522] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.006} {0.101,0.190,0.187} [component_container_isolated-3] [DEBUG] [1762964985.427828571] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.427907552] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.427983677] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 0.000040 0.203521 -0.006765 [component_container_isolated-3] 0.002367 0.999930 -0.011585 0.059400 [component_container_isolated-3] -0.203508 0.011824 0.979002 0.018723 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.428011380] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.742,0.139} [component_container_isolated-3] [DEBUG] [1762964985.428045105] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.006} {0.552,11.554,-0.054} [component_container_isolated-3] [DEBUG] [1762964985.428107203] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.435012280] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.435078316] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.435120767] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.435167186] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000059 -0.000092 0.000072 [component_container_isolated-3] 0.000059 1.000000 0.000064 -0.000046 [component_container_isolated-3] 0.000092 -0.000064 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] [1762964985.435193617] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.002} {-0.172,0.033,-0.169} [component_container_isolated-3] [DEBUG] [1762964985.435243151] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.435284540] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.435320669] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879491 0.000045 0.475915 -0.000981 [component_container_isolated-3] -0.004814 0.999950 0.008801 0.060290 [component_container_isolated-3] -0.475891 -0.010031 0.879447 0.017960 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.435343623] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.654,28.417,-0.314} [component_container_isolated-3] [DEBUG] [1762964985.435373711] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.390,28.386,-0.121} [component_container_isolated-3] [DEBUG] [1762964985.435422464] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.447585352] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.447654684] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.447698197] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.447744115] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000014 0.000004 -0.000185 [component_container_isolated-3] -0.000014 1.000000 0.000050 0.000103 [component_container_isolated-3] -0.000004 -0.000050 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] [1762964985.447769754] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.039} {0.067,-0.467,-0.184} [component_container_isolated-3] [DEBUG] [1762964985.447818918] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.447863573] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.447900584] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 0.000029 0.185119 -0.006941 [component_container_isolated-3] -0.000144 1.000000 0.000611 0.059997 [component_container_isolated-3] -0.185119 -0.000628 0.982716 0.017608 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.447955228] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,0.000} {-0.037,10.668,-0.008} [component_container_isolated-3] [DEBUG] [1762964985.447988362] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.067,11.135,0.178} [component_container_isolated-3] [DEBUG] [1762964985.448042385] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.455991876] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.456058113] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.456101425] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.456147534] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000427 -0.000212 0.000860 [component_container_isolated-3] 0.000427 1.000000 -0.000356 -0.002401 [component_container_isolated-3] 0.000212 0.000356 1.000000 -0.001557 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.456173764] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.032,-0.014} {0.013,-0.189,-0.259} [component_container_isolated-3] [DEBUG] [1762964985.456222316] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.456265849] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.456302439] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981515 0.000164 0.191384 -0.006565 [component_container_isolated-3] -0.001912 0.999958 0.008949 0.060961 [component_container_isolated-3] -0.191374 -0.009149 0.981475 0.017570 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.456326405] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.534,11.033,-0.112} [component_container_isolated-3] [DEBUG] [1762964985.456359889] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.031,0.015} {-0.497,11.224,0.151} [component_container_isolated-3] [DEBUG] [1762964985.456410836] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.469070934] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.469129626] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.469170164] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.469216773] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000068 0.000035 -0.000182 [component_container_isolated-3] 0.000068 1.000000 -0.000093 -0.000180 [component_container_isolated-3] -0.000035 0.000093 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] [1762964985.469242682] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.006} {0.107,0.192,0.191} [component_container_isolated-3] [DEBUG] [1762964985.469297878] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.469370727] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.469410042] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979063 -0.000007 0.203555 -0.006770 [component_container_isolated-3] 0.002435 0.999929 -0.011678 0.059406 [component_container_isolated-3] -0.203541 0.011929 0.978994 0.018737 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.469433206] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.744,0.143} [component_container_isolated-3] [DEBUG] [1762964985.469463895] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.006} {0.552,11.554,-0.054} [component_container_isolated-3] [DEBUG] [1762964985.469514932] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.471954611] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.472024575] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.472066866] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.472111511] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000113 0.000137 -0.000051 [component_container_isolated-3] 0.000113 1.000000 -0.000215 -0.000147 [component_container_isolated-3] -0.000137 0.000215 1.000000 0.000303 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.472136519] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.160,0.040,-0.163} [component_container_isolated-3] [DEBUG] [1762964985.472185753] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.472228665] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.472264613] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879430 0.000017 0.476027 -0.001053 [component_container_isolated-3] -0.004674 0.999952 0.008598 0.060274 [component_container_isolated-3] -0.476004 -0.009786 0.879388 0.018024 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.472287978] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.638,28.425,-0.304} [component_container_isolated-3] [DEBUG] [1762964985.472322193] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.390,28.386,-0.119} [component_container_isolated-3] [DEBUG] [1762964985.472374473] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.474258201] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.474311562] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.474350046] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.474393389] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000068 0.000035 -0.000182 [component_container_isolated-3] 0.000068 1.000000 -0.000093 -0.000180 [component_container_isolated-3] -0.000035 0.000093 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] [1762964985.474418156] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.007} {0.112,0.194,0.195} [component_container_isolated-3] [DEBUG] [1762964985.474466819] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.474508428] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.474543215] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979063 -0.000007 0.203555 -0.006770 [component_container_isolated-3] 0.002435 0.999929 -0.011678 0.059406 [component_container_isolated-3] -0.203541 0.011929 0.978994 0.018737 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.474565908] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.744,0.143} [component_container_isolated-3] [DEBUG] [1762964985.474598691] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.006} {0.546,11.552,-0.058} [component_container_isolated-3] [DEBUG] [1762964985.474651291] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.478108955] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.478181253] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.478224345] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.478272297] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000001 0.000034 0.000171 [component_container_isolated-3] -0.000001 1.000000 -0.000075 -0.000153 [component_container_isolated-3] -0.000034 0.000075 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] [1762964985.478299378] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.039} {0.071,-0.465,-0.184} [component_container_isolated-3] [DEBUG] [1762964985.478350606] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.478396223] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.478436220] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000043 0.185153 -0.006925 [component_container_isolated-3] -0.000145 1.000000 0.000537 0.059990 [component_container_isolated-3] -0.185152 -0.000554 0.982710 0.017599 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.478461167] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,0.000} {-0.032,10.670,-0.008} [component_container_isolated-3] [DEBUG] [1762964985.478497216] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.067,11.135,0.178} [component_container_isolated-3] [DEBUG] [1762964985.478546019] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.485592186] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.485661929] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.485701935] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.485745008] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000042 0.000074 -0.000349 [component_container_isolated-3] 0.000042 1.000000 -0.000045 0.000153 [component_container_isolated-3] -0.000074 0.000045 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] [1762964985.485770266] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.032,-0.013} {0.016,-0.185,-0.257} [component_container_isolated-3] [DEBUG] [1762964985.485817977] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.485861189] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.485897439] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981501 0.000132 0.191456 -0.006606 [component_container_isolated-3] -0.001871 0.999959 0.008903 0.061008 [component_container_isolated-3] -0.191447 -0.009097 0.981461 0.017583 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.485953526] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.531,11.037,-0.109} [component_container_isolated-3] [DEBUG] [1762964985.485988793] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.032,0.014} {-0.497,11.224,0.151} [component_container_isolated-3] [DEBUG] [1762964985.486055240] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.495567867] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.495637630] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.495678037] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.495724055] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000074 0.000009 0.000024 [component_container_isolated-3] -0.000074 1.000000 0.000061 0.000025 [component_container_isolated-3] -0.000009 -0.000061 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] [1762964985.495750456] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.164,0.041,-0.167} [component_container_isolated-3] [DEBUG] [1762964985.495799870] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.495847912] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.495888980] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 0.000053 0.476035 -0.001078 [component_container_isolated-3] -0.004747 0.999951 0.008659 0.060270 [component_container_isolated-3] -0.476012 -0.009875 0.879383 0.018043 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.495915040] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.643,28.425,-0.309} [component_container_isolated-3] [DEBUG] [1762964985.495972760] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.390,28.386,-0.119} [component_container_isolated-3] [DEBUG] [1762964985.496027535] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.501222596] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.501281949] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.501321455] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.501365339] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000068 0.000035 -0.000182 [component_container_isolated-3] 0.000068 1.000000 -0.000093 -0.000180 [component_container_isolated-3] -0.000035 0.000093 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] [1762964985.501390186] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.007} {0.118,0.196,0.199} [component_container_isolated-3] [DEBUG] [1762964985.501439190] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.501481400] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.501516557] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979063 -0.000007 0.203555 -0.006770 [component_container_isolated-3] 0.002435 0.999929 -0.011678 0.059406 [component_container_isolated-3] -0.203541 0.011929 0.978994 0.018737 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.501540002] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.744,0.143} [component_container_isolated-3] [DEBUG] [1762964985.501572444] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.007} {0.540,11.550,-0.062} [component_container_isolated-3] [DEBUG] [1762964985.501625776] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.505173501] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.505240459] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.505282079] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.505327586] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000026 -0.000031 -0.000172 [component_container_isolated-3] 0.000026 1.000000 0.000045 0.000268 [component_container_isolated-3] 0.000031 -0.000045 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] [1762964985.505353395] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.068,-0.467,-0.182} [component_container_isolated-3] [DEBUG] [1762964985.505402409] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.505447124] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.505483664] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 0.000010 0.185122 -0.006934 [component_container_isolated-3] -0.000120 1.000000 0.000582 0.060027 [component_container_isolated-3] -0.185122 -0.000594 0.982715 0.017603 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.505509062] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,0.000} {-0.035,10.668,-0.007} [component_container_isolated-3] [DEBUG] [1762964985.505540653] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.067,11.135,0.178} [component_container_isolated-3] [DEBUG] [1762964985.505590067] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.509455268] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.509517457] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.509559077] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.509603902] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000005 -0.000081 0.000321 [component_container_isolated-3] 0.000005 1.000000 -0.000065 -0.000646 [component_container_isolated-3] 0.000081 0.000065 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] [1762964985.509629211] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.032,-0.013} {0.020,-0.189,-0.256} [component_container_isolated-3] [DEBUG] [1762964985.509677333] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.509721106] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.509756113] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 0.000139 0.191376 -0.006588 [component_container_isolated-3] -0.001865 0.999959 0.008838 0.060932 [component_container_isolated-3] -0.191367 -0.009032 0.981477 0.017567 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.509779267] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.527,11.033,-0.109} [component_container_isolated-3] [DEBUG] [1762964985.509812912] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.031,0.014} {-0.497,11.224,0.151} [component_container_isolated-3] [DEBUG] [1762964985.509865362] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.527841772] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.527905825] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.527979696] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.528024050] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000005 -0.000081 0.000321 [component_container_isolated-3] 0.000005 1.000000 -0.000065 -0.000646 [component_container_isolated-3] 0.000081 0.000065 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] [1762964985.528049269] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.031,-0.013} {0.024,-0.194,-0.256} [component_container_isolated-3] [DEBUG] [1762964985.528098172] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.528140473] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.528175650] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 0.000139 0.191376 -0.006588 [component_container_isolated-3] -0.001865 0.999959 0.008838 0.060932 [component_container_isolated-3] -0.191367 -0.009032 0.981477 0.017567 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.528198484] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.527,11.033,-0.109} [component_container_isolated-3] [DEBUG] [1762964985.528231707] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.030,0.015} {-0.500,11.229,0.150} [component_container_isolated-3] [DEBUG] [1762964985.528281692] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.533841500] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.533908298] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.533995043] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.534041422] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000051 -0.000013 -0.000021 [component_container_isolated-3] 0.000051 1.000000 -0.000073 0.000019 [component_container_isolated-3] 0.000013 0.000073 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] [1762964985.534068353] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.159,0.040,-0.164} [component_container_isolated-3] [DEBUG] [1762964985.534118700] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.534162323] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.534198622] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879432 0.000043 0.476024 -0.001104 [component_container_isolated-3] -0.004696 0.999952 0.008586 0.060266 [component_container_isolated-3] -0.476001 -0.009787 0.879390 0.018070 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.534221827] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.638,28.425,-0.306} [component_container_isolated-3] [DEBUG] [1762964985.534253317] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.390,28.386,-0.119} [component_container_isolated-3] [DEBUG] [1762964985.534302441] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.534426528] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.534475251] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.534513484] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.534556987] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000026 -0.000031 -0.000172 [component_container_isolated-3] 0.000026 1.000000 0.000045 0.000268 [component_container_isolated-3] 0.000031 -0.000045 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] [1762964985.534581153] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.038} {0.066,-0.468,-0.181} [component_container_isolated-3] [DEBUG] [1762964985.534674952] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.534761778] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.534801023] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 0.000010 0.185122 -0.006934 [component_container_isolated-3] -0.000120 1.000000 0.000582 0.060027 [component_container_isolated-3] -0.185122 -0.000594 0.982715 0.017603 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.534822093] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,0.000} {-0.035,10.668,-0.007} [component_container_isolated-3] [DEBUG] [1762964985.534846279] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.015,0.040} {-0.065,11.137,0.177} [component_container_isolated-3] [DEBUG] [1762964985.534887057] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.554100831] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.554160445] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.554200491] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.554244415] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000068 0.000035 -0.000182 [component_container_isolated-3] 0.000068 1.000000 -0.000093 -0.000180 [component_container_isolated-3] -0.000035 0.000093 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] [1762964985.554269813] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.015,0.007} {0.123,0.198,0.203} [component_container_isolated-3] [DEBUG] [1762964985.554320310] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.554366348] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.554405693] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979063 -0.000007 0.203555 -0.006770 [component_container_isolated-3] 0.002435 0.999929 -0.011678 0.059406 [component_container_isolated-3] -0.203541 0.011929 0.978994 0.018737 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.554429358] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.744,0.143} [component_container_isolated-3] [DEBUG] [1762964985.554461580] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.007} {0.533,11.548,-0.066} [component_container_isolated-3] [DEBUG] [1762964985.554510774] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.572660044] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.572716793] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.572762420] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.572810532] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000024 0.000041 0.000004 [component_container_isolated-3] -0.000024 1.000000 0.000108 -0.000039 [component_container_isolated-3] -0.000041 -0.000108 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] [1762964985.572838245] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.166,0.043,-0.165} [component_container_isolated-3] [DEBUG] [1762964985.572889563] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.572974675] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.573014822] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879413 0.000012 0.476060 -0.001125 [component_container_isolated-3] -0.004720 0.999951 0.008694 0.060261 [component_container_isolated-3] -0.476037 -0.009893 0.879370 0.018085 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.573037335] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.645,28.427,-0.308} [component_container_isolated-3] [DEBUG] [1762964985.573069246] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.390,28.386,-0.119} [component_container_isolated-3] [DEBUG] [1762964985.573118149] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.579199283] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.579281159] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.579325063] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.579373676] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000005 -0.000081 0.000321 [component_container_isolated-3] 0.000005 1.000000 -0.000065 -0.000646 [component_container_isolated-3] 0.000081 0.000065 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] [1762964985.579400838] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.031,-0.014} {0.027,-0.199,-0.256} [component_container_isolated-3] [DEBUG] [1762964985.579452186] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.579498484] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.579536597] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 0.000139 0.191376 -0.006588 [component_container_isolated-3] -0.001865 0.999959 0.008838 0.060932 [component_container_isolated-3] -0.191367 -0.009032 0.981477 0.017567 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.579560182] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.527,11.033,-0.109} [component_container_isolated-3] [DEBUG] [1762964985.579590891] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.030,0.015} {-0.504,11.234,0.150} [component_container_isolated-3] [DEBUG] [1762964985.579640325] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.590469877] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.590529050] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.590574927] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.590620635] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000005 -0.000081 0.000321 [component_container_isolated-3] 0.000005 1.000000 -0.000065 -0.000646 [component_container_isolated-3] 0.000081 0.000065 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] [1762964985.590647596] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.014} {0.031,-0.203,-0.255} [component_container_isolated-3] [DEBUG] [1762964985.590700307] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.590743038] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.590778646] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 0.000139 0.191376 -0.006588 [component_container_isolated-3] -0.001865 0.999959 0.008838 0.060932 [component_container_isolated-3] -0.191367 -0.009032 0.981477 0.017567 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.590802161] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.527,11.033,-0.109} [component_container_isolated-3] [DEBUG] [1762964985.590832589] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.015} {-0.508,11.238,0.150} [component_container_isolated-3] [DEBUG] [1762964985.590881433] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.591715816] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.591768236] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.591807942] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.591854210] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000022 0.000013 0.000088 [component_container_isolated-3] -0.000022 1.000000 -0.000013 -0.000152 [component_container_isolated-3] -0.000013 0.000013 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] [1762964985.591879338] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.067,-0.468,-0.182} [component_container_isolated-3] [DEBUG] [1762964985.591954672] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.592003806] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.592043472] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 0.000034 0.185135 -0.006928 [component_container_isolated-3] -0.000142 1.000000 0.000569 0.060032 [component_container_isolated-3] -0.185135 -0.000585 0.982713 0.017603 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.592072267] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,0.000} {-0.034,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964985.592104669] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.065,11.137,0.177} [component_container_isolated-3] [DEBUG] [1762964985.592157880] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.600254713] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.600319668] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.600361608] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.600412886] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 -0.000008 -0.000008 [component_container_isolated-3] -0.000037 1.000000 -0.000092 0.000040 [component_container_isolated-3] 0.000008 0.000092 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] [1762964985.600440498] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.160,0.042,-0.167} [component_container_isolated-3] [DEBUG] [1762964985.600496084] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.600541832] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.600581237] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879416 0.000088 0.476053 -0.001141 [component_container_isolated-3] -0.004757 0.999952 0.008602 0.060258 [component_container_isolated-3] -0.476030 -0.009829 0.879374 0.018108 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.600604932] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.426,-0.310} [component_container_isolated-3] [DEBUG] [1762964985.600640901] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.390,28.386,-0.119} [component_container_isolated-3] [DEBUG] [1762964985.600691387] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.601321471] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.601383720] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.601426712] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.601476577] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000038 -0.000443 0.000463 [component_container_isolated-3] 0.000038 1.000000 0.000085 -0.000141 [component_container_isolated-3] 0.000443 -0.000085 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] [1762964985.601502526] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.006} {0.118,0.172,0.205} [component_container_isolated-3] [DEBUG] [1762964985.601555167] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.601598039] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.601633777] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979154 -0.000062 0.203122 -0.006755 [component_container_isolated-3] 0.002468 0.999930 -0.011594 0.059399 [component_container_isolated-3] -0.203107 0.011854 0.979085 0.018414 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.601661560] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.719,0.144} [component_container_isolated-3] [DEBUG] [1762964985.601699743] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.006} {0.533,11.548,-0.066} [component_container_isolated-3] [DEBUG] [1762964985.601746082] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.607098163] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.607159670] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.607199717] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.607243160] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000038 -0.000443 0.000463 [component_container_isolated-3] 0.000038 1.000000 0.000085 -0.000141 [component_container_isolated-3] 0.000443 -0.000085 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] [1762964985.607267687] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.005} {0.113,0.147,0.207} [component_container_isolated-3] [DEBUG] [1762964985.607315879] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.607357448] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.607392575] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979154 -0.000062 0.203122 -0.006755 [component_container_isolated-3] 0.002468 0.999930 -0.011594 0.059399 [component_container_isolated-3] -0.203107 0.011854 0.979085 0.018414 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.607414838] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.694,11.719,0.144} [component_container_isolated-3] [DEBUG] [1762964985.607446348] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.005} {0.538,11.574,-0.068} [component_container_isolated-3] [DEBUG] [1762964985.607497335] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.614298323] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.614358799] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.614397423] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.614441797] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000005 0.000033 0.000017 [component_container_isolated-3] 0.000005 1.000000 0.000017 0.000120 [component_container_isolated-3] -0.000033 -0.000017 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] [1762964985.614467186] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.038} {0.066,-0.466,-0.182} [component_container_isolated-3] [DEBUG] [1762964985.614515598] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.614563570] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.614602695] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982707 0.000026 0.185167 -0.006923 [component_container_isolated-3] -0.000137 1.000000 0.000585 0.060052 [component_container_isolated-3] -0.185167 -0.000601 0.982707 0.017603 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.614627001] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,0.000} {-0.035,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964985.614657790] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.015,0.040} {-0.065,11.137,0.177} [component_container_isolated-3] [DEBUG] [1762964985.614707695] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.616650435] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.616702354] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.616743984] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.616787697] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 -0.000008 -0.000008 [component_container_isolated-3] -0.000037 1.000000 -0.000092 0.000040 [component_container_isolated-3] 0.000008 0.000092 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] [1762964985.616812725] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.155,0.042,-0.169} [component_container_isolated-3] [DEBUG] [1762964985.616860857] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.616902647] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.616971238] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879416 0.000088 0.476053 -0.001141 [component_container_isolated-3] -0.004757 0.999952 0.008602 0.060258 [component_container_isolated-3] -0.476030 -0.009829 0.879374 0.018108 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.616996196] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.426,-0.310} [component_container_isolated-3] [DEBUG] [1762964985.617028738] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.386,-0.117} [component_container_isolated-3] [DEBUG] [1762964985.617081639] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.629213037] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.629294823] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.629339178] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.629387380] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000005 -0.000081 0.000321 [component_container_isolated-3] 0.000005 1.000000 -0.000065 -0.000646 [component_container_isolated-3] 0.000081 0.000065 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] [1762964985.629415123] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.029,-0.014} {0.035,-0.208,-0.255} [component_container_isolated-3] [DEBUG] [1762964985.629468074] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.629514272] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.629552926] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 0.000139 0.191376 -0.006588 [component_container_isolated-3] -0.001865 0.999959 0.008838 0.060932 [component_container_isolated-3] -0.191367 -0.009032 0.981477 0.017567 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.629576200] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.527,11.033,-0.109} [component_container_isolated-3] [DEBUG] [1762964985.629607290] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.028,0.015} {-0.512,11.243,0.149} [component_container_isolated-3] [DEBUG] [1762964985.629656794] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.638195431] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.638265685] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.638307405] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.638354345] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000168 -0.000296 -0.000383 [component_container_isolated-3] 0.000168 1.000000 -0.000164 -0.001018 [component_container_isolated-3] 0.000296 0.000164 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] [1762964985.638380705] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.014,-0.039} {0.075,-0.483,-0.172} [component_container_isolated-3] [DEBUG] [1762964985.638430450] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.638473743] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.638514330] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982762 -0.000109 0.184877 -0.007054 [component_container_isolated-3] 0.000031 1.000000 0.000422 0.059784 [component_container_isolated-3] -0.184877 -0.000408 0.982762 0.017308 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.638543526] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.024,10.654,0.002} [component_container_isolated-3] [DEBUG] [1762964985.638577601] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.040} {-0.065,11.137,0.177} [component_container_isolated-3] [DEBUG] [1762964985.638632656] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.651465714] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.651521831] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.651560705] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.651605030] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000039 0.000328 -0.000404 [component_container_isolated-3] -0.000039 1.000000 0.000010 -0.000072 [component_container_isolated-3] -0.000328 -0.000010 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] [1762964985.651629868] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.006} {0.113,0.166,0.205} [component_container_isolated-3] [DEBUG] [1762964985.651680675] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.651725290] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.651764966] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 -0.000025 0.203443 -0.006750 [component_container_isolated-3] 0.002433 0.999930 -0.011583 0.059382 [component_container_isolated-3] -0.203428 0.011836 0.979018 0.018449 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.651789302] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.738,0.142} [component_container_isolated-3] [DEBUG] [1762964985.651822014] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.006} {0.538,11.574,-0.068} [component_container_isolated-3] [DEBUG] [1762964985.651872341] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.666905881] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.667001634] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.667041851] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.667086236] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000000 0.000009 0.000030 [component_container_isolated-3] -0.000000 1.000000 0.000111 0.000010 [component_container_isolated-3] -0.000009 -0.000111 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] [1762964985.667111674] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.161,0.042,-0.169} [component_container_isolated-3] [DEBUG] [1762964985.667160006] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.667201436] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.667236993] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879412 0.000035 0.476061 -0.001161 [component_container_isolated-3] -0.004757 0.999951 0.008713 0.060259 [component_container_isolated-3] -0.476038 -0.009927 0.879369 0.018116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.667261370] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.427,-0.310} [component_container_isolated-3] [DEBUG] [1762964985.667294644] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.386,-0.117} [component_container_isolated-3] [DEBUG] [1762964985.667344138] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.677031739] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.677096302] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.677136800] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.677181335] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000035 -0.000004 -0.000357 [component_container_isolated-3] -0.000035 1.000000 -0.000026 0.000566 [component_container_isolated-3] 0.000004 0.000026 1.000000 0.000783 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.677207374] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.013} {0.036,-0.208,-0.257} [component_container_isolated-3] [DEBUG] [1762964985.677257370] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.677302196] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.677340899] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 0.000178 0.191372 -0.006594 [component_container_isolated-3] -0.001900 0.999959 0.008812 0.061000 [component_container_isolated-3] -0.191363 -0.009013 0.981478 0.017745 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.677366689] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.526,11.032,-0.111} [component_container_isolated-3] [DEBUG] [1762964985.677400604] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.015} {-0.512,11.243,0.149} [component_container_isolated-3] [DEBUG] [1762964985.677451511] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.683435749] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.683493550] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.683534428] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.683579965] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000160 0.000306 0.000350 [component_container_isolated-3] -0.000160 1.000000 0.000122 0.000964 [component_container_isolated-3] -0.000306 -0.000122 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] [1762964985.683605724] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.038} {0.068,-0.465,-0.181} [component_container_isolated-3] [DEBUG] [1762964985.683654226] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.683701406] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.683742906] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 0.000026 0.185178 -0.007021 [component_container_isolated-3] -0.000129 1.000000 0.000544 0.059882 [component_container_isolated-3] -0.185177 -0.000558 0.982705 0.017345 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.683768124] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964985.683802940] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.015,0.040} {-0.065,11.137,0.177} [component_container_isolated-3] [DEBUG] [1762964985.683855250] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.703378976] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.703431977] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.703470681] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.703518733] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000035 -0.000004 -0.000357 [component_container_isolated-3] -0.000035 1.000000 -0.000026 0.000566 [component_container_isolated-3] 0.000004 0.000026 1.000000 0.000783 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.703546606] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.012} {0.038,-0.208,-0.259} [component_container_isolated-3] [DEBUG] [1762964985.703597503] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.703644413] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.703685812] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 0.000178 0.191372 -0.006594 [component_container_isolated-3] -0.001900 0.999959 0.008812 0.061000 [component_container_isolated-3] -0.191363 -0.009013 0.981478 0.017745 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.703715148] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.526,11.032,-0.111} [component_container_isolated-3] [DEBUG] [1762964985.703738673] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.014} {-0.513,11.243,0.151} [component_container_isolated-3] [DEBUG] [1762964985.703783468] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.704698015] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.704749263] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.704789399] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.704834806] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000014 -0.000058 0.000106 [component_container_isolated-3] -0.000014 1.000000 0.000009 -0.000024 [component_container_isolated-3] 0.000058 -0.000009 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] [1762964985.704861146] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.005} {0.112,0.162,0.204} [component_container_isolated-3] [DEBUG] [1762964985.704908848] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.704993339] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.705030710] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979099 -0.000014 0.203386 -0.006744 [component_container_isolated-3] 0.002418 0.999930 -0.011574 0.059366 [component_container_isolated-3] -0.203371 0.011824 0.979030 0.018448 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.705053564] [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] [1762964985.705086827] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.006} {0.538,11.574,-0.068} [component_container_isolated-3] [DEBUG] [1762964985.705137604] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.708340010] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.708395566] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.708438418] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.708483404] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000022 -0.000041 -0.000022 [component_container_isolated-3] 0.000022 1.000000 -0.000112 -0.000039 [component_container_isolated-3] 0.000041 0.000112 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] [1762964985.708512620] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.155,0.040,-0.168} [component_container_isolated-3] [DEBUG] [1762964985.708565661] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.708611809] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.708652116] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879432 0.000069 0.476025 -0.001176 [component_container_isolated-3] -0.004734 0.999952 0.008601 0.060252 [component_container_isolated-3] -0.476001 -0.009817 0.879390 0.018137 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.708675220] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.640,28.425,-0.308} [component_container_isolated-3] [DEBUG] [1762964985.708705588] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.386,-0.117} [component_container_isolated-3] [DEBUG] [1762964985.708755233] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.716007573] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.716066105] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.716106292] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.716149935] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000014 -0.000058 0.000106 [component_container_isolated-3] -0.000014 1.000000 0.000009 -0.000024 [component_container_isolated-3] 0.000058 -0.000009 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] [1762964985.716175314] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.005} {0.112,0.159,0.203} [component_container_isolated-3] [DEBUG] [1762964985.716225149] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.716267810] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.716304060] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979099 -0.000014 0.203386 -0.006744 [component_container_isolated-3] 0.002418 0.999930 -0.011574 0.059366 [component_container_isolated-3] -0.203371 0.011824 0.979030 0.018448 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.716329418] [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] [1762964985.716362712] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.005} {0.538,11.577,-0.068} [component_container_isolated-3] [DEBUG] [1762964985.716416084] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.725102052] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.725177015] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.725220668] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.725273259] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000018 -0.000086 0.000090 [component_container_isolated-3] 0.000018 1.000000 -0.000058 -0.000047 [component_container_isolated-3] 0.000086 0.000058 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] [1762964985.725301693] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.071,-0.470,-0.180} [component_container_isolated-3] [DEBUG] [1762964985.725356959] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.725403547] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.725441730] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982721 0.000019 0.185093 -0.006999 [component_container_isolated-3] -0.000111 1.000000 0.000486 0.059904 [component_container_isolated-3] -0.185093 -0.000498 0.982721 0.017371 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.725464324] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.667,-0.006} [component_container_isolated-3] [DEBUG] [1762964985.725494782] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.015,0.040} {-0.065,11.137,0.177} [component_container_isolated-3] [DEBUG] [1762964985.725544998] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.731313274] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.731376274] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.731415409] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.731461587] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000018 -0.000086 0.000090 [component_container_isolated-3] 0.000018 1.000000 -0.000058 -0.000047 [component_container_isolated-3] 0.000086 0.000058 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] [1762964985.731486184] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.075,-0.475,-0.179} [component_container_isolated-3] [DEBUG] [1762964985.731538243] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.731584181] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.731623266] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982721 0.000019 0.185093 -0.006999 [component_container_isolated-3] -0.000111 1.000000 0.000486 0.059904 [component_container_isolated-3] -0.185093 -0.000498 0.982721 0.017371 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.731647622] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.667,-0.006} [component_container_isolated-3] [DEBUG] [1762964985.731680325] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.015,0.040} {-0.068,11.142,0.176} [component_container_isolated-3] [DEBUG] [1762964985.731734859] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.734118200] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.734179758] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.734221277] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.734268077] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000021 0.000051 0.000194 [component_container_isolated-3] -0.000021 1.000000 0.000051 0.000052 [component_container_isolated-3] -0.000051 -0.000051 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] [1762964985.734294707] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.158,0.043,-0.169} [component_container_isolated-3] [DEBUG] [1762964985.734344332] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.734386823] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.734422912] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879407 0.000063 0.476070 -0.001175 [component_container_isolated-3] -0.004756 0.999951 0.008652 0.060254 [component_container_isolated-3] -0.476046 -0.009872 0.879365 0.018134 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.734448130] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.643,28.427,-0.310} [component_container_isolated-3] [DEBUG] [1762964985.734481374] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.386,-0.117} [component_container_isolated-3] [DEBUG] [1762964985.734532892] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.744522240] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.744589017] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.744630777] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.744677757] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000133 0.000013 0.000100 [component_container_isolated-3] 0.000133 1.000000 -0.000012 -0.000753 [component_container_isolated-3] -0.000013 0.000012 1.000000 -0.000759 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.744704388] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.013} {0.038,-0.208,-0.252} [component_container_isolated-3] [DEBUG] [1762964985.744756978] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.744806733] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.744847601] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981515 0.000050 0.191385 -0.006624 [component_container_isolated-3] -0.001767 0.999960 0.008800 0.060876 [component_container_isolated-3] -0.191377 -0.008976 0.981475 0.017686 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.744872919] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.524,11.033,-0.103} [component_container_isolated-3] [DEBUG] [1762964985.744904700] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.014} {-0.513,11.243,0.151} [component_container_isolated-3] [DEBUG] [1762964985.744987138] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.753753840] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.753810889] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.753850815] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.753895621] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000084 -0.000062 -0.000785 [component_container_isolated-3] -0.000084 1.000000 -0.000008 -0.000072 [component_container_isolated-3] 0.000062 0.000008 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] [1762964985.753962067] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.015,0.005} {0.112,0.155,0.198} [component_container_isolated-3] [DEBUG] [1762964985.754018205] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.754067048] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.754106904] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979111 0.000070 0.203325 -0.006929 [component_container_isolated-3] 0.002333 0.999930 -0.011582 0.059342 [component_container_isolated-3] -0.203312 0.011814 0.979043 0.018490 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.754130399] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.731,0.137} [component_container_isolated-3] [DEBUG] [1762964985.754161007] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.006} {0.538,11.577,-0.068} [component_container_isolated-3] [DEBUG] [1762964985.754211133] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.756054413] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.756106593] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.756145487] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.756187698] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000018 -0.000086 0.000090 [component_container_isolated-3] 0.000018 1.000000 -0.000058 -0.000047 [component_container_isolated-3] 0.000086 0.000058 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] [1762964985.756211944] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.078,-0.480,-0.178} [component_container_isolated-3] [DEBUG] [1762964985.756258242] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.756335801] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.756379755] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982721 0.000019 0.185093 -0.006999 [component_container_isolated-3] -0.000111 1.000000 0.000486 0.059904 [component_container_isolated-3] -0.185093 -0.000498 0.982721 0.017371 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.756404642] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.667,-0.006} [component_container_isolated-3] [DEBUG] [1762964985.756438437] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.039} {-0.072,11.147,0.174} [component_container_isolated-3] [DEBUG] [1762964985.756490416] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.762165805] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.762220860] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.762259503] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.762302235] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000065 -0.000063 0.000170 [component_container_isolated-3] 0.000065 1.000000 -0.000025 -0.000104 [component_container_isolated-3] 0.000063 0.000025 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] [1762964985.762327323] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.156,0.039,-0.166} [component_container_isolated-3] [DEBUG] [1762964985.762374774] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.762416443] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.762456279] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879437 0.000018 0.476015 -0.001161 [component_container_isolated-3] -0.004690 0.999952 0.008627 0.060242 [component_container_isolated-3] -0.475992 -0.009820 0.879395 0.018117 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.762479914] [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] [1762964985.762513599] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.386,-0.117} [component_container_isolated-3] [DEBUG] [1762964985.762586358] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.778836311] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.778897899] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.778968584] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.779015203] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000012 -0.000048 0.000395 [component_container_isolated-3] 0.000012 1.000000 0.000052 0.000104 [component_container_isolated-3] 0.000048 -0.000052 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] [1762964985.779040351] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.013} {0.035,-0.210,-0.251} [component_container_isolated-3] [DEBUG] [1762964985.779089795] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.779138959] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.779179627] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 0.000029 0.191338 -0.006583 [component_container_isolated-3] -0.001755 0.999959 0.008853 0.060850 [component_container_isolated-3] -0.191330 -0.009025 0.981484 0.017591 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.779203693] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.527,11.030,-0.102} [component_container_isolated-3] [DEBUG] [1762964985.779235073] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.015} {-0.513,11.243,0.151} [component_container_isolated-3] [DEBUG] [1762964985.779284126] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.785184204] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.785238227] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.785275989] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.785318871] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000006 0.000142 -0.000231 [component_container_isolated-3] -0.000006 1.000000 0.000107 -0.000280 [component_container_isolated-3] -0.000142 -0.000107 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] [1762964985.785343809] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.016,0.006} {0.106,0.164,0.198} [component_container_isolated-3] [DEBUG] [1762964985.785392802] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.785435774] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.785475661] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000054 0.203465 -0.007055 [component_container_isolated-3] 0.002329 0.999931 -0.011474 0.059266 [component_container_isolated-3] -0.203451 0.011708 0.979015 0.018547 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.785499316] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.685,11.739,0.136} [component_container_isolated-3] [DEBUG] [1762964985.785531958] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.006} {0.538,11.577,-0.068} [component_container_isolated-3] [DEBUG] [1762964985.785583737] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.794047992] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.794106403] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.794148985] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.794197337] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000050 0.000088 -0.000165 [component_container_isolated-3] -0.000050 1.000000 0.000140 0.000057 [component_container_isolated-3] -0.000088 -0.000140 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] [1762964985.794224288] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.164,0.044,-0.168} [component_container_isolated-3] [DEBUG] [1762964985.794272941] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.794316815] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.794358755] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879395 -0.000005 0.476092 -0.001162 [component_container_isolated-3] -0.004741 0.999950 0.008766 0.060241 [component_container_isolated-3] -0.476069 -0.009966 0.879351 0.018111 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.794383162] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.649,28.429,-0.309} [component_container_isolated-3] [DEBUG] [1762964985.794413570] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.386,-0.117} [component_container_isolated-3] [DEBUG] [1762964985.794469457] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.808017079] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.808084879] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.808126779] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.808173358] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000018 -0.000086 0.000090 [component_container_isolated-3] 0.000018 1.000000 -0.000058 -0.000047 [component_container_isolated-3] 0.000086 0.000058 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] [1762964985.808199628] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.081,-0.485,-0.177} [component_container_isolated-3] [DEBUG] [1762964985.808247750] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.808290892] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.808327803] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982721 0.000019 0.185093 -0.006999 [component_container_isolated-3] -0.000111 1.000000 0.000486 0.059904 [component_container_isolated-3] -0.185093 -0.000498 0.982721 0.017371 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.808350075] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.667,-0.006} [component_container_isolated-3] [DEBUG] [1762964985.808384020] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.076,11.152,0.173} [component_container_isolated-3] [DEBUG] [1762964985.808435048] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.815957263] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.816018871] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.816057945] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.816099495] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000006 0.000142 -0.000231 [component_container_isolated-3] -0.000006 1.000000 0.000107 -0.000280 [component_container_isolated-3] -0.000142 -0.000107 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] [1762964985.816123551] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.016,0.006} {0.100,0.172,0.198} [component_container_isolated-3] [DEBUG] [1762964985.816171933] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.816217200] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.816257026] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000054 0.203465 -0.007055 [component_container_isolated-3] 0.002329 0.999931 -0.011474 0.059266 [component_container_isolated-3] -0.203451 0.011708 0.979015 0.018547 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.816280300] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.685,11.739,0.136} [component_container_isolated-3] [DEBUG] [1762964985.816312431] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.006} {0.545,11.569,-0.067} [component_container_isolated-3] [DEBUG] [1762964985.816364651] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.819210747] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.819271132] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.819311118] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.819354351] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000099 -0.000088 -0.000108 [component_container_isolated-3] 0.000099 1.000000 -0.000055 -0.000502 [component_container_isolated-3] 0.000088 0.000055 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] [1762964985.819378717] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.014} {0.038,-0.215,-0.245} [component_container_isolated-3] [DEBUG] [1762964985.819425707] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.819469050] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.819504738] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 -0.000058 0.191251 -0.006599 [component_container_isolated-3] -0.001656 0.999960 0.008798 0.060690 [component_container_isolated-3] -0.191244 -0.008952 0.981502 0.017459 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.819528303] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.523,11.025,-0.097} [component_container_isolated-3] [DEBUG] [1762964985.819561827] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.015} {-0.513,11.243,0.151} [component_container_isolated-3] [DEBUG] [1762964985.819613977] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.825374838] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.825427299] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.825466123] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.825508945] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000099 -0.000088 -0.000108 [component_container_isolated-3] 0.000099 1.000000 -0.000055 -0.000502 [component_container_isolated-3] 0.000088 0.000055 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] [1762964985.825533982] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.014} {0.042,-0.221,-0.240} [component_container_isolated-3] [DEBUG] [1762964985.825579750] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.825621439] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.825659612] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 -0.000058 0.191251 -0.006599 [component_container_isolated-3] -0.001656 0.999960 0.008798 0.060690 [component_container_isolated-3] -0.191244 -0.008952 0.981502 0.017459 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.825683538] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.523,11.025,-0.097} [component_container_isolated-3] [DEBUG] [1762964985.825715199] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.015} {-0.517,11.248,0.145} [component_container_isolated-3] [DEBUG] [1762964985.825771446] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.826754143] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.826805481] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.826849104] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.826893449] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000018 -0.000086 0.000090 [component_container_isolated-3] 0.000018 1.000000 -0.000058 -0.000047 [component_container_isolated-3] 0.000086 0.000058 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] [1762964985.826954215] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.085,-0.490,-0.176} [component_container_isolated-3] [DEBUG] [1762964985.827007797] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.827061670] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.827109491] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982721 0.000019 0.185093 -0.006999 [component_container_isolated-3] -0.000111 1.000000 0.000486 0.059904 [component_container_isolated-3] -0.185093 -0.000498 0.982721 0.017371 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.827139899] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.667,-0.006} [component_container_isolated-3] [DEBUG] [1762964985.827170197] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.079,11.157,0.172} [component_container_isolated-3] [DEBUG] [1762964985.827239269] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.827702935] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.827750856] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.827789410] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.827832692] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000004 -0.000019 -0.000182 [component_container_isolated-3] 0.000004 1.000000 -0.000170 0.000081 [component_container_isolated-3] 0.000019 0.000170 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] [1762964985.827857019] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.155,0.043,-0.168} [component_container_isolated-3] [DEBUG] [1762964985.827903307] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.827988771] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.828032684] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879404 0.000073 0.476076 -0.001179 [component_container_isolated-3] -0.004737 0.999952 0.008597 0.060246 [component_container_isolated-3] -0.476052 -0.009815 0.879362 0.018142 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.828056660] [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] [1762964985.828089673] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.386,-0.117} [component_container_isolated-3] [DEBUG] [1762964985.828140681] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.865586403] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.865651788] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.865692055] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.865735678] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000134 0.000132 0.000349 [component_container_isolated-3] 0.000134 1.000000 -0.000263 0.000246 [component_container_isolated-3] -0.000132 0.000263 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] [1762964985.865760565] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.016,0.006} {0.115,0.179,0.205} [component_container_isolated-3] [DEBUG] [1762964985.865810471] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.865856919] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.865896846] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979056 -0.000023 0.203594 -0.007078 [component_container_isolated-3] 0.002464 0.999928 -0.011736 0.059238 [component_container_isolated-3] -0.203579 0.011992 0.978985 0.018701 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.865957742] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.702,11.746,0.144} [component_container_isolated-3] [DEBUG] [1762964985.865991867] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.006} {0.545,11.569,-0.067} [component_container_isolated-3] [DEBUG] [1762964985.866044758] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.868522189] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.868587594] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.868628222] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.868671244] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000049 -0.000007 0.000053 [component_container_isolated-3] 0.000049 1.000000 0.000044 -0.000079 [component_container_isolated-3] 0.000007 -0.000044 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] [1762964985.868695911] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.157,0.043,-0.165} [component_container_isolated-3] [DEBUG] [1762964985.868744233] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.868785322] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.868822423] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879408 0.000009 0.476070 -0.001192 [component_container_isolated-3] -0.004688 0.999952 0.008640 0.060243 [component_container_isolated-3] -0.476047 -0.009830 0.879365 0.018150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.868844926] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.640,28.428,-0.305} [component_container_isolated-3] [DEBUG] [1762964985.868875234] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.386,-0.117} [component_container_isolated-3] [DEBUG] [1762964985.868951179] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.879489735] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.879553497] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.879596208] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.879643168] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000110 0.000347 -0.000447 [component_container_isolated-3] -0.000110 1.000000 -0.000089 0.000716 [component_container_isolated-3] -0.000347 0.000089 1.000000 0.001593 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.879670029] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.012} {0.047,-0.201,-0.246} [component_container_isolated-3] [DEBUG] [1762964985.879719343] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.879769669] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.879810678] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981475 0.000068 0.191592 -0.006578 [component_container_isolated-3] -0.001769 0.999961 0.008709 0.060724 [component_container_isolated-3] -0.191583 -0.008886 0.981436 0.017845 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.879836327] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.519,11.045,-0.103} [component_container_isolated-3] [DEBUG] [1762964985.879869630] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.014} {-0.517,11.248,0.145} [component_container_isolated-3] [DEBUG] [1762964985.879962758] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.885247451] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.885350257] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.885407086] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.885463153] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000063 -0.000049 -0.000234 [component_container_isolated-3] -0.000063 1.000000 0.000089 0.000397 [component_container_isolated-3] 0.000049 -0.000089 1.000000 -0.000300 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.885493501] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.015,-0.038} {0.080,-0.492,-0.180} [component_container_isolated-3] [DEBUG] [1762964985.885555198] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.885610214] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.885659227] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982730 0.000065 0.185045 -0.007017 [component_container_isolated-3] -0.000174 1.000000 0.000575 0.060016 [component_container_isolated-3] -0.185045 -0.000597 0.982730 0.017347 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.885686690] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.035,10.664,-0.010} [component_container_isolated-3] [DEBUG] [1762964985.885718871] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.015,0.040} {-0.079,11.157,0.172} [component_container_isolated-3] [DEBUG] [1762964985.885775379] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.892570486] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.892634618] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.892674635] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.892718188] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000040 0.000030 0.000118 [component_container_isolated-3] -0.000040 1.000000 0.000026 0.000189 [component_container_isolated-3] -0.000030 -0.000026 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] [1762964985.892743216] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.015,0.006} {0.113,0.181,0.203} [component_container_isolated-3] [DEBUG] [1762964985.892791979] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.892833699] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.892869407] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979049 0.000011 0.203623 -0.007075 [component_container_isolated-3] 0.002424 0.999928 -0.011711 0.059248 [component_container_isolated-3] -0.203609 0.011959 0.978979 0.018782 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.892892902] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.700,11.748,0.142} [component_container_isolated-3] [DEBUG] [1762964985.892954810] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.006} {0.545,11.569,-0.067} [component_container_isolated-3] [DEBUG] [1762964985.893008292] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.898052295] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.898145884] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.898193745] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.898246876] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000050 -0.000014 -0.000058 [component_container_isolated-3] -0.000050 1.000000 -0.000038 0.000052 [component_container_isolated-3] 0.000014 0.000038 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] [1762964985.898276423] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.155,0.042,-0.168} [component_container_isolated-3] [DEBUG] [1762964985.898331438] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.898375482] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.898413024] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879414 0.000071 0.476058 -0.001200 [component_container_isolated-3] -0.004738 0.999952 0.008603 0.060246 [component_container_isolated-3] -0.476034 -0.009821 0.879372 0.018166 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.898436158] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.640,28.427,-0.309} [component_container_isolated-3] [DEBUG] [1762964985.898466786] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.386,-0.117} [component_container_isolated-3] [DEBUG] [1762964985.898515309] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.899711564] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.899768132] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.899807707] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.899853395] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000040 0.000030 0.000118 [component_container_isolated-3] -0.000040 1.000000 0.000026 0.000189 [component_container_isolated-3] -0.000030 -0.000026 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] [1762964985.899878893] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.006} {0.112,0.183,0.201} [component_container_isolated-3] [DEBUG] [1762964985.899955109] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.900004122] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.900043448] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979049 0.000011 0.203623 -0.007075 [component_container_isolated-3] 0.002424 0.999928 -0.011711 0.059248 [component_container_isolated-3] -0.203609 0.011959 0.978979 0.018782 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.900067103] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.700,11.748,0.142} [component_container_isolated-3] [DEBUG] [1762964985.900097851] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.006} {0.547,11.567,-0.065} [component_container_isolated-3] [DEBUG] [1762964985.900150462] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.908554902] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.908615949] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.908658821] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.908703787] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000150 -0.000184 0.000313 [component_container_isolated-3] -0.000150 1.000000 0.000147 0.000430 [component_container_isolated-3] 0.000184 -0.000147 1.000000 -0.000600 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.908730768] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.013} {0.038,-0.211,-0.255} [component_container_isolated-3] [DEBUG] [1762964985.908780553] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.908825770] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.908865295] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981510 0.000186 0.191411 -0.006566 [component_container_isolated-3] -0.001917 0.999959 0.008857 0.060840 [component_container_isolated-3] -0.191402 -0.009060 0.981470 0.017837 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.908890002] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.529,11.035,-0.112} [component_container_isolated-3] [DEBUG] [1762964985.908949977] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.015} {-0.517,11.248,0.145} [component_container_isolated-3] [DEBUG] [1762964985.909004671] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.912103900] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.912161009] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.912200585] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.912245040] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000060 0.000140 0.000113 [component_container_isolated-3] 0.000060 1.000000 -0.000011 -0.000411 [component_container_isolated-3] -0.000140 0.000011 1.000000 0.000323 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.912269917] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.080,-0.484,-0.177} [component_container_isolated-3] [DEBUG] [1762964985.912320945] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.912366512] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.912406909] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 0.000008 0.185183 -0.007008 [component_container_isolated-3] -0.000114 1.000000 0.000563 0.060026 [component_container_isolated-3] -0.185183 -0.000575 0.982704 0.017384 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.912431566] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.034,10.672,-0.007} [component_container_isolated-3] [DEBUG] [1762964985.912465641] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.079,11.157,0.172} [component_container_isolated-3] [DEBUG] [1762964985.912524093] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.915030158] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.915091566] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.915133636] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.915177560] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000050 -0.000014 -0.000058 [component_container_isolated-3] -0.000050 1.000000 -0.000038 0.000052 [component_container_isolated-3] 0.000014 0.000038 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] [1762964985.915203590] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.003} {-0.153,0.041,-0.171} [component_container_isolated-3] [DEBUG] [1762964985.915251752] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.915293311] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.915329901] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879414 0.000071 0.476058 -0.001200 [component_container_isolated-3] -0.004738 0.999952 0.008603 0.060246 [component_container_isolated-3] -0.476034 -0.009821 0.879372 0.018166 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.915352745] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.640,28.427,-0.309} [component_container_isolated-3] [DEBUG] [1762964985.915384746] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.387,-0.114} [component_container_isolated-3] [DEBUG] [1762964985.915435713] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.920676872] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.920737508] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.920775000] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.920817361] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000150 -0.000184 0.000313 [component_container_isolated-3] -0.000150 1.000000 0.000147 0.000430 [component_container_isolated-3] 0.000184 -0.000147 1.000000 -0.000600 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.920841326] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.014} {0.030,-0.222,-0.263} [component_container_isolated-3] [DEBUG] [1762964985.920886673] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.920961606] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.921005119] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981510 0.000186 0.191411 -0.006566 [component_container_isolated-3] -0.001917 0.999959 0.008857 0.060840 [component_container_isolated-3] -0.191402 -0.009060 0.981470 0.017837 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.921029486] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.529,11.035,-0.112} [component_container_isolated-3] [DEBUG] [1762964985.921060465] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.015} {-0.507,11.259,0.154} [component_container_isolated-3] [DEBUG] [1762964985.921109569] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.926228074] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.926283059] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.926323366] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.926368502] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000060 0.000140 0.000113 [component_container_isolated-3] 0.000060 1.000000 -0.000011 -0.000411 [component_container_isolated-3] -0.000140 0.000011 1.000000 0.000323 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.926394221] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.081,-0.476,-0.173} [component_container_isolated-3] [DEBUG] [1762964985.926441882] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.926486067] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.926522777] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 0.000008 0.185183 -0.007008 [component_container_isolated-3] -0.000114 1.000000 0.000563 0.060026 [component_container_isolated-3] -0.185183 -0.000575 0.982704 0.017384 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.926547975] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.034,10.672,-0.007} [component_container_isolated-3] [DEBUG] [1762964985.926581449] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.080,11.149,0.169} [component_container_isolated-3] [DEBUG] [1762964985.926631404] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.965981173] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.966054583] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.966098387] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.966144114] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000004 -0.000053 0.000030 [component_container_isolated-3] 0.000004 1.000000 -0.000021 0.000033 [component_container_isolated-3] 0.000053 0.000021 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] [1762964985.966171045] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.003} {-0.152,0.038,-0.171} [component_container_isolated-3] [DEBUG] [1762964985.966221432] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.966296725] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.966335830] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879439 0.000077 0.476012 -0.001210 [component_container_isolated-3] -0.004733 0.999952 0.008582 0.060251 [component_container_isolated-3] -0.475988 -0.009800 0.879397 0.018175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.966359044] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.638,28.424,-0.308} [component_container_isolated-3] [DEBUG] [1762964985.966389583] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.387,-0.114} [component_container_isolated-3] [DEBUG] [1762964985.966439017] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.971739660] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.971795246] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.971826897] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.971857224] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000014 -0.000059 0.000041 [component_container_isolated-3] -0.000014 1.000000 -0.000012 0.000011 [component_container_isolated-3] 0.000059 0.000012 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] [1762964985.971873616] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.006} {0.112,0.179,0.200} [component_container_isolated-3] [DEBUG] [1762964985.971899655] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.971945313] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.971965631] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979061 0.000028 0.203566 -0.007072 [component_container_isolated-3] 0.002409 0.999928 -0.011723 0.059255 [component_container_isolated-3] -0.203551 0.011968 0.978991 0.018831 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.971978246] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.700,11.745,0.141} [component_container_isolated-3] [DEBUG] [1762964985.971993885] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.006} {0.547,11.567,-0.065} [component_container_isolated-3] [DEBUG] [1762964985.972018973] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.986127387] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.986195086] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.986237918] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.986284948] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000011 0.000012 0.000109 [component_container_isolated-3] -0.000011 1.000000 0.000052 -0.000100 [component_container_isolated-3] -0.000012 -0.000052 1.000000 -0.000180 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964985.986312420] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.014} {0.027,-0.221,-0.264} [component_container_isolated-3] [DEBUG] [1762964985.986361474] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.986407302] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.986443641] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981508 0.000187 0.191423 -0.006551 [component_container_isolated-3] -0.001928 0.999959 0.008909 0.060872 [component_container_isolated-3] -0.191413 -0.009113 0.981467 0.017807 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.986469330] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.532,11.035,-0.113} [component_container_isolated-3] [DEBUG] [1762964985.986504437] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.015} {-0.507,11.259,0.154} [component_container_isolated-3] [DEBUG] [1762964985.986563079] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.991639574] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.991693236] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.991734285] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.991778139] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000028 0.000022 0.000056 [component_container_isolated-3] -0.000028 1.000000 0.000029 0.000005 [component_container_isolated-3] -0.000022 -0.000029 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] [1762964985.991803717] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.079,-0.475,-0.175} [component_container_isolated-3] [DEBUG] [1762964985.991851629] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.991894761] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.991969544] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982700 0.000030 0.185205 -0.006994 [component_container_isolated-3] -0.000142 1.000000 0.000593 0.060032 [component_container_isolated-3] -0.185205 -0.000609 0.982700 0.017406 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.991996546] [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] [1762964985.992029980] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.080,11.149,0.169} [component_container_isolated-3] [DEBUG] [1762964985.992083211] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964985.994368235] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964985.994441685] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964985.994480680] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964985.994525215] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000014 -0.000059 0.000041 [component_container_isolated-3] -0.000014 1.000000 -0.000012 0.000011 [component_container_isolated-3] 0.000059 0.000012 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] [1762964985.994550253] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.006} {0.113,0.176,0.199} [component_container_isolated-3] [DEBUG] [1762964985.994598004] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964985.994643551] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964985.994683267] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979061 0.000028 0.203566 -0.007072 [component_container_isolated-3] 0.002409 0.999928 -0.011723 0.059255 [component_container_isolated-3] -0.203551 0.011968 0.978991 0.018831 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964985.994707904] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.700,11.745,0.141} [component_container_isolated-3] [DEBUG] [1762964985.994741628] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.006} {0.546,11.571,-0.064} [component_container_isolated-3] [DEBUG] [1762964985.994790922] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.012505232] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.012561700] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.012600424] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.012644288] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000028 0.000022 0.000056 [component_container_isolated-3] -0.000028 1.000000 0.000029 0.000005 [component_container_isolated-3] -0.000022 -0.000029 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] [1762964986.012671800] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.077,-0.474,-0.176} [component_container_isolated-3] [DEBUG] [1762964986.012721535] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.012767784] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.012807930] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982700 0.000030 0.185205 -0.006994 [component_container_isolated-3] -0.000142 1.000000 0.000593 0.060032 [component_container_isolated-3] -0.185205 -0.000609 0.982700 0.017406 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.012832758] [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] [1762964986.012863607] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.078,11.147,0.170} [component_container_isolated-3] [DEBUG] [1762964986.012913472] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.013388209] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.013444807] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.013486987] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.013533907] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000028 -0.000007 0.000326 [component_container_isolated-3] 0.000028 1.000000 0.000098 -0.000008 [component_container_isolated-3] 0.000007 -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] [1762964986.013559456] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.003} {-0.157,0.038,-0.169} [component_container_isolated-3] [DEBUG] [1762964986.013609151] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.013660979] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.013704022] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879442 0.000006 0.476006 -0.001184 [component_container_isolated-3] -0.004705 0.999951 0.008679 0.060256 [component_container_isolated-3] -0.475983 -0.009872 0.879399 0.018143 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.013728438] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.643,28.423,-0.307} [component_container_isolated-3] [DEBUG] [1762964986.013761792] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.387,-0.114} [component_container_isolated-3] [DEBUG] [1762964986.013815444] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.023631170] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.023688580] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.023727384] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.023771488] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000013 -0.000084 0.000011 [component_container_isolated-3] 0.000013 1.000000 -0.000063 -0.000059 [component_container_isolated-3] 0.000084 0.000063 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] [1762964986.023796797] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.014} {0.031,-0.226,-0.263} [component_container_isolated-3] [DEBUG] [1762964986.023845830] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.023890526] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.023969957] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 0.000187 0.191340 -0.006544 [component_container_isolated-3] -0.001915 0.999959 0.008846 0.060896 [component_container_isolated-3] -0.191331 -0.009049 0.981484 0.017776 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.023998842] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.528,11.030,-0.112} [component_container_isolated-3] [DEBUG] [1762964986.024032907] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.015} {-0.507,11.259,0.154} [component_container_isolated-3] [DEBUG] [1762964986.024090528] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.041601810] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.041657566] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.041689647] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.041728021] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000004 -0.000021 0.000205 [component_container_isolated-3] -0.000004 1.000000 -0.000028 0.000075 [component_container_isolated-3] 0.000021 0.000028 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] [1762964986.041758228] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.006} {0.115,0.175,0.199} [component_container_isolated-3] [DEBUG] [1762964986.041811420] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.041855524] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.041890922] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979065 0.000037 0.203545 -0.007045 [component_container_isolated-3] 0.002405 0.999928 -0.011751 0.059270 [component_container_isolated-3] -0.203531 0.011995 0.978995 0.018855 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.041913755] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.702,11.744,0.141} [component_container_isolated-3] [DEBUG] [1762964986.041993007] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.006} {0.546,11.571,-0.064} [component_container_isolated-3] [DEBUG] [1762964986.042048513] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.047867265] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.047966234] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.048011210] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.048057509] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000066 0.000175 -0.000069 [component_container_isolated-3] 0.000066 1.000000 -0.000010 -0.000033 [component_container_isolated-3] -0.000175 0.000010 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] [1762964986.048083719] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.014} {0.031,-0.216,-0.259} [component_container_isolated-3] [DEBUG] [1762964986.048134946] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.048182718] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.048223756] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981490 0.000123 0.191513 -0.006539 [component_container_isolated-3] -0.001850 0.999959 0.008836 0.060912 [component_container_isolated-3] -0.191504 -0.009026 0.981450 0.017769 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.048249235] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.527,11.041,-0.108} [component_container_isolated-3] [DEBUG] [1762964986.048280635] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.015} {-0.507,11.259,0.154} [component_container_isolated-3] [DEBUG] [1762964986.048333355] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.051826647] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.051906058] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.051974138] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.052023102] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000006 -0.000019 -0.000225 [component_container_isolated-3] 0.000006 1.000000 0.000013 -0.000076 [component_container_isolated-3] 0.000019 -0.000013 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] [1762964986.052051717] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.158,0.037,-0.169} [component_container_isolated-3] [DEBUG] [1762964986.052104357] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.052152609] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.052192055] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879451 -0.000005 0.475989 -0.001199 [component_container_isolated-3] -0.004698 0.999951 0.008692 0.060252 [component_container_isolated-3] -0.475966 -0.009881 0.879408 0.018129 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.052216712] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.644,28.422,-0.306} [component_container_isolated-3] [DEBUG] [1762964986.052247631] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.387,-0.114} [component_container_isolated-3] [DEBUG] [1762964986.052297326] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.057790907] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.057822798] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.057842996] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.057865640] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000004 -0.000080 -0.000064 [component_container_isolated-3] 0.000004 1.000000 -0.000055 -0.000006 [component_container_isolated-3] 0.000080 0.000055 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] [1762964986.057883764] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.081,-0.478,-0.176} [component_container_isolated-3] [DEBUG] [1762964986.057915866] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.057973866] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.057996980] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982715 0.000037 0.185126 -0.006991 [component_container_isolated-3] -0.000139 1.000000 0.000537 0.060036 [component_container_isolated-3] -0.185126 -0.000554 0.982715 0.017423 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.058011969] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.032,10.668,-0.008} [component_container_isolated-3] [DEBUG] [1762964986.058030925] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.078,11.147,0.170} [component_container_isolated-3] [DEBUG] [1762964986.058061073] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.064915062] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.065005786] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.065046083] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.065090527] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000001 0.000107 0.000017 [component_container_isolated-3] 0.000001 1.000000 0.000006 -0.000035 [component_container_isolated-3] -0.000107 -0.000006 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] [1762964986.065115866] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.158,0.043,-0.169} [component_container_isolated-3] [DEBUG] [1762964986.065167004] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.065212971] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.065253569] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879400 -0.000009 0.476083 -0.001199 [component_container_isolated-3] -0.004698 0.999951 0.008698 0.060245 [component_container_isolated-3] -0.476060 -0.009886 0.879357 0.018130 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.065277825] [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] [1762964986.065307953] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.387,-0.114} [component_container_isolated-3] [DEBUG] [1762964986.065357417] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.068338711] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.068407783] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.068450534] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.068500079] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000022 -0.000081 0.000150 [component_container_isolated-3] 0.000022 1.000000 0.000009 -0.000177 [component_container_isolated-3] 0.000081 -0.000009 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] [1762964986.068527401] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.006} {0.114,0.170,0.200} [component_container_isolated-3] [DEBUG] [1762964986.068579010] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.068624517] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.068663040] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000014 0.203466 -0.007009 [component_container_isolated-3] 0.002426 0.999928 -0.011742 0.059263 [component_container_isolated-3] -0.203451 0.011990 0.979012 0.018844 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.068687978] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.702,11.739,0.142} [component_container_isolated-3] [DEBUG] [1762964986.068730739] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.006} {0.546,11.571,-0.064} [component_container_isolated-3] [DEBUG] [1762964986.068809690] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.073214282] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.073268435] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.073308812] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.073354500] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000022 -0.000081 0.000150 [component_container_isolated-3] 0.000022 1.000000 0.000009 -0.000177 [component_container_isolated-3] 0.000081 -0.000009 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] [1762964986.073380249] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.006} {0.114,0.165,0.201} [component_container_isolated-3] [DEBUG] [1762964986.073428651] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.073471213] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.073509426] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000014 0.203466 -0.007009 [component_container_isolated-3] 0.002426 0.999928 -0.011742 0.059263 [component_container_isolated-3] -0.203451 0.011990 0.979012 0.018844 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.073534213] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.702,11.739,0.142} [component_container_isolated-3] [DEBUG] [1762964986.073567787] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.005} {0.546,11.575,-0.065} [component_container_isolated-3] [DEBUG] [1762964986.073619335] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.077525014] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.077574579] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.077608183] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.077654371] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000010 0.000021 0.000008 [component_container_isolated-3] 0.000010 1.000000 0.000000 -0.000131 [component_container_isolated-3] -0.000021 -0.000000 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] [1762964986.077674179] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.013} {0.031,-0.215,-0.259} [component_container_isolated-3] [DEBUG] [1762964986.077709417] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.077737129] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.077760003] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981486 0.000113 0.191534 -0.006528 [component_container_isolated-3] -0.001840 0.999959 0.008836 0.060914 [component_container_isolated-3] -0.191525 -0.009025 0.981446 0.017797 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.077774751] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.527,11.042,-0.107} [component_container_isolated-3] [DEBUG] [1762964986.077793327] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.015} {-0.507,11.259,0.154} [component_container_isolated-3] [DEBUG] [1762964986.077823224] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.084107976] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.084165186] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.084203599] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.084247042] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000029 0.000055 -0.000083 [component_container_isolated-3] 0.000029 1.000000 0.000105 -0.000047 [component_container_isolated-3] -0.000055 -0.000105 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] [1762964986.084274755] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.075,-0.475,-0.174} [component_container_isolated-3] [DEBUG] [1762964986.084328157] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.084386889] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.084435652] [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 -0.006999 [component_container_isolated-3] -0.000109 1.000000 0.000642 0.060036 [component_container_isolated-3] -0.185180 -0.000651 0.982704 0.017437 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.084464437] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.038,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964986.084501378] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.078,11.147,0.170} [component_container_isolated-3] [DEBUG] [1762964986.084560120] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.098128582] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.098196973] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.098239855] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.098289119] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000043 -0.000032 0.000025 [component_container_isolated-3] 0.000043 1.000000 -0.000160 -0.000000 [component_container_isolated-3] 0.000032 0.000160 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] [1762964986.098317563] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.149,0.041,-0.166} [component_container_isolated-3] [DEBUG] [1762964986.098370815] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.098423075] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.098468852] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879416 0.000029 0.476054 -0.001195 [component_container_isolated-3] -0.004655 0.999953 0.008538 0.060236 [component_container_isolated-3] -0.476032 -0.009725 0.879374 0.018141 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.098495583] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.634,28.427,-0.303} [component_container_isolated-3] [DEBUG] [1762964986.098531291] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.387,-0.114} [component_container_isolated-3] [DEBUG] [1762964986.098588450] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.108672589] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.108733625] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.108774584] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.108819199] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000058 -0.000136 -0.000484 [component_container_isolated-3] 0.000058 1.000000 -0.000090 -0.000544 [component_container_isolated-3] 0.000136 0.000090 1.000000 -0.000230 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.108844748] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.014} {0.036,-0.222,-0.255} [component_container_isolated-3] [DEBUG] [1762964986.108892609] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.108972822] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.109012468] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981512 0.000074 0.191400 -0.006620 [component_container_isolated-3] -0.001781 0.999960 0.008746 0.060795 [component_container_isolated-3] -0.191391 -0.008925 0.981473 0.017808 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.109035792] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.521,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964986.109069667] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.015} {-0.507,11.259,0.154} [component_container_isolated-3] [DEBUG] [1762964986.109120324] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.112986647] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.113040049] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.113080567] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.113124882] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000005 -0.000036 0.000128 [component_container_isolated-3] -0.000005 1.000000 -0.000031 0.000061 [component_container_isolated-3] 0.000036 0.000031 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] [1762964986.113150430] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.076,-0.477,-0.175} [component_container_isolated-3] [DEBUG] [1762964986.113197490] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.113239651] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.113275088] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 -0.000001 0.185145 -0.006988 [component_container_isolated-3] -0.000114 1.000000 0.000611 0.060041 [component_container_isolated-3] -0.185145 -0.000622 0.982711 0.017458 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.113297932] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.036,10.670,-0.007} [component_container_isolated-3] [DEBUG] [1762964986.113331446] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.078,11.147,0.170} [component_container_isolated-3] [DEBUG] [1762964986.113383004] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.130883296] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.130971875] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.131012262] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.131055304] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000058 -0.000136 -0.000484 [component_container_isolated-3] 0.000058 1.000000 -0.000090 -0.000544 [component_container_isolated-3] 0.000136 0.000090 1.000000 -0.000230 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.131079460] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.029,-0.014} {0.041,-0.230,-0.252} [component_container_isolated-3] [DEBUG] [1762964986.131127081] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.131169703] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.131208367] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981512 0.000074 0.191400 -0.006620 [component_container_isolated-3] -0.001781 0.999960 0.008746 0.060795 [component_container_isolated-3] -0.191391 -0.008925 0.981473 0.017808 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.131232172] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.521,11.034,-0.104} [component_container_isolated-3] [DEBUG] [1762964986.131265466] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.028,0.015} {-0.513,11.267,0.151} [component_container_isolated-3] [DEBUG] [1762964986.131317275] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.134190291] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.134256959] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.134299590] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.134347612] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000093 -0.000019 -0.000028 [component_container_isolated-3] 0.000093 1.000000 -0.000023 0.000006 [component_container_isolated-3] 0.000019 0.000023 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] [1762964986.134375275] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.005} {0.115,0.164,0.207} [component_container_isolated-3] [DEBUG] [1762964986.134429979] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.134512226] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.134554076] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 -0.000073 0.203447 -0.006999 [component_container_isolated-3] 0.002519 0.999928 -0.011766 0.059258 [component_container_isolated-3] -0.203431 0.012032 0.979015 0.018818 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.134577180] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.704,11.738,0.147} [component_container_isolated-3] [DEBUG] [1762964986.134607889] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.005} {0.546,11.575,-0.065} [component_container_isolated-3] [DEBUG] [1762964986.134657914] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.136353903] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.136418527] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.136461569] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.136509010] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 -0.000096 -0.000076 [component_container_isolated-3] -0.000037 1.000000 0.000207 -0.000083 [component_container_isolated-3] 0.000096 -0.000207 1.000000 -0.000209 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.136536502] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.161,0.036,-0.169} [component_container_isolated-3] [DEBUG] [1762964986.136588622] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.136636473] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.136677972] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879462 -0.000037 0.475970 -0.001220 [component_container_isolated-3] -0.004691 0.999951 0.008745 0.060223 [component_container_isolated-3] -0.475947 -0.009924 0.879418 0.018110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.136703211] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.647,28.421,-0.306} [component_container_isolated-3] [DEBUG] [1762964986.136735302] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.394,28.387,-0.114} [component_container_isolated-3] [DEBUG] [1762964986.136785918] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.152279558] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.152320917] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.152346405] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.152373297] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 -0.000096 -0.000076 [component_container_isolated-3] -0.000037 1.000000 0.000207 -0.000083 [component_container_isolated-3] 0.000096 -0.000207 1.000000 -0.000209 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.152388636] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.002} {-0.173,0.030,-0.171} [component_container_isolated-3] [DEBUG] [1762964986.152418142] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.152451516] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.152501271] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.152460543] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.152537610] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.152554633] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879462 -0.000037 0.475970 -0.001220 [component_container_isolated-3] -0.004691 0.999951 0.008745 0.060223 [component_container_isolated-3] -0.475947 -0.009924 0.879418 0.018110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.152602394] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.647,28.421,-0.306} [component_container_isolated-3] [DEBUG] [1762964986.152624025] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.381,28.392,-0.111} [component_container_isolated-3] [DEBUG] [1762964986.152595501] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000023 0.000052 -0.000080 [component_container_isolated-3] -0.000023 1.000000 0.000035 0.000012 [component_container_isolated-3] -0.000052 -0.000035 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] [1762964986.152679992] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.074,-0.474,-0.176} [component_container_isolated-3] [DEBUG] [1762964986.152657239] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.152725249] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.152762109] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.152790303] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000015 0.185196 -0.006986 [component_container_isolated-3] -0.000138 1.000000 0.000646 0.060047 [component_container_isolated-3] -0.185196 -0.000661 0.982701 0.017473 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.152807917] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.039,10.673,-0.008} [component_container_isolated-3] [DEBUG] [1762964986.152841210] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.078,11.147,0.170} [component_container_isolated-3] [DEBUG] [1762964986.152906274] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.159528050] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.159588937] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.159627601] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.159670713] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000023 0.000052 -0.000080 [component_container_isolated-3] -0.000023 1.000000 0.000035 0.000012 [component_container_isolated-3] -0.000052 -0.000035 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] [1762964986.159696011] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.072,-0.471,-0.177} [component_container_isolated-3] [DEBUG] [1762964986.159743742] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.159790091] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.159829356] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000015 0.185196 -0.006986 [component_container_isolated-3] -0.000138 1.000000 0.000646 0.060047 [component_container_isolated-3] -0.185196 -0.000661 0.982701 0.017473 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.159853532] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.039,10.673,-0.008} [component_container_isolated-3] [DEBUG] [1762964986.159885052] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.076,11.144,0.172} [component_container_isolated-3] [DEBUG] [1762964986.159955026] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.167735565] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.167794477] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.167834935] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.167879660] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000062 -0.000176 -0.000033 [component_container_isolated-3] -0.000062 1.000000 0.000245 0.000179 [component_container_isolated-3] 0.000176 -0.000245 1.000000 -0.000295 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.167904337] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.005} {0.101,0.154,0.203} [component_container_isolated-3] [DEBUG] [1762964986.167983148] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.168069683] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.168109910] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979122 -0.000062 0.203275 -0.007000 [component_container_isolated-3] 0.002455 0.999931 -0.011522 0.059283 [component_container_isolated-3] -0.203260 0.011780 0.979054 0.018728 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.168133264] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.689,11.728,0.144} [component_container_isolated-3] [DEBUG] [1762964986.168165145] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.005} {0.546,11.575,-0.065} [component_container_isolated-3] [DEBUG] [1762964986.168215632] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.177202023] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.177264082] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.177305100] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.177349455] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000047 -0.000169 0.000781 [component_container_isolated-3] -0.000047 1.000000 0.000141 0.000488 [component_container_isolated-3] 0.000169 -0.000141 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] [1762964986.177375074] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.014} {0.033,-0.240,-0.255} [component_container_isolated-3] [DEBUG] [1762964986.177426712] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.177473993] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.177514039] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000093 0.191234 -0.006541 [component_container_isolated-3] -0.001826 0.999959 0.008888 0.060810 [component_container_isolated-3] -0.191225 -0.009073 0.981504 0.017628 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.177539508] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.530,11.024,-0.107} [component_container_isolated-3] [DEBUG] [1762964986.177578853] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.016} {-0.513,11.267,0.151} [component_container_isolated-3] [DEBUG] [1762964986.177621915] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.200212798] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.200288974] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.200329662] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.200377693] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000085 0.000206 -0.000041 [component_container_isolated-3] 0.000085 1.000000 0.000105 -0.000064 [component_container_isolated-3] -0.000206 -0.000105 1.000000 0.000572 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.200404505] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.006} {0.095,0.166,0.208} [component_container_isolated-3] [DEBUG] [1762964986.200456885] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.200502762] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.200540043] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 -0.000167 0.203476 -0.006981 [component_container_isolated-3] 0.002543 0.999932 -0.011416 0.059290 [component_container_isolated-3] -0.203460 0.011694 0.979013 0.018769 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.200562727] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.684,11.739,0.149} [component_container_isolated-3] [DEBUG] [1762964986.200597984] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.006} {0.546,11.575,-0.065} [component_container_isolated-3] [DEBUG] [1762964986.200656826] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.205851888] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.205948993] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.205990943] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.206037322] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000023 0.000052 -0.000080 [component_container_isolated-3] -0.000023 1.000000 0.000035 0.000012 [component_container_isolated-3] -0.000052 -0.000035 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] [1762964986.206064283] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.070,-0.468,-0.179} [component_container_isolated-3] [DEBUG] [1762964986.206115451] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.206162721] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.206237604] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000015 0.185196 -0.006986 [component_container_isolated-3] -0.000138 1.000000 0.000646 0.060047 [component_container_isolated-3] -0.185196 -0.000661 0.982701 0.017473 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.206264366] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.039,10.673,-0.008} [component_container_isolated-3] [DEBUG] [1762964986.206296016] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.074,11.141,0.173} [component_container_isolated-3] [DEBUG] [1762964986.206350931] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.212431443] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.212491137] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.212529691] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.212573044] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000047 -0.000169 0.000781 [component_container_isolated-3] -0.000047 1.000000 0.000141 0.000488 [component_container_isolated-3] 0.000169 -0.000141 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] [1762964986.212597971] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.015} {0.025,-0.250,-0.257} [component_container_isolated-3] [DEBUG] [1762964986.212645843] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.212718682] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.212761183] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000093 0.191234 -0.006541 [component_container_isolated-3] -0.001826 0.999959 0.008888 0.060810 [component_container_isolated-3] -0.191225 -0.009073 0.981504 0.017628 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.212786121] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.530,11.024,-0.107} [component_container_isolated-3] [DEBUG] [1762964986.212817901] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.017} {-0.504,11.276,0.153} [component_container_isolated-3] [DEBUG] [1762964986.212868047] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.216521003] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.216587520] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.216628659] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.216674827] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000045 0.000096 0.000005 [component_container_isolated-3] -0.000045 1.000000 -0.000113 0.000135 [component_container_isolated-3] -0.000096 0.000113 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] [1762964986.216703251] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.003} {-0.166,0.035,-0.173} [component_container_isolated-3] [DEBUG] [1762964986.216755070] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.216800006] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.216837908] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879416 0.000057 0.476054 -0.001213 [component_container_isolated-3] -0.004737 0.999952 0.008632 0.060224 [component_container_isolated-3] -0.476030 -0.009846 0.879374 0.018126 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.216861714] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.641,28.426,-0.309} [component_container_isolated-3] [DEBUG] [1762964986.216891972] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.381,28.392,-0.111} [component_container_isolated-3] [DEBUG] [1762964986.216969580] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.234490501] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.234560164] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.234600781] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.234647040] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000057 -0.000068 0.000098 [component_container_isolated-3] 0.000057 1.000000 -0.000141 -0.000231 [component_container_isolated-3] 0.000068 0.000141 1.000000 -0.000362 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.234672378] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.016,0.005} {0.103,0.162,0.211} [component_container_isolated-3] [DEBUG] [1762964986.234721562] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.234762670] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.234802967] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979094 -0.000194 0.203409 -0.006968 [component_container_isolated-3] 0.002599 0.999930 -0.011556 0.059260 [component_container_isolated-3] -0.203393 0.011843 0.979026 0.018740 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.234828125] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.693,11.735,0.152} [component_container_isolated-3] [DEBUG] [1762964986.234860227] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.005} {0.546,11.575,-0.065} [component_container_isolated-3] [DEBUG] [1762964986.234938226] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.237513844] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.237576073] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.237615028] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.237659743] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000069 -0.000035 0.000030 [component_container_isolated-3] 0.000069 1.000000 -0.000077 -0.000213 [component_container_isolated-3] 0.000035 0.000077 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] [1762964986.237684911] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.002} {-0.162,0.034,-0.169} [component_container_isolated-3] [DEBUG] [1762964986.237733474] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.237778420] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.237816112] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879433 0.000033 0.476023 -0.001218 [component_container_isolated-3] -0.004668 0.999952 0.008555 0.060194 [component_container_isolated-3] -0.476001 -0.009745 0.879391 0.018130 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.237838304] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.635,28.425,-0.304} [component_container_isolated-3] [DEBUG] [1762964986.237868041] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.381,28.392,-0.111} [component_container_isolated-3] [DEBUG] [1762964986.237916884] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.239444522] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.239495499] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.239535836] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.239579800] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000057 -0.000068 0.000098 [component_container_isolated-3] 0.000057 1.000000 -0.000141 -0.000231 [component_container_isolated-3] 0.000068 0.000141 1.000000 -0.000362 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.239604818] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.016,0.005} {0.111,0.158,0.215} [component_container_isolated-3] [DEBUG] [1762964986.239651787] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.239692675] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.239728243] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979094 -0.000194 0.203409 -0.006968 [component_container_isolated-3] 0.002599 0.999930 -0.011556 0.059260 [component_container_isolated-3] -0.203393 0.011843 0.979026 0.018740 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.239750025] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.693,11.735,0.152} [component_container_isolated-3] [DEBUG] [1762964986.239782106] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.005} {0.538,11.579,-0.069} [component_container_isolated-3] [DEBUG] [1762964986.239834055] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.243249939] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.243312308] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.243354018] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.243401328] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000041 0.000157 -0.000138 [component_container_isolated-3] 0.000041 1.000000 0.000051 -0.000054 [component_container_isolated-3] -0.000157 -0.000051 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] [1762964986.243427238] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.015} {0.022,-0.241,-0.255} [component_container_isolated-3] [DEBUG] [1762964986.243475820] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.243517119] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.243553409] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981514 0.000043 0.191388 -0.006526 [component_container_isolated-3] -0.001786 0.999958 0.008939 0.060811 [component_container_isolated-3] -0.191380 -0.009115 0.981474 0.017594 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.243576122] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.532,11.033,-0.104} [component_container_isolated-3] [DEBUG] [1762964986.243606630] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.016} {-0.504,11.276,0.153} [component_container_isolated-3] [DEBUG] [1762964986.243654892] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.249317607] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.249373554] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.249416125] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.249463826] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000028 0.000031 0.000094 [component_container_isolated-3] -0.000028 1.000000 -0.000125 -0.000046 [component_container_isolated-3] -0.000031 0.000125 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] [1762964986.249491098] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.078,-0.467,-0.180} [component_container_isolated-3] [DEBUG] [1762964986.249540512] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.249589185] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.249628631] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 0.000066 0.185226 -0.006974 [component_container_isolated-3] -0.000166 1.000000 0.000522 0.060046 [component_container_isolated-3] -0.185226 -0.000543 0.982696 0.017486 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.249651925] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.032,10.674,-0.010} [component_container_isolated-3] [DEBUG] [1762964986.249683415] [zed_multi.front]: +++ Diff [map -> odom] - {-0.004,-0.014,0.039} {-0.074,11.141,0.173} [component_container_isolated-3] [DEBUG] [1762964986.249734313] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.265973656] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.266035805] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.266073597] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.266116098] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000041 0.000157 -0.000138 [component_container_isolated-3] 0.000041 1.000000 0.000051 -0.000054 [component_container_isolated-3] -0.000157 -0.000051 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] [1762964986.266142478] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.014} {0.019,-0.232,-0.253} [component_container_isolated-3] [DEBUG] [1762964986.266194077] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.266238672] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.266278087] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981514 0.000043 0.191388 -0.006526 [component_container_isolated-3] -0.001786 0.999958 0.008939 0.060811 [component_container_isolated-3] -0.191380 -0.009115 0.981474 0.017594 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.266300320] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.532,11.033,-0.104} [component_container_isolated-3] [DEBUG] [1762964986.266330577] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.016} {-0.502,11.267,0.151} [component_container_isolated-3] [DEBUG] [1762964986.266379711] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.272446938] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.272510650] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.272550145] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.272594911] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000047 -0.000022 0.000106 [component_container_isolated-3] 0.000047 1.000000 -0.000113 0.000008 [component_container_isolated-3] 0.000022 0.000113 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] [1762964986.272620570] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.002} {-0.155,0.032,-0.167} [component_container_isolated-3] [DEBUG] [1762964986.272671317] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.272714429] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.272753554] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879443 0.000046 0.476004 -0.001212 [component_container_isolated-3] -0.004621 0.999954 0.008441 0.060175 [component_container_isolated-3] -0.475981 -0.009623 0.879403 0.018125 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.272777890] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.627,28.423,-0.301} [component_container_isolated-3] [DEBUG] [1762964986.272811665] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.381,28.392,-0.111} [component_container_isolated-3] [DEBUG] [1762964986.272863163] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.308710332] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.308780496] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.308822817] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.308870017] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000003 -0.000152 -0.000325 [component_container_isolated-3] -0.000003 1.000000 0.000081 0.000092 [component_container_isolated-3] 0.000152 -0.000081 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] [1762964986.308896378] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.073,-0.475,-0.181} [component_container_isolated-3] [DEBUG] [1762964986.308971311] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.309017569] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.309057225] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982724 0.000054 0.185077 -0.007018 [component_container_isolated-3] -0.000169 1.000000 0.000603 0.060059 [component_container_isolated-3] -0.185077 -0.000624 0.982724 0.017512 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.309082523] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.036,10.666,-0.010} [component_container_isolated-3] [DEBUG] [1762964986.309116979] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.039} {-0.074,11.141,0.173} [component_container_isolated-3] [DEBUG] [1762964986.309168227] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.309658153] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.309707397] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.309745920] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.309789253] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000041 0.000157 -0.000138 [component_container_isolated-3] 0.000041 1.000000 0.000051 -0.000054 [component_container_isolated-3] -0.000157 -0.000051 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] [1762964986.309814652] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.014} {0.016,-0.223,-0.250} [component_container_isolated-3] [DEBUG] [1762964986.309863094] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.309906236] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.309979186] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981514 0.000043 0.191388 -0.006526 [component_container_isolated-3] -0.001786 0.999958 0.008939 0.060811 [component_container_isolated-3] -0.191380 -0.009115 0.981474 0.017594 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.310006217] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.532,11.033,-0.104} [component_container_isolated-3] [DEBUG] [1762964986.310039160] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.016} {-0.499,11.258,0.149} [component_container_isolated-3] [DEBUG] [1762964986.310091861] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.318558891] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.318642521] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.318690392] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.318743964] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000172 -0.000206 0.000512 [component_container_isolated-3] -0.000172 1.000000 0.000178 0.000530 [component_container_isolated-3] 0.000206 -0.000178 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] [1762964986.318773992] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.004} {0.101,0.146,0.205} [component_container_isolated-3] [DEBUG] [1762964986.318830219] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.318874634] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.318911955] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979136 -0.000062 0.203208 -0.006891 [component_container_isolated-3] 0.002425 0.999932 -0.011379 0.059347 [component_container_isolated-3] -0.203193 0.011634 0.979070 0.018359 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.318951651] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.681,11.724,0.142} [component_container_isolated-3] [DEBUG] [1762964986.318982149] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.004} {0.538,11.579,-0.069} [component_container_isolated-3] [DEBUG] [1762964986.319035722] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.324111595] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.324171179] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.324208791] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.324252144] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000003 -0.000152 -0.000325 [component_container_isolated-3] -0.000003 1.000000 0.000081 0.000092 [component_container_isolated-3] 0.000152 -0.000081 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] [1762964986.324276771] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.014,-0.037} {0.068,-0.484,-0.181} [component_container_isolated-3] [DEBUG] [1762964986.324323790] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.324370099] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.324409775] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982724 0.000054 0.185077 -0.007018 [component_container_isolated-3] -0.000169 1.000000 0.000603 0.060059 [component_container_isolated-3] -0.185077 -0.000624 0.982724 0.017512 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.324434111] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.036,10.666,-0.010} [component_container_isolated-3] [DEBUG] [1762964986.324467325] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.039} {-0.069,11.150,0.173} [component_container_isolated-3] [DEBUG] [1762964986.324517821] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.329653860] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.329714565] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.329757588] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.329807343] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000059 0.000005 -0.000164 [component_container_isolated-3] -0.000059 1.000000 0.000183 0.000137 [component_container_isolated-3] -0.000005 -0.000183 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] [1762964986.329834875] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.002} {-0.166,0.033,-0.170} [component_container_isolated-3] [DEBUG] [1762964986.329886223] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.329973129] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.330014138] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879441 0.000010 0.476009 -0.001228 [component_container_isolated-3] -0.004680 0.999952 0.008625 0.060177 [component_container_isolated-3] -0.475986 -0.009812 0.879398 0.018113 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.330041530] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.639,28.424,-0.305} [component_container_isolated-3] [DEBUG] [1762964986.330076978] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.003} {-0.381,28.392,-0.111} [component_container_isolated-3] [DEBUG] [1762964986.330029166] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.330189613] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.330233567] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.330281468] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000172 -0.000206 0.000512 [component_container_isolated-3] -0.000172 1.000000 0.000178 0.000530 [component_container_isolated-3] 0.000206 -0.000178 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] [1762964986.330309271] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.003} {0.091,0.135,0.195} [component_container_isolated-3] [DEBUG] [1762964986.330359347] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.330400856] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.330436284] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979136 -0.000062 0.203208 -0.006891 [component_container_isolated-3] 0.002425 0.999932 -0.011379 0.059347 [component_container_isolated-3] -0.203193 0.011634 0.979070 0.018359 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.330458075] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.681,11.724,0.142} [component_container_isolated-3] [DEBUG] [1762964986.330488734] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.014,-0.003} {0.550,11.591,-0.058} [component_container_isolated-3] [DEBUG] [1762964986.330538389] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.330130490] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.336252271] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.336317856] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.336359786] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.336406586] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000059 0.000005 -0.000164 [component_container_isolated-3] -0.000059 1.000000 0.000183 0.000137 [component_container_isolated-3] -0.000005 -0.000183 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] [1762964986.336434329] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.004,0.002} {-0.176,0.033,-0.173} [component_container_isolated-3] [DEBUG] [1762964986.336487550] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.336533678] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.336572112] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879441 0.000010 0.476009 -0.001228 [component_container_isolated-3] -0.004680 0.999952 0.008625 0.060177 [component_container_isolated-3] -0.475986 -0.009812 0.879398 0.018113 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.336594815] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.639,28.424,-0.305} [component_container_isolated-3] [DEBUG] [1762964986.336626085] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.004,-0.003} {-0.369,28.392,-0.108} [component_container_isolated-3] [DEBUG] [1762964986.336675499] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.348613748] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.348695084] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.348737064] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.348785797] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000003 -0.000152 -0.000325 [component_container_isolated-3] -0.000003 1.000000 0.000081 0.000092 [component_container_isolated-3] 0.000152 -0.000081 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] [1762964986.348814091] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.014,-0.037} {0.064,-0.493,-0.181} [component_container_isolated-3] [DEBUG] [1762964986.348867263] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.348915585] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.348990127] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982724 0.000054 0.185077 -0.007018 [component_container_isolated-3] -0.000169 1.000000 0.000603 0.060059 [component_container_isolated-3] -0.185077 -0.000624 0.982724 0.017512 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.349014494] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.036,10.666,-0.010} [component_container_isolated-3] [DEBUG] [1762964986.349045874] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.039} {-0.064,11.159,0.174} [component_container_isolated-3] [DEBUG] [1762964986.349105638] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.349731303] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.349780737] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.349819130] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.349864788] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000172 -0.000206 0.000512 [component_container_isolated-3] -0.000172 1.000000 0.000178 0.000530 [component_container_isolated-3] 0.000206 -0.000178 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] [1762964986.349890406] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.014,0.002} {0.081,0.123,0.185} [component_container_isolated-3] [DEBUG] [1762964986.349990608] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.350050763] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.350089557] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979136 -0.000062 0.203208 -0.006891 [component_container_isolated-3] 0.002425 0.999932 -0.011379 0.059347 [component_container_isolated-3] -0.203193 0.011634 0.979070 0.018359 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.350112240] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.681,11.724,0.142} [component_container_isolated-3] [DEBUG] [1762964986.350141747] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.014,-0.002} {0.562,11.603,-0.048} [component_container_isolated-3] [DEBUG] [1762964986.350192173] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.354129262] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.354189016] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.354227149] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.354270912] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000059 0.000005 -0.000164 [component_container_isolated-3] -0.000059 1.000000 0.000183 0.000137 [component_container_isolated-3] -0.000005 -0.000183 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] [1762964986.354296862] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.187,0.033,-0.177} [component_container_isolated-3] [DEBUG] [1762964986.354345515] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.354394228] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.354435186] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879441 0.000010 0.476009 -0.001228 [component_container_isolated-3] -0.004680 0.999952 0.008625 0.060177 [component_container_isolated-3] -0.475986 -0.009812 0.879398 0.018113 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.354459593] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.639,28.424,-0.305} [component_container_isolated-3] [DEBUG] [1762964986.354492275] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.357,28.392,-0.104} [component_container_isolated-3] [DEBUG] [1762964986.354542511] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.359953965] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.360012397] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.360053836] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.360101547] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000061 0.000018 0.000173 [component_container_isolated-3] -0.000061 1.000000 0.000025 0.000093 [component_container_isolated-3] -0.000018 -0.000025 1.000000 -0.000414 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.360128328] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.015} {0.015,-0.222,-0.254} [component_container_isolated-3] [DEBUG] [1762964986.360179927] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.360227398] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.360267725] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 0.000098 0.191406 -0.006497 [component_container_isolated-3] -0.001847 0.999958 0.008964 0.060823 [component_container_isolated-3] -0.191397 -0.009151 0.981470 0.017478 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.360292101] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.534,11.034,-0.108} [component_container_isolated-3] [DEBUG] [1762964986.360323671] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.016} {-0.499,11.258,0.149} [component_container_isolated-3] [DEBUG] [1762964986.360373106] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.364979754] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.365033356] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.365072230] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.365114591] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000061 0.000018 0.000173 [component_container_isolated-3] -0.000061 1.000000 0.000025 0.000093 [component_container_isolated-3] -0.000018 -0.000025 1.000000 -0.000414 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.365138617] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.015} {0.014,-0.220,-0.257} [component_container_isolated-3] [DEBUG] [1762964986.365184685] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.365229711] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.365270318] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 0.000098 0.191406 -0.006497 [component_container_isolated-3] -0.001847 0.999958 0.008964 0.060823 [component_container_isolated-3] -0.191397 -0.009151 0.981470 0.017478 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.365294865] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.534,11.034,-0.108} [component_container_isolated-3] [DEBUG] [1762964986.365327387] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.016} {-0.497,11.257,0.152} [component_container_isolated-3] [DEBUG] [1762964986.365383465] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.375471350] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.375522307] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.375560380] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.375602861] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000025 0.000098 0.000230 [component_container_isolated-3] 0.000025 1.000000 -0.000033 -0.000084 [component_container_isolated-3] -0.000098 0.000033 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] [1762964986.375627388] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.014,-0.037} {0.065,-0.487,-0.180} [component_container_isolated-3] [DEBUG] [1762964986.375673135] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.375712671] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.375747297] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000036 0.185173 -0.007015 [component_container_isolated-3] -0.000144 1.000000 0.000570 0.060059 [component_container_isolated-3] -0.185173 -0.000587 0.982706 0.017520 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.375770161] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.034,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964986.375803174] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.039} {-0.064,11.159,0.174} [component_container_isolated-3] [DEBUG] [1762964986.375855483] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.385879146] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.385963668] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.386006449] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.386056816] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000172 -0.000206 0.000512 [component_container_isolated-3] -0.000172 1.000000 0.000178 0.000530 [component_container_isolated-3] 0.000206 -0.000178 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] [1762964986.386084859] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.014,0.001} {0.070,0.111,0.175} [component_container_isolated-3] [DEBUG] [1762964986.386138792] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.386184329] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.386223153] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979136 -0.000062 0.203208 -0.006891 [component_container_isolated-3] 0.002425 0.999932 -0.011379 0.059347 [component_container_isolated-3] -0.203193 0.011634 0.979070 0.018359 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.386245967] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.681,11.724,0.142} [component_container_isolated-3] [DEBUG] [1762964986.386276635] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.013,-0.001} {0.574,11.614,-0.038} [component_container_isolated-3] [DEBUG] [1762964986.386327172] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.386783243] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.386833960] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.386873175] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.386950252] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000059 0.000005 -0.000164 [component_container_isolated-3] -0.000059 1.000000 0.000183 0.000137 [component_container_isolated-3] -0.000005 -0.000183 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] [1762964986.386980830] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.197,0.033,-0.180} [component_container_isolated-3] [DEBUG] [1762964986.387033521] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.387078276] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.387116339] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879441 0.000010 0.476009 -0.001228 [component_container_isolated-3] -0.004680 0.999952 0.008625 0.060177 [component_container_isolated-3] -0.475986 -0.009812 0.879398 0.018113 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.387138241] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.639,28.424,-0.305} [component_container_isolated-3] [DEBUG] [1762964986.387168749] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.344,28.391,-0.100} [component_container_isolated-3] [DEBUG] [1762964986.387217713] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.397500250] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.397557579] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.397595111] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.397637802] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000025 0.000098 0.000230 [component_container_isolated-3] 0.000025 1.000000 -0.000033 -0.000084 [component_container_isolated-3] -0.000098 0.000033 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] [1762964986.397661738] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.067,-0.482,-0.178} [component_container_isolated-3] [DEBUG] [1762964986.397708928] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.397753624] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.397793580] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000036 0.185173 -0.007015 [component_container_isolated-3] -0.000144 1.000000 0.000570 0.060059 [component_container_isolated-3] -0.185173 -0.000587 0.982706 0.017520 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.397817696] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.034,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964986.397851410] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.039} {-0.067,11.153,0.172} [component_container_isolated-3] [DEBUG] [1762964986.397902207] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.409160468] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.409209271] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.409243156] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.409283573] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000083 0.000021 -0.000533 [component_container_isolated-3] 0.000083 1.000000 0.000013 -0.000621 [component_container_isolated-3] -0.000021 -0.000013 1.000000 0.000798 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.409306968] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.014} {0.013,-0.219,-0.252} [component_container_isolated-3] [DEBUG] [1762964986.409352114] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.409395817] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.409434812] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981507 0.000013 0.191427 -0.006534 [component_container_isolated-3] -0.001765 0.999958 0.008977 0.060699 [component_container_isolated-3] -0.191419 -0.009149 0.981466 0.017572 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.409458277] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.534,11.036,-0.103} [component_container_isolated-3] [DEBUG] [1762964986.409491630] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.016} {-0.497,11.257,0.152} [component_container_isolated-3] [DEBUG] [1762964986.409543990] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.421732057] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.421796560] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.421839261] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.421887333] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000059 0.000005 -0.000164 [component_container_isolated-3] -0.000059 1.000000 0.000183 0.000137 [component_container_isolated-3] -0.000005 -0.000183 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] [1762964986.421913934] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.208,0.034,-0.183} [component_container_isolated-3] [DEBUG] [1762964986.421996532] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.422044664] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.422085592] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879441 0.000010 0.476009 -0.001228 [component_container_isolated-3] -0.004680 0.999952 0.008625 0.060177 [component_container_isolated-3] -0.475986 -0.009812 0.879398 0.018113 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.422110319] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.639,28.424,-0.305} [component_container_isolated-3] [DEBUG] [1762964986.422145987] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.332,28.391,-0.096} [component_container_isolated-3] [DEBUG] [1762964986.422198748] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.423749680] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.423797822] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.423834332] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.423877744] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000172 -0.000206 0.000512 [component_container_isolated-3] -0.000172 1.000000 0.000178 0.000530 [component_container_isolated-3] 0.000206 -0.000178 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] [1762964986.423902552] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.013,0.000} {0.060,0.099,0.165} [component_container_isolated-3] [DEBUG] [1762964986.423985350] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.424031228] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.424071154] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979136 -0.000062 0.203208 -0.006891 [component_container_isolated-3] 0.002425 0.999932 -0.011379 0.059347 [component_container_isolated-3] -0.203193 0.011634 0.979070 0.018359 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.424095851] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.681,11.724,0.142} [component_container_isolated-3] [DEBUG] [1762964986.424128533] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.013,0.000} {0.587,11.626,-0.028} [component_container_isolated-3] [DEBUG] [1762964986.424178789] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.446992368] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.447064546] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.447108279] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.447155499] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000011 -0.000017 0.000371 [component_container_isolated-3] -0.000011 1.000000 -0.000033 0.000582 [component_container_isolated-3] 0.000017 0.000033 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] [1762964986.447181499] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.015} {0.015,-0.220,-0.253} [component_container_isolated-3] [DEBUG] [1762964986.447230432] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.447275789] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.447316577] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981510 0.000030 0.191410 -0.006513 [component_container_isolated-3] -0.001775 0.999958 0.008944 0.060734 [component_container_isolated-3] -0.191402 -0.009118 0.981469 0.017513 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.447341164] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.532,11.035,-0.104} [component_container_isolated-3] [DEBUG] [1762964986.447371632] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.016} {-0.497,11.257,0.152} [component_container_isolated-3] [DEBUG] [1762964986.447425234] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.450187981] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.450243737] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.450287941] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.450334210] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000032 0.000104 0.000029 [component_container_isolated-3] 0.000032 1.000000 -0.000021 -0.000147 [component_container_isolated-3] -0.000104 0.000021 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] [1762964986.450361101] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.069,-0.476,-0.176} [component_container_isolated-3] [DEBUG] [1762964986.450411267] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.450455101] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.450491420] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982687 0.000009 0.185275 -0.007010 [component_container_isolated-3] -0.000112 1.000000 0.000549 0.060038 [component_container_isolated-3] -0.185275 -0.000560 0.982687 0.017524 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.450514544] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.033,10.677,-0.007} [component_container_isolated-3] [DEBUG] [1762964986.450546956] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.039} {-0.067,11.153,0.172} [component_container_isolated-3] [DEBUG] [1762964986.450598154] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.452267362] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.452323078] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.452364187] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.452410565] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000059 0.000005 -0.000164 [component_container_isolated-3] -0.000059 1.000000 0.000183 0.000137 [component_container_isolated-3] -0.000005 -0.000183 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] [1762964986.452437867] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.005,0.002} {-0.218,0.034,-0.187} [component_container_isolated-3] [DEBUG] [1762964986.452486290] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.452527899] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.452565010] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879441 0.000010 0.476009 -0.001228 [component_container_isolated-3] -0.004680 0.999952 0.008625 0.060177 [component_container_isolated-3] -0.475986 -0.009812 0.879398 0.018113 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.452589437] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.639,28.424,-0.305} [component_container_isolated-3] [DEBUG] [1762964986.452622831] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.320,28.391,-0.092} [component_container_isolated-3] [DEBUG] [1762964986.452675792] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.466847025] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.466905998] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.466978116] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.467024084] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000003 0.000043 -0.000778 [component_container_isolated-3] 0.000003 1.000000 -0.000411 -0.000527 [component_container_isolated-3] -0.000043 0.000411 1.000000 0.000707 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.467049151] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.014,0.001} {0.084,0.102,0.165} [component_container_isolated-3] [DEBUG] [1762964986.467098275] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.467140796] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.467180512] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979127 0.000019 0.203250 -0.006951 [component_container_isolated-3] 0.002428 0.999928 -0.011790 0.059295 [component_container_isolated-3] -0.203235 0.012038 0.979056 0.018372 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.467204458] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.704,11.726,0.142} [component_container_isolated-3] [DEBUG] [1762964986.467236720] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.013,-0.001} {0.587,11.626,-0.028} [component_container_isolated-3] [DEBUG] [1762964986.467286735] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.476272015] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.476332280] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.476372346] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.476416000] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000029 -0.000094 0.000066 [component_container_isolated-3] -0.000029 1.000000 0.000030 0.000156 [component_container_isolated-3] 0.000094 -0.000030 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] [1762964986.476440947] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.011,0.014,-0.038} {0.067,-0.481,-0.178} [component_container_isolated-3] [DEBUG] [1762964986.476489791] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.476532402] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.476570014] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 0.000031 0.185183 -0.006999 [component_container_isolated-3] -0.000141 1.000000 0.000578 0.060043 [component_container_isolated-3] -0.185183 -0.000595 0.982704 0.017521 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.476595052] [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] [1762964986.476628756] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.014,0.039} {-0.067,11.153,0.172} [component_container_isolated-3] [DEBUG] [1762964986.476682178] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.481654264] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.481706614] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.481745518] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.481789041] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000003 -0.000069 -0.000548 [component_container_isolated-3] 0.000003 1.000000 0.000054 0.000101 [component_container_isolated-3] 0.000069 -0.000054 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] [1762964986.481814660] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.014} {0.012,-0.224,-0.253} [component_container_isolated-3] [DEBUG] [1762964986.481862181] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.481905133] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.481976910] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 0.000017 0.191342 -0.006585 [component_container_isolated-3] -0.001771 0.999958 0.008997 0.060768 [component_container_isolated-3] -0.191334 -0.009170 0.981482 0.017581 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.482004953] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.535,11.031,-0.103} [component_container_isolated-3] [DEBUG] [1762964986.482038828] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.016} {-0.497,11.257,0.152} [component_container_isolated-3] [DEBUG] [1762964986.482092050] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.485214834] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.485270119] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.485307040] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.485350913] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000003 0.000043 -0.000778 [component_container_isolated-3] 0.000003 1.000000 -0.000411 -0.000527 [component_container_isolated-3] -0.000043 0.000411 1.000000 0.000707 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.485374819] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.014,0.001} {0.107,0.104,0.166} [component_container_isolated-3] [DEBUG] [1762964986.485420667] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.485461014] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.485496201] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979127 0.000019 0.203250 -0.006951 [component_container_isolated-3] 0.002428 0.999928 -0.011790 0.059295 [component_container_isolated-3] -0.203235 0.012038 0.979056 0.018372 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.485518203] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.704,11.726,0.142} [component_container_isolated-3] [DEBUG] [1762964986.485551096] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.002} {0.563,11.624,-0.028} [component_container_isolated-3] [DEBUG] [1762964986.485602714] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.504495024] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.504552363] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.504593592] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.504640983] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000047 -0.000069 0.000199 [component_container_isolated-3] -0.000047 1.000000 -0.000079 0.000127 [component_container_isolated-3] 0.000069 0.000079 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] [1762964986.504667764] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.214,0.030,-0.190} [component_container_isolated-3] [DEBUG] [1762964986.504717088] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.504763406] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.504803784] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879473 0.000089 0.475948 -0.001221 [component_container_isolated-3] -0.004726 0.999952 0.008545 0.060192 [component_container_isolated-3] -0.475925 -0.009765 0.879432 0.018086 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.504827809] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.636,28.420,-0.308} [component_container_isolated-3] [DEBUG] [1762964986.504859891] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.320,28.391,-0.092} [component_container_isolated-3] [DEBUG] [1762964986.504909686] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.510861542] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.510913832] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.510980219] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.511023762] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000003 0.000043 -0.000778 [component_container_isolated-3] 0.000003 1.000000 -0.000411 -0.000527 [component_container_isolated-3] -0.000043 0.000411 1.000000 0.000707 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.511048239] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.002} {0.131,0.107,0.166} [component_container_isolated-3] [DEBUG] [1762964986.511094948] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.511139083] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.511178107] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979127 0.000019 0.203250 -0.006951 [component_container_isolated-3] 0.002428 0.999928 -0.011790 0.059295 [component_container_isolated-3] -0.203235 0.012038 0.979056 0.018372 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.511200630] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.704,11.726,0.142} [component_container_isolated-3] [DEBUG] [1762964986.511233493] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.002} {0.539,11.621,-0.028} [component_container_isolated-3] [DEBUG] [1762964986.511285222] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.515828448] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.515896027] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.515962083] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.516008953] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000021 -0.000037 0.000541 [component_container_isolated-3] -0.000021 1.000000 0.000007 -0.000172 [component_container_isolated-3] 0.000037 -0.000007 1.000000 -0.000906 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.516034572] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.015} {0.011,-0.226,-0.254} [component_container_isolated-3] [DEBUG] [1762964986.516084838] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.516129413] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.516165903] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981531 0.000036 0.191305 -0.006573 [component_container_isolated-3] -0.001791 0.999958 0.009004 0.060771 [component_container_isolated-3] -0.191297 -0.009181 0.981489 0.017389 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.516190750] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.536,11.028,-0.105} [component_container_isolated-3] [DEBUG] [1762964986.516222451] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.016} {-0.497,11.257,0.152} [component_container_isolated-3] [DEBUG] [1762964986.516273017] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.518535869] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.518604299] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.518645338] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.518689261] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000047 -0.000069 0.000199 [component_container_isolated-3] -0.000047 1.000000 -0.000079 0.000127 [component_container_isolated-3] 0.000069 0.000079 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] [1762964986.518715462] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.209,0.026,-0.192} [component_container_isolated-3] [DEBUG] [1762964986.518765788] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.518809341] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.518846101] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879473 0.000089 0.475948 -0.001221 [component_container_isolated-3] -0.004726 0.999952 0.008545 0.060192 [component_container_isolated-3] -0.475925 -0.009765 0.879432 0.018086 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.518870287] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.636,28.420,-0.308} [component_container_isolated-3] [DEBUG] [1762964986.518903651] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.323,28.395,-0.089} [component_container_isolated-3] [DEBUG] [1762964986.518985828] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.522492224] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.522550666] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.522594790] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.522640848] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000125 -0.000239 -0.000492 [component_container_isolated-3] 0.000125 1.000000 -0.000269 -0.000830 [component_container_isolated-3] 0.000240 0.000269 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] [1762964986.522667489] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.013,-0.039} {0.082,-0.495,-0.171} [component_container_isolated-3] [DEBUG] [1762964986.522716753] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.522760567] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.522796405] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982748 -0.000042 0.184947 -0.007137 [component_container_isolated-3] -0.000015 1.000000 0.000310 0.059823 [component_container_isolated-3] -0.184947 -0.000307 0.982748 0.017283 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.522820261] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.018,10.658,-0.001} [component_container_isolated-3] [DEBUG] [1762964986.522854246] [zed_multi.front]: +++ Diff [map -> odom] - {-0.003,-0.013,0.040} {-0.067,11.153,0.172} [component_container_isolated-3] [DEBUG] [1762964986.522907928] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.530344180] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.530397532] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.530437618] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.530481802] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000125 -0.000239 -0.000492 [component_container_isolated-3] 0.000125 1.000000 -0.000269 -0.000830 [component_container_isolated-3] 0.000240 0.000269 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] [1762964986.530506951] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.012,-0.039} {0.097,-0.508,-0.164} [component_container_isolated-3] [DEBUG] [1762964986.530554101] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.530596051] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.530631699] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982748 -0.000042 0.184947 -0.007137 [component_container_isolated-3] -0.000015 1.000000 0.000310 0.059823 [component_container_isolated-3] -0.184947 -0.000307 0.982748 0.017283 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.530653821] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.018,10.658,-0.001} [component_container_isolated-3] [DEBUG] [1762964986.530683468] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.012,0.040} {-0.083,11.167,0.165} [component_container_isolated-3] [DEBUG] [1762964986.530735367] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.531439632] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.531487463] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.531526768] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.531569941] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000021 -0.000037 0.000541 [component_container_isolated-3] -0.000021 1.000000 0.000007 -0.000172 [component_container_isolated-3] 0.000037 -0.000007 1.000000 -0.000906 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.531596181] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.016} {0.011,-0.229,-0.255} [component_container_isolated-3] [DEBUG] [1762964986.531647659] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.531693036] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.531729776] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981531 0.000036 0.191305 -0.006573 [component_container_isolated-3] -0.001791 0.999958 0.009004 0.060771 [component_container_isolated-3] -0.191297 -0.009181 0.981489 0.017389 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.531752740] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.536,11.028,-0.105} [component_container_isolated-3] [DEBUG] [1762964986.531783779] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.017} {-0.496,11.259,0.153} [component_container_isolated-3] [DEBUG] [1762964986.531833023] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.554746121] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.554803882] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.554844790] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.554890497] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000035 0.000176 0.000129 [component_container_isolated-3] -0.000035 1.000000 0.000124 0.000379 [component_container_isolated-3] -0.000176 -0.000124 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] [1762964986.554916537] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.014,0.002} {0.124,0.117,0.164} [component_container_isolated-3] [DEBUG] [1762964986.555001679] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.555045012] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.555084287] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979091 0.000028 0.203422 -0.006947 [component_container_isolated-3] 0.002396 0.999929 -0.011666 0.059331 [component_container_isolated-3] -0.203408 0.011909 0.979022 0.018398 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.555108513] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.697,11.736,0.140} [component_container_isolated-3] [DEBUG] [1762964986.555140665] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.003} {0.539,11.621,-0.028} [component_container_isolated-3] [DEBUG] [1762964986.555196782] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.561087823] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.561139481] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.561177374] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.561220807] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000021 -0.000037 0.000541 [component_container_isolated-3] -0.000021 1.000000 0.000007 -0.000172 [component_container_isolated-3] 0.000037 -0.000007 1.000000 -0.000906 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.561245363] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.006,0.029,-0.017} {0.010,-0.231,-0.256} [component_container_isolated-3] [DEBUG] [1762964986.561292774] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.561336748] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.561375963] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981531 0.000036 0.191305 -0.006573 [component_container_isolated-3] -0.001791 0.999958 0.009004 0.060771 [component_container_isolated-3] -0.191297 -0.009181 0.981489 0.017389 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.561400009] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.536,11.028,-0.105} [component_container_isolated-3] [DEBUG] [1762964986.561433252] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.018} {-0.496,11.261,0.155} [component_container_isolated-3] [DEBUG] [1762964986.561484801] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.562149109] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.562202772] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.562244982] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.562290710] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000028 0.000130 0.000123 [component_container_isolated-3] 0.000028 1.000000 0.000022 -0.000221 [component_container_isolated-3] -0.000130 -0.000022 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] [1762964986.562317791] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.211,0.034,-0.191} [component_container_isolated-3] [DEBUG] [1762964986.562367266] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.562439754] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.562479330] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879412 0.000054 0.476062 -0.001189 [component_container_isolated-3] -0.004699 0.999952 0.008566 0.060175 [component_container_isolated-3] -0.476039 -0.009770 0.879370 0.018081 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.562503546] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.637,28.427,-0.306} [component_container_isolated-3] [DEBUG] [1762964986.562535287] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.323,28.395,-0.089} [component_container_isolated-3] [DEBUG] [1762964986.562586044] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.571504736] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.571563318] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.571604667] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.571652699] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000215 0.000228 0.000028 [component_container_isolated-3] -0.000215 1.000000 0.000278 0.001350 [component_container_isolated-3] -0.000228 -0.000278 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] [1762964986.571678668] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.014,-0.038} {0.082,-0.495,-0.176} [component_container_isolated-3] [DEBUG] [1762964986.571726029] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.571769171] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.571805010] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000118 0.185171 -0.007137 [component_container_isolated-3] -0.000231 1.000000 0.000588 0.060084 [component_container_isolated-3] -0.185171 -0.000620 0.982706 0.017374 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.571826861] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.036,10.671,-0.013} [component_container_isolated-3] [DEBUG] [1762964986.571858261] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.014,0.039} {-0.083,11.167,0.165} [component_container_isolated-3] [DEBUG] [1762964986.571909900] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.606879714] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.606976820] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.607028168] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.607088773] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000039 0.000094 -0.000227 [component_container_isolated-3] 0.000039 1.000000 -0.000032 -0.000332 [component_container_isolated-3] -0.000094 0.000032 1.000000 0.000610 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.607122157] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.003} {0.126,0.122,0.166} [component_container_isolated-3] [DEBUG] [1762964986.607189035] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.607249210] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.607296570] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979072 -0.000004 0.203514 -0.006951 [component_container_isolated-3] 0.002435 0.999929 -0.011698 0.059300 [component_container_isolated-3] -0.203499 0.011949 0.979002 0.018588 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.607325465] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.699,11.742,0.143} [component_container_isolated-3] [DEBUG] [1762964986.607364650] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.003} {0.539,11.621,-0.028} [component_container_isolated-3] [DEBUG] [1762964986.607431638] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.610560463] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.610609497] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.610647930] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.610694389] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000061 -0.000155 0.000145 [component_container_isolated-3] -0.000061 1.000000 0.000144 0.000287 [component_container_isolated-3] 0.000155 -0.000144 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] [1762964986.610719226] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.219,0.025,-0.194} [component_container_isolated-3] [DEBUG] [1762964986.610767609] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.610814789] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.610855236] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879486 0.000039 0.475926 -0.001166 [component_container_isolated-3] -0.004759 0.999951 0.008711 0.060206 [component_container_isolated-3] -0.475902 -0.009926 0.879442 0.018022 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.610879252] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.418,-0.310} [component_container_isolated-3] [DEBUG] [1762964986.610913187] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.323,28.395,-0.089} [component_container_isolated-3] [DEBUG] [1762964986.611006405] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.613277132] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.613326967] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.613367965] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.613412580] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000039 0.000094 -0.000227 [component_container_isolated-3] 0.000039 1.000000 -0.000032 -0.000332 [component_container_isolated-3] -0.000094 0.000032 1.000000 0.000610 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.613438079] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.004} {0.127,0.128,0.168} [component_container_isolated-3] [DEBUG] [1762964986.613488545] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.613536307] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.613576583] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979072 -0.000004 0.203514 -0.006951 [component_container_isolated-3] 0.002435 0.999929 -0.011698 0.059300 [component_container_isolated-3] -0.203499 0.011949 0.979002 0.018588 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.613601661] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.699,11.742,0.143} [component_container_isolated-3] [DEBUG] [1762964986.613636037] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.004} {0.537,11.616,-0.031} [component_container_isolated-3] [DEBUG] [1762964986.613693216] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.621981004] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.622025900] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.622055696] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.622089691] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000017 0.000128 -0.000229 [component_container_isolated-3] 0.000017 1.000000 -0.000067 0.000196 [component_container_isolated-3] -0.000128 0.000067 1.000000 0.000899 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.622118246] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.006,0.030,-0.016} {0.014,-0.223,-0.255} [component_container_isolated-3] [DEBUG] [1762964986.622170616] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.622216484] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.622252643] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981506 0.000032 0.191431 -0.006557 [component_container_isolated-3] -0.001776 0.999959 0.008937 0.060802 [component_container_isolated-3] -0.191423 -0.009112 0.981465 0.017499 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.622275917] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.532,11.036,-0.104} [component_container_isolated-3] [DEBUG] [1762964986.622306435] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.017} {-0.496,11.261,0.155} [component_container_isolated-3] [DEBUG] [1762964986.622355088] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.626005179] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.626066977] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.626105551] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.626149695] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000061 -0.000155 0.000145 [component_container_isolated-3] -0.000061 1.000000 0.000144 0.000287 [component_container_isolated-3] 0.000155 -0.000144 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] [1762964986.626175875] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.002} {-0.227,0.016,-0.198} [component_container_isolated-3] [DEBUG] [1762964986.626224067] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.626267490] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.626306615] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879486 0.000039 0.475926 -0.001166 [component_container_isolated-3] -0.004759 0.999951 0.008711 0.060206 [component_container_isolated-3] -0.475902 -0.009926 0.879442 0.018022 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.626329719] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.418,-0.310} [component_container_isolated-3] [DEBUG] [1762964986.626361389] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.313,28.404,-0.085} [component_container_isolated-3] [DEBUG] [1762964986.626410693] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.633337352] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.633429147] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.633475075] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.633530430] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000216 -0.000278 -0.000278 [component_container_isolated-3] 0.000216 1.000000 -0.000083 -0.001179 [component_container_isolated-3] 0.000278 0.000083 1.000000 -0.001020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.633561921] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.009,0.013,-0.039} {0.086,-0.511,-0.164} [component_container_isolated-3] [DEBUG] [1762964986.633615252] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.633663925] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.633701868] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982758 -0.000079 0.184898 -0.007277 [component_container_isolated-3] -0.000015 1.000000 0.000505 0.059878 [component_container_isolated-3] -0.184898 -0.000499 0.982758 0.017183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.633725623] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.655,-0.001} [component_container_isolated-3] [DEBUG] [1762964986.633757424] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.013,0.040} {-0.083,11.167,0.165} [component_container_isolated-3] [DEBUG] [1762964986.633806778] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.638716154] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.638783553] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.638822487] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.638866090] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000216 -0.000278 -0.000278 [component_container_isolated-3] 0.000216 1.000000 -0.000083 -0.001179 [component_container_isolated-3] 0.000278 0.000083 1.000000 -0.001020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.638891188] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.009,0.011,-0.041} {0.091,-0.527,-0.151} [component_container_isolated-3] [DEBUG] [1762964986.638976070] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.639025204] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.639067144] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982758 -0.000079 0.184898 -0.007277 [component_container_isolated-3] -0.000015 1.000000 0.000505 0.059878 [component_container_isolated-3] -0.184898 -0.000499 0.982758 0.017183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.639092392] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.655,-0.001} [component_container_isolated-3] [DEBUG] [1762964986.639125145] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.011,0.041} {-0.090,11.183,0.152} [component_container_isolated-3] [DEBUG] [1762964986.639175481] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.650970116] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.651039158] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.651080246] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.651126234] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000011 0.000050 -0.000021 [component_container_isolated-3] -0.000011 1.000000 -0.000061 -0.000264 [component_container_isolated-3] -0.000050 0.000061 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] [1762964986.651151723] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.006,0.029,-0.016} {0.018,-0.220,-0.256} [component_container_isolated-3] [DEBUG] [1762964986.651202660] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.651246865] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.651288985] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981496 0.000055 0.191480 -0.006557 [component_container_isolated-3] -0.001787 0.999959 0.008876 0.060791 [component_container_isolated-3] -0.191472 -0.009054 0.981456 0.017525 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.651314333] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.529,11.039,-0.104} [component_container_isolated-3] [DEBUG] [1762964986.651347777] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.018} {-0.496,11.261,0.155} [component_container_isolated-3] [DEBUG] [1762964986.651398184] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.665370297] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.665464427] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.665515454] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.665568786] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000048 0.000026 0.000024 [component_container_isolated-3] -0.000048 1.000000 0.000061 0.000252 [component_container_isolated-3] -0.000026 -0.000061 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] [1762964986.665598603] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.004} {0.124,0.129,0.166} [component_container_isolated-3] [DEBUG] [1762964986.665654560] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.665704325] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.665742367] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 0.000031 0.203540 -0.006960 [component_container_isolated-3] 0.002388 0.999929 -0.011637 0.059317 [component_container_isolated-3] -0.203526 0.011880 0.978998 0.018633 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.665765582] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.743,0.140} [component_container_isolated-3] [DEBUG] [1762964986.665796882] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.004} {0.537,11.616,-0.031} [component_container_isolated-3] [DEBUG] [1762964986.665846727] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.667375597] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.667426684] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.667467632] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.667511606] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000077 0.000161 -0.000089 [component_container_isolated-3] 0.000077 1.000000 -0.000335 -0.000101 [component_container_isolated-3] -0.000161 0.000335 1.000000 0.000333 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.667537486] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.208,0.025,-0.193} [component_container_isolated-3] [DEBUG] [1762964986.667586910] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.667634691] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.667677223] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 0.000131 0.476067 -0.001126 [component_container_isolated-3] -0.004683 0.999954 0.008376 0.060207 [component_container_isolated-3] -0.476044 -0.009595 0.879369 0.018051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.667700778] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.625,28.427,-0.305} [component_container_isolated-3] [DEBUG] [1762964986.667730905] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.313,28.404,-0.085} [component_container_isolated-3] [DEBUG] [1762964986.667782474] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.677072846] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.677166865] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.677208936] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.677255916] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000104 -0.000094 0.000485 [component_container_isolated-3] -0.000104 1.000000 -0.000016 0.000541 [component_container_isolated-3] 0.000094 0.000016 1.000000 -0.000410 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.677281504] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.006,0.030,-0.017} {0.019,-0.226,-0.262} [component_container_isolated-3] [DEBUG] [1762964986.677330197] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.677374101] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.677414809] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981514 0.000160 0.191388 -0.006474 [component_container_isolated-3] -0.001891 0.999959 0.008860 0.060893 [component_container_isolated-3] -0.191379 -0.009058 0.981474 0.017464 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.677438304] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.529,11.033,-0.110} [component_container_isolated-3] [DEBUG] [1762964986.677468712] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.018} {-0.496,11.261,0.155} [component_container_isolated-3] [DEBUG] [1762964986.677518016] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.680291743] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.680341779] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.680379300] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.680429897] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000017 0.000023 0.000060 [component_container_isolated-3] -0.000017 1.000000 0.000056 -0.000027 [component_container_isolated-3] -0.000023 -0.000056 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] [1762964986.680457199] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.009,0.011,-0.041} {0.088,-0.526,-0.152} [component_container_isolated-3] [DEBUG] [1762964986.680507696] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.680552401] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.680588931] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982754 -0.000073 0.184921 -0.007328 [component_container_isolated-3] -0.000032 1.000000 0.000561 0.059811 [component_container_isolated-3] -0.184921 -0.000557 0.982753 0.017112 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.680612185] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.657,-0.002} [component_container_isolated-3] [DEBUG] [1762964986.680643475] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.011,0.041} {-0.090,11.183,0.152} [component_container_isolated-3] [DEBUG] [1762964986.680693931] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.692007978] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.692070367] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.692110304] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.692155069] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000077 0.000161 -0.000089 [component_container_isolated-3] 0.000077 1.000000 -0.000335 -0.000101 [component_container_isolated-3] -0.000161 0.000335 1.000000 0.000333 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.692180257] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.189,0.034,-0.189} [component_container_isolated-3] [DEBUG] [1762964986.692228630] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.692274848] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.692314724] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 0.000131 0.476067 -0.001126 [component_container_isolated-3] -0.004683 0.999954 0.008376 0.060207 [component_container_isolated-3] -0.476044 -0.009595 0.879369 0.018051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.692338930] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.625,28.427,-0.305} [component_container_isolated-3] [DEBUG] [1762964986.692370120] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.334,28.394,-0.090} [component_container_isolated-3] [DEBUG] [1762964986.692599979] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.702874411] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.702964793] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.703008757] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.703055937] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000088 0.000051 -0.000048 [component_container_isolated-3] 0.000088 1.000000 -0.000035 -0.000287 [component_container_isolated-3] -0.000051 0.000035 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] [1762964986.703081947] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.004} {0.126,0.132,0.171} [component_container_isolated-3] [DEBUG] [1762964986.703133616] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.703177710] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.703218337] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979056 -0.000048 0.203589 -0.006973 [component_container_isolated-3] 0.002476 0.999929 -0.011672 0.059284 [component_container_isolated-3] -0.203574 0.011932 0.978987 0.018718 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.703242013] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.746,0.145} [component_container_isolated-3] [DEBUG] [1762964986.703276859] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.004} {0.537,11.616,-0.031} [component_container_isolated-3] [DEBUG] [1762964986.703339950] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.713462271] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.713527415] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.713568173] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.713611827] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000088 0.000051 -0.000048 [component_container_isolated-3] 0.000088 1.000000 -0.000035 -0.000287 [component_container_isolated-3] -0.000051 0.000035 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] [1762964986.713636153] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.004} {0.128,0.135,0.176} [component_container_isolated-3] [DEBUG] [1762964986.713683624] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.713730393] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.713766362] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979056 -0.000048 0.203589 -0.006973 [component_container_isolated-3] 0.002476 0.999929 -0.011672 0.059284 [component_container_isolated-3] -0.203574 0.011932 0.978987 0.018718 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.713788574] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.746,0.145} [component_container_isolated-3] [DEBUG] [1762964986.713818181] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.004} {0.534,11.613,-0.036} [component_container_isolated-3] [DEBUG] [1762964986.713869068] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.714008925] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.714071394] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.714113615] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.714161356] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000054 0.000052 -0.000159 [component_container_isolated-3] -0.000054 1.000000 0.000075 0.000146 [component_container_isolated-3] -0.000052 -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] [1762964986.714190852] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.006,0.030,-0.016} {0.014,-0.223,-0.265} [component_container_isolated-3] [DEBUG] [1762964986.714244805] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.714290563] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.714328255] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981504 0.000199 0.191439 -0.006453 [component_container_isolated-3] -0.001945 0.999958 0.008935 0.060973 [component_container_isolated-3] -0.191429 -0.009142 0.981464 0.017441 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.714351569] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.534,11.036,-0.114} [component_container_isolated-3] [DEBUG] [1762964986.714382548] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.018} {-0.496,11.261,0.155} [component_container_isolated-3] [DEBUG] [1762964986.714432073] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.720412134] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.720469543] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.720506704] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.720549907] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000011 0.000202 0.000534 [component_container_isolated-3] 0.000011 1.000000 -0.000038 0.000226 [component_container_isolated-3] -0.000202 0.000038 1.000000 0.000910 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.720574183] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.010,0.012,-0.040} {0.090,-0.514,-0.151} [component_container_isolated-3] [DEBUG] [1762964986.720621203] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.720664976] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.720702067] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 -0.000077 0.185119 -0.007264 [component_container_isolated-3] -0.000020 1.000000 0.000523 0.059781 [component_container_isolated-3] -0.185119 -0.000517 0.982716 0.017222 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.720725803] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.668,-0.001} [component_container_isolated-3] [DEBUG] [1762964986.720758705] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.012,0.040} {-0.090,11.183,0.152} [component_container_isolated-3] [DEBUG] [1762964986.720807959] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.744060005] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.744115441] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.744157612] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.744201906] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000062 -0.000100 -0.000352 [component_container_isolated-3] -0.000062 1.000000 0.000204 0.000083 [component_container_isolated-3] 0.000100 -0.000204 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] [1762964986.744227285] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.002} {-0.200,0.028,-0.192} [component_container_isolated-3] [DEBUG] [1762964986.744278913] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.744355990] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.744397961] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879456 0.000088 0.475979 -0.001160 [component_container_isolated-3] -0.004744 0.999952 0.008580 0.060225 [component_container_isolated-3] -0.475956 -0.009804 0.879415 0.018049 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.744421856] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.422,-0.309} [component_container_isolated-3] [DEBUG] [1762964986.744456352] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.334,28.394,-0.090} [component_container_isolated-3] [DEBUG] [1762964986.744512409] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.746683846] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.746737348] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.746779940] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.746826468] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000051 -0.000034 -0.000021 [component_container_isolated-3] 0.000051 1.000000 -0.000038 0.000145 [component_container_isolated-3] 0.000034 0.000038 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] [1762964986.746852338] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.006,0.030,-0.016} {0.017,-0.225,-0.262} [component_container_isolated-3] [DEBUG] [1762964986.746900440] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.746993638] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.747034546] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 0.000156 0.191406 -0.006443 [component_container_isolated-3] -0.001894 0.999959 0.008897 0.061054 [component_container_isolated-3] -0.191396 -0.009095 0.981471 0.017436 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.747060044] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.531,11.034,-0.111} [component_container_isolated-3] [DEBUG] [1762964986.747093939] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.018} {-0.496,11.261,0.155} [component_container_isolated-3] [DEBUG] [1762964986.747147151] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.752110480] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.752171466] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.752212945] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.752258112] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000028 -0.000160 -0.000310 [component_container_isolated-3] 0.000028 1.000000 -0.000035 -0.000507 [component_container_isolated-3] 0.000160 0.000035 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] [1762964986.752283901] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.009,0.011,-0.041} {0.092,-0.524,-0.150} [component_container_isolated-3] [DEBUG] [1762964986.752335139] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.752380385] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.752425521] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982746 -0.000098 0.184961 -0.007328 [component_container_isolated-3] 0.000008 1.000000 0.000487 0.059639 [component_container_isolated-3] -0.184961 -0.000477 0.982746 0.017039 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.752450238] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.028,10.659,0.000} [component_container_isolated-3] [DEBUG] [1762964986.752481488] [zed_multi.front]: +++ Diff [map -> odom] - {-0.002,-0.011,0.041} {-0.090,11.183,0.152} [component_container_isolated-3] [DEBUG] [1762964986.752534790] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.760165733] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.760235436] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.760276304] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.760321621] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000066 -0.000010 0.000049 [component_container_isolated-3] -0.000066 1.000000 0.000111 0.000275 [component_container_isolated-3] 0.000010 -0.000111 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] [1762964986.760347029] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.004} {0.122,0.134,0.172} [component_container_isolated-3] [DEBUG] [1762964986.760396424] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.760437823] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.760473471] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979058 -0.000006 0.203580 -0.006974 [component_container_isolated-3] 0.002410 0.999930 -0.011561 0.059303 [component_container_isolated-3] -0.203565 0.011810 0.978990 0.018781 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.760498759] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.746,0.141} [component_container_isolated-3] [DEBUG] [1762964986.760528857] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.004} {0.534,11.613,-0.036} [component_container_isolated-3] [DEBUG] [1762964986.760580405] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.763246276] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.763296873] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.763329856] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.763364582] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000021 0.000082 0.000116 [component_container_isolated-3] -0.000021 1.000000 -0.000042 0.000110 [component_container_isolated-3] -0.000082 0.000042 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] [1762964986.763385232] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.002} {-0.198,0.033,-0.193} [component_container_isolated-3] [DEBUG] [1762964986.763425869] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.763459183] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.763485183] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879417 0.000126 0.476052 -0.001153 [component_container_isolated-3] -0.004765 0.999952 0.008537 0.060254 [component_container_isolated-3] -0.476028 -0.009776 0.879376 0.018062 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.763501804] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.426,-0.310} [component_container_isolated-3] [DEBUG] [1762964986.763523165] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.334,28.394,-0.090} [component_container_isolated-3] [DEBUG] [1762964986.763560316] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.764419006] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.764470615] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.764511362] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.764556138] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000028 -0.000160 -0.000310 [component_container_isolated-3] 0.000028 1.000000 -0.000035 -0.000507 [component_container_isolated-3] 0.000160 0.000035 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] [1762964986.764580975] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.009,0.011,-0.042} {0.094,-0.533,-0.148} [component_container_isolated-3] [DEBUG] [1762964986.764630299] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.764674023] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.764710112] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982746 -0.000098 0.184961 -0.007328 [component_container_isolated-3] 0.000008 1.000000 0.000487 0.059639 [component_container_isolated-3] -0.184961 -0.000477 0.982746 0.017039 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.764733346] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.028,10.659,0.000} [component_container_isolated-3] [DEBUG] [1762964986.764767522] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.011,0.042} {-0.093,11.192,0.150} [component_container_isolated-3] [DEBUG] [1762964986.764818649] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.774720189] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.774787998] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.774828666] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.774873762] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000090 0.000040 -0.000548 [component_container_isolated-3] -0.000090 1.000000 -0.000052 -0.000107 [component_container_isolated-3] -0.000040 0.000052 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] [1762964986.774899732] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.016} {0.020,-0.222,-0.267} [component_container_isolated-3] [DEBUG] [1762964986.775036433] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.775161161] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.775218310] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 0.000254 0.191445 -0.006511 [component_container_isolated-3] -0.001984 0.999959 0.008845 0.061102 [component_container_isolated-3] -0.191435 -0.009061 0.981463 0.017555 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.775249039] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.529,11.037,-0.116} [component_container_isolated-3] [DEBUG] [1762964986.775281531] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.017} {-0.496,11.261,0.155} [component_container_isolated-3] [DEBUG] [1762964986.775335494] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.793857637] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.793910387] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.793990330] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.794027952] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000112 0.000052 -0.000220 [component_container_isolated-3] -0.000112 1.000000 0.000045 0.000061 [component_container_isolated-3] -0.000052 -0.000045 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] [1762964986.794048451] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.201,0.036,-0.200} [component_container_isolated-3] [DEBUG] [1762964986.794093387] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.794153963] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.794199860] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879393 0.000203 0.476097 -0.001166 [component_container_isolated-3] -0.004877 0.999951 0.008582 0.060285 [component_container_isolated-3] -0.476072 -0.009869 0.879351 0.018101 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.794219187] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.643,28.429,-0.318} [component_container_isolated-3] [DEBUG] [1762964986.794241169] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.334,28.394,-0.090} [component_container_isolated-3] [DEBUG] [1762964986.794282187] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.794319308] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.794370015] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.794412186] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.794458514] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000094 -0.000356 0.000425 [component_container_isolated-3] 0.000094 1.000000 -0.000056 0.000060 [component_container_isolated-3] 0.000356 0.000056 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] [1762964986.794485235] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.003} {0.125,0.114,0.177} [component_container_isolated-3] [DEBUG] [1762964986.794536894] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.794581118] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.794620183] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979131 -0.000086 0.203231 -0.006953 [component_container_isolated-3] 0.002499 0.999929 -0.011618 0.059321 [component_container_isolated-3] -0.203215 0.011884 0.979062 0.018657 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.794642586] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.725,0.146} [component_container_isolated-3] [DEBUG] [1762964986.794672633] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.003} {0.534,11.613,-0.036} [component_container_isolated-3] [DEBUG] [1762964986.794721296] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.803083416] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.803139072] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.803178517] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.803223774] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000028 -0.000160 -0.000310 [component_container_isolated-3] 0.000028 1.000000 -0.000035 -0.000507 [component_container_isolated-3] 0.000160 0.000035 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] [1762964986.803249032] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.009,0.010,-0.043} {0.096,-0.542,-0.147} [component_container_isolated-3] [DEBUG] [1762964986.803297975] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.803341719] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.803377858] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982746 -0.000098 0.184961 -0.007328 [component_container_isolated-3] 0.000008 1.000000 0.000487 0.059639 [component_container_isolated-3] -0.184961 -0.000477 0.982746 0.017039 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.803402255] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.028,10.659,0.000} [component_container_isolated-3] [DEBUG] [1762964986.803436670] [zed_multi.front]: +++ Diff [map -> odom] - {-0.001,-0.010,0.043} {-0.095,11.201,0.149} [component_container_isolated-3] [DEBUG] [1762964986.803488459] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.806356276] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.806437531] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.806483228] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.806531941] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000040 0.000080 0.000055 [component_container_isolated-3] 0.000040 1.000000 0.000084 0.000015 [component_container_isolated-3] -0.000080 -0.000084 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] [1762964986.806558963] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.016} {0.015,-0.218,-0.265} [component_container_isolated-3] [DEBUG] [1762964986.806613507] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.806663433] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.806702738] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981488 0.000199 0.191523 -0.006530 [component_container_isolated-3] -0.001945 0.999958 0.008929 0.061139 [component_container_isolated-3] -0.191514 -0.009136 0.981447 0.017613 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.806726533] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.533,11.041,-0.114} [component_container_isolated-3] [DEBUG] [1762964986.806759025] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.017} {-0.496,11.261,0.155} [component_container_isolated-3] [DEBUG] [1762964986.806810012] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.815482385] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.815544764] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.815590010] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.815642460] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000112 0.000052 -0.000220 [component_container_isolated-3] -0.000112 1.000000 0.000045 0.000061 [component_container_isolated-3] -0.000052 -0.000045 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] [1762964986.815665414] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.203,0.039,-0.206} [component_container_isolated-3] [DEBUG] [1762964986.815708156] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.815745307] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.815802215] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879393 0.000203 0.476097 -0.001166 [component_container_isolated-3] -0.004877 0.999951 0.008582 0.060285 [component_container_isolated-3] -0.476072 -0.009869 0.879351 0.018101 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.815834457] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.643,28.429,-0.318} [component_container_isolated-3] [DEBUG] [1762964986.815866428] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.328,28.392,-0.083} [component_container_isolated-3] [DEBUG] [1762964986.815969645] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.816575783] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.816642320] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.816683889] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.816729086] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000106 0.000020 -0.000170 [component_container_isolated-3] -0.000106 1.000000 0.000050 0.000226 [component_container_isolated-3] -0.000020 -0.000050 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] [1762964986.816754414] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.003} {0.122,0.115,0.171} [component_container_isolated-3] [DEBUG] [1762964986.816806564] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.816848925] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.816884623] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979127 0.000008 0.203250 -0.006965 [component_container_isolated-3] 0.002394 0.999930 -0.011568 0.059380 [component_container_isolated-3] -0.203236 0.011813 0.979058 0.018536 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.816911264] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.726,0.140} [component_container_isolated-3] [DEBUG] [1762964986.816986217] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.003} {0.534,11.613,-0.036} [component_container_isolated-3] [DEBUG] [1762964986.817048947] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.821497652] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.821562476] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.821602002] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.821646447] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000040 0.000080 0.000055 [component_container_isolated-3] 0.000040 1.000000 0.000084 0.000015 [component_container_isolated-3] -0.000080 -0.000084 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] [1762964986.821672807] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.016} {0.010,-0.213,-0.263} [component_container_isolated-3] [DEBUG] [1762964986.821724696] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.822236554] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.822308771] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981488 0.000199 0.191523 -0.006530 [component_container_isolated-3] -0.001945 0.999958 0.008929 0.061139 [component_container_isolated-3] -0.191514 -0.009136 0.981447 0.017613 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.822341875] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.533,11.041,-0.114} [component_container_isolated-3] [DEBUG] [1762964986.822379396] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.017} {-0.491,11.257,0.152} [component_container_isolated-3] [DEBUG] [1762964986.822525726] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.826629273] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.826681382] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.826714215] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.826758469] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000028 -0.000160 -0.000310 [component_container_isolated-3] 0.000028 1.000000 -0.000035 -0.000507 [component_container_isolated-3] 0.000160 0.000035 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] [1762964986.826788767] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.009,0.010,-0.044} {0.098,-0.551,-0.145} [component_container_isolated-3] [DEBUG] [1762964986.826838232] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.826874471] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.826902324] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982746 -0.000098 0.184961 -0.007328 [component_container_isolated-3] 0.000008 1.000000 0.000487 0.059639 [component_container_isolated-3] -0.184961 -0.000477 0.982746 0.017039 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.826957479] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.028,10.659,0.000} [component_container_isolated-3] [DEBUG] [1762964986.826996594] [zed_multi.front]: +++ Diff [map -> odom] - {-0.000,-0.010,0.044} {-0.097,11.210,0.147} [component_container_isolated-3] [DEBUG] [1762964986.827044475] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.856338129] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.856395208] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.856437359] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.856483016] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000106 0.000020 -0.000170 [component_container_isolated-3] -0.000106 1.000000 0.000050 0.000226 [component_container_isolated-3] -0.000020 -0.000050 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] [1762964986.856507914] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.002} {0.119,0.116,0.165} [component_container_isolated-3] [DEBUG] [1762964986.856566405] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.856610189] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.856647280] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979127 0.000008 0.203250 -0.006965 [component_container_isolated-3] 0.002394 0.999930 -0.011568 0.059380 [component_container_isolated-3] -0.203236 0.011813 0.979058 0.018536 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.856669202] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.726,0.140} [component_container_isolated-3] [DEBUG] [1762964986.856699509] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.002} {0.538,11.612,-0.030} [component_container_isolated-3] [DEBUG] [1762964986.856747792] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.863636858] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.863687815] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.863719847] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.863771625] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000112 0.000052 -0.000220 [component_container_isolated-3] -0.000112 1.000000 0.000045 0.000061 [component_container_isolated-3] -0.000052 -0.000045 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] [1762964986.863806913] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.206,0.042,-0.213} [component_container_isolated-3] [DEBUG] [1762964986.863873941] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.863972068] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.864030961] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879393 0.000203 0.476097 -0.001166 [component_container_isolated-3] -0.004877 0.999951 0.008582 0.060285 [component_container_isolated-3] -0.476072 -0.009869 0.879351 0.018101 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.864065276] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.643,28.429,-0.318} [component_container_isolated-3] [DEBUG] [1762964986.864107086] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.322,28.389,-0.076} [component_container_isolated-3] [DEBUG] [1762964986.864179094] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.878980070] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.879043682] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.879084369] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.879128994] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000028 -0.000160 -0.000310 [component_container_isolated-3] 0.000028 1.000000 -0.000035 -0.000507 [component_container_isolated-3] 0.000160 0.000035 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] [1762964986.879153581] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.045} {0.100,-0.560,-0.144} [component_container_isolated-3] [DEBUG] [1762964986.879201413] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.879245787] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.879282057] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982746 -0.000098 0.184961 -0.007328 [component_container_isolated-3] 0.000008 1.000000 0.000487 0.059639 [component_container_isolated-3] -0.184961 -0.000477 0.982746 0.017039 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.879304991] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.028,10.659,0.000} [component_container_isolated-3] [DEBUG] [1762964986.879336681] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.009,0.045} {-0.100,11.220,0.145} [component_container_isolated-3] [DEBUG] [1762964986.879387698] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.888135675] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.888198304] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.888241116] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.888285060] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000152 -0.000204 0.000181 [component_container_isolated-3] 0.000152 1.000000 -0.000135 -0.000548 [component_container_isolated-3] 0.000204 0.000135 1.000000 -0.000912 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.888310128] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.006,0.030,-0.017} {0.018,-0.225,-0.254} [component_container_isolated-3] [DEBUG] [1762964986.888359953] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.888407053] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.888443813] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981527 0.000076 0.191323 -0.006578 [component_container_isolated-3] -0.001791 0.999960 0.008794 0.061088 [component_container_isolated-3] -0.191314 -0.008975 0.981488 0.017474 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.888467188] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.524,11.030,-0.105} [component_container_isolated-3] [DEBUG] [1762964986.888498237] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.028,0.018} {-0.491,11.257,0.152} [component_container_isolated-3] [DEBUG] [1762964986.888546950] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.910747548] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.910810839] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.910850655] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.910893928] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000027 -0.000089 0.000287 [component_container_isolated-3] 0.000027 1.000000 -0.000108 -0.000372 [component_container_isolated-3] 0.000089 0.000108 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] [1762964986.910947510] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.002} {0.125,0.111,0.167} [component_container_isolated-3] [DEBUG] [1762964986.911000431] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.911046790] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.911085564] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979145 0.000003 0.203163 -0.006937 [component_container_isolated-3] 0.002420 0.999929 -0.011677 0.059368 [component_container_isolated-3] -0.203149 0.011925 0.979075 0.018419 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.911107355] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.721,0.142} [component_container_isolated-3] [DEBUG] [1762964986.911137823] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.002} {0.538,11.612,-0.030} [component_container_isolated-3] [DEBUG] [1762964986.911186306] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.912676512] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.912727920] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.912768207] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.912812001] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000149 -0.000045 0.000128 [component_container_isolated-3] 0.000149 1.000000 0.000053 -0.000329 [component_container_isolated-3] 0.000045 -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] [1762964986.912837369] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.005,0.003} {-0.209,0.039,-0.204} [component_container_isolated-3] [DEBUG] [1762964986.912886172] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.912967718] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.913011852] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879414 0.000047 0.476058 -0.001181 [component_container_isolated-3] -0.004728 0.999952 0.008635 0.060268 [component_container_isolated-3] -0.476035 -0.009845 0.879371 0.018112 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.913037221] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.641,28.427,-0.308} [component_container_isolated-3] [DEBUG] [1762964986.913068691] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.004} {-0.322,28.389,-0.076} [component_container_isolated-3] [DEBUG] [1762964986.913118957] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.913808163] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.913859141] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.913899608] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.913968369] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000028 -0.000160 -0.000310 [component_container_isolated-3] 0.000028 1.000000 -0.000035 -0.000507 [component_container_isolated-3] 0.000160 0.000035 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] [1762964986.913995701] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.046} {0.102,-0.570,-0.142} [component_container_isolated-3] [DEBUG] [1762964986.914047260] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.914090963] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.914127643] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982746 -0.000098 0.184961 -0.007328 [component_container_isolated-3] 0.000008 1.000000 0.000487 0.059639 [component_container_isolated-3] -0.184961 -0.000477 0.982746 0.017039 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.914249195] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.028,10.659,0.000} [component_container_isolated-3] [DEBUG] [1762964986.914284102] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.102,11.229,0.144} [component_container_isolated-3] [DEBUG] [1762964986.914340159] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.923519249] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.923579424] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.923622065] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.923667532] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000060 0.000206 -0.000471 [component_container_isolated-3] -0.000060 1.000000 0.000067 0.000639 [component_container_isolated-3] -0.000206 -0.000067 1.000000 0.001316 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.923691879] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.015} {0.014,-0.213,-0.258} [component_container_isolated-3] [DEBUG] [1762964986.923739299] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.923781540] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.923817629] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981488 0.000122 0.191525 -0.006617 [component_container_isolated-3] -0.001853 0.999959 0.008861 0.061198 [component_container_isolated-3] -0.191516 -0.009052 0.981448 0.017794 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.923839831] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.528,11.041,-0.108} [component_container_isolated-3] [DEBUG] [1762964986.923870089] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.017} {-0.491,11.257,0.152} [component_container_isolated-3] [DEBUG] [1762964986.923940584] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.929492637] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.929554385] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.929600483] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.929653304] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000028 -0.000160 -0.000310 [component_container_isolated-3] 0.000028 1.000000 -0.000035 -0.000507 [component_container_isolated-3] 0.000160 0.000035 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] [1762964986.929685385] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.008,-0.047} {0.104,-0.579,-0.140} [component_container_isolated-3] [DEBUG] [1762964986.929748866] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.929823579] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.929876209] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982746 -0.000098 0.184961 -0.007328 [component_container_isolated-3] 0.000008 1.000000 0.000487 0.059639 [component_container_isolated-3] -0.184961 -0.000477 0.982746 0.017039 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.929903972] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.028,10.659,0.000} [component_container_isolated-3] [DEBUG] [1762964986.929967353] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.008,0.047} {-0.104,11.238,0.142} [component_container_isolated-3] [DEBUG] [1762964986.930041715] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.934298074] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.934364711] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.934404928] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.934448591] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000060 0.000206 -0.000471 [component_container_isolated-3] -0.000060 1.000000 0.000067 0.000639 [component_container_isolated-3] -0.000206 -0.000067 1.000000 0.001316 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.934474090] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.031,-0.014} {0.010,-0.201,-0.261} [component_container_isolated-3] [DEBUG] [1762964986.934522973] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.934565795] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.934606122] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981488 0.000122 0.191525 -0.006617 [component_container_isolated-3] -0.001853 0.999959 0.008861 0.061198 [component_container_isolated-3] -0.191516 -0.009052 0.981448 0.017794 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.934630439] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.528,11.041,-0.108} [component_container_isolated-3] [DEBUG] [1762964986.934664303] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.016} {-0.487,11.245,0.156} [component_container_isolated-3] [DEBUG] [1762964986.934716403] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.935988172] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.936037636] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.936075989] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.936118661] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000015 -0.000024 0.000068 [component_container_isolated-3] 0.000015 1.000000 -0.000101 0.000108 [component_container_isolated-3] 0.000024 0.000101 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] [1762964986.936144440] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.203,0.038,-0.203} [component_container_isolated-3] [DEBUG] [1762964986.936192422] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.936238259] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.936278316] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879425 0.000081 0.476037 -0.001181 [component_container_isolated-3] -0.004712 0.999952 0.008535 0.060269 [component_container_isolated-3] -0.476013 -0.009749 0.879384 0.018115 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.936302792] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.635,28.425,-0.307} [component_container_isolated-3] [DEBUG] [1762964986.936335856] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.004} {-0.322,28.389,-0.076} [component_container_isolated-3] [DEBUG] [1762964986.936386092] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.937853795] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.937940190] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.937985105] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.938031143] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000089 0.000102 -0.000168 [component_container_isolated-3] -0.000089 1.000000 -0.000009 0.000511 [component_container_isolated-3] -0.000102 0.000009 1.000000 0.000303 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.938057333] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.002} {0.126,0.117,0.161} [component_container_isolated-3] [DEBUG] [1762964986.938108331] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.938154539] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.938193604] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979124 0.000092 0.203263 -0.006926 [component_container_isolated-3] 0.002332 0.999929 -0.011685 0.059463 [component_container_isolated-3] -0.203250 0.011915 0.979054 0.018373 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.938215996] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,-0.000} {0.697,11.727,0.136} [component_container_isolated-3] [DEBUG] [1762964986.938246645] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.003} {0.538,11.612,-0.030} [component_container_isolated-3] [DEBUG] [1762964986.938296610] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.956618581] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.956674638] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.956712540] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.956754099] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000015 -0.000024 0.000068 [component_container_isolated-3] 0.000015 1.000000 -0.000101 0.000108 [component_container_isolated-3] 0.000024 0.000101 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] [1762964986.956778626] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.197,0.037,-0.202} [component_container_isolated-3] [DEBUG] [1762964986.956826448] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.956871594] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.956911270] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879425 0.000081 0.476037 -0.001181 [component_container_isolated-3] -0.004712 0.999952 0.008535 0.060269 [component_container_isolated-3] -0.476013 -0.009749 0.879384 0.018115 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.956955003] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.635,28.425,-0.307} [component_container_isolated-3] [DEBUG] [1762964986.956987064] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.328,28.390,-0.077} [component_container_isolated-3] [DEBUG] [1762964986.957038913] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.965846544] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.965910476] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.965985139] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.966028431] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000067 0.000198 -0.000104 [component_container_isolated-3] 0.000067 1.000000 0.000149 -0.000344 [component_container_isolated-3] -0.000198 -0.000149 1.000000 0.000457 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.966053269] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.003} {0.117,0.128,0.165} [component_container_isolated-3] [DEBUG] [1762964986.966102833] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.966143932] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.966179590] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 -0.000004 0.203457 -0.006920 [component_container_isolated-3] 0.002402 0.999931 -0.011535 0.059467 [component_container_isolated-3] -0.203443 0.011782 0.979016 0.018413 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.966203315] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.738,0.141} [component_container_isolated-3] [DEBUG] [1762964986.966236759] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.003} {0.538,11.612,-0.030} [component_container_isolated-3] [DEBUG] [1762964986.966290151] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.978385460] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.978453160] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.978495120] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.978544524] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000002 -0.000031 0.000536 [component_container_isolated-3] -0.000002 1.000000 -0.000066 -0.000687 [component_container_isolated-3] 0.000031 0.000066 1.000000 -0.000554 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.978572127] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.015} {0.014,-0.203,-0.261} [component_container_isolated-3] [DEBUG] [1762964986.978624256] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.978673270] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.978713407] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981494 0.000136 0.191495 -0.006591 [component_container_isolated-3] -0.001855 0.999960 0.008795 0.061123 [component_container_isolated-3] -0.191486 -0.008987 0.981454 0.017807 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.978736911] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.525,11.040,-0.108} [component_container_isolated-3] [DEBUG] [1762964986.978768923] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.016} {-0.487,11.245,0.156} [component_container_isolated-3] [DEBUG] [1762964986.978819138] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.984138587] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.984198402] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.984238729] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.984285388] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000052 0.000197 0.000356 [component_container_isolated-3] -0.000052 1.000000 0.000027 0.001001 [component_container_isolated-3] -0.000197 -0.000027 1.000000 0.001184 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964986.984310977] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.045} {0.103,-0.567,-0.143} [component_container_isolated-3] [DEBUG] [1762964986.984359860] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.984403473] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.984444431] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 -0.000052 0.185155 -0.007247 [component_container_isolated-3] -0.000044 1.000000 0.000514 0.059774 [component_container_isolated-3] -0.185155 -0.000513 0.982709 0.017240 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.984469269] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.670,-0.003} [component_container_isolated-3] [DEBUG] [1762964986.984501971] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.104,11.238,0.142} [component_container_isolated-3] [DEBUG] [1762964986.984551997] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.990985493] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.991046159] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.991087388] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.991131522] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000123 -0.000011 0.000391 [component_container_isolated-3] 0.000123 1.000000 -0.000026 -0.000719 [component_container_isolated-3] 0.000011 0.000026 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] [1762964986.991156400] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.016,0.003} {0.119,0.128,0.172} [component_container_isolated-3] [DEBUG] [1762964986.991204622] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.991246582] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.991281469] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 -0.000120 0.203447 -0.006853 [component_container_isolated-3] 0.002525 0.999930 -0.011561 0.059283 [component_container_isolated-3] -0.203431 0.011833 0.979018 0.018412 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.991303260] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.692,11.738,0.148} [component_container_isolated-3] [DEBUG] [1762964986.991333057] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.003} {0.538,11.612,-0.030} [component_container_isolated-3] [DEBUG] [1762964986.991384024] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964986.998985622] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964986.999043602] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964986.999085372] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964986.999136991] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000022 0.000017 -0.000130 [component_container_isolated-3] 0.000022 1.000000 0.000057 -0.000083 [component_container_isolated-3] -0.000017 -0.000057 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] [1762964986.999165225] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.200,0.038,-0.201} [component_container_isolated-3] [DEBUG] [1762964986.999219528] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964986.999265125] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964986.999302276] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879418 0.000036 0.476051 -0.001193 [component_container_isolated-3] -0.004691 0.999952 0.008591 0.060263 [component_container_isolated-3] -0.476028 -0.009788 0.879376 0.018127 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964986.999325090] [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] [1762964986.999355538] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.328,28.390,-0.077} [component_container_isolated-3] [DEBUG] [1762964986.999405584] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.005638076] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.005693552] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.005735512] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.005781280] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000053 -0.000030 -0.000032 [component_container_isolated-3] -0.000053 1.000000 0.000247 0.000419 [component_container_isolated-3] 0.000031 -0.000247 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] [1762964987.005808301] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.031,-0.015} {-0.000,-0.205,-0.264} [component_container_isolated-3] [DEBUG] [1762964987.005857255] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.005904746] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.005974459] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981499 0.000141 0.191465 -0.006587 [component_container_isolated-3] -0.001907 0.999957 0.009042 0.061157 [component_container_isolated-3] -0.191455 -0.009239 0.981458 0.017779 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.006000899] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.539,11.038,-0.111} [component_container_isolated-3] [DEBUG] [1762964987.006031668] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.016} {-0.487,11.245,0.156} [component_container_isolated-3] [DEBUG] [1762964987.006084880] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.010997111] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.011061423] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.011111960] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.011170893] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000071 0.000059 0.000065 [component_container_isolated-3] -0.000071 1.000000 0.000063 0.000045 [component_container_isolated-3] -0.000059 -0.000063 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] [1762964987.011206470] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.045} {0.099,-0.564,-0.147} [component_container_isolated-3] [DEBUG] [1762964987.011274280] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.011339454] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.011388939] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982699 0.000007 0.185213 -0.007199 [component_container_isolated-3] -0.000116 1.000000 0.000577 0.059827 [component_container_isolated-3] -0.185213 -0.000588 0.982698 0.017313 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.011419597] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.674,-0.007} [component_container_isolated-3] [DEBUG] [1762964987.011462089] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.104,11.238,0.142} [component_container_isolated-3] [DEBUG] [1762964987.011533826] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.037633830] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.037697823] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.037739622] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.037786632] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000041 -0.000063 0.000057 [component_container_isolated-3] -0.000041 1.000000 0.000055 -0.000037 [component_container_isolated-3] 0.000063 -0.000055 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] [1762964987.037813794] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.204,0.034,-0.204} [component_container_isolated-3] [DEBUG] [1762964987.037864150] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.037906481] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.037986815] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879448 0.000046 0.475995 -0.001197 [component_container_isolated-3] -0.004732 0.999951 0.008646 0.060254 [component_container_isolated-3] -0.475972 -0.009856 0.879405 0.018130 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.038015219] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.642,28.423,-0.308} [component_container_isolated-3] [DEBUG] [1762964987.038048723] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.004} {-0.328,28.390,-0.077} [component_container_isolated-3] [DEBUG] [1762964987.038100812] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.042026730] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.042080482] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.042119547] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.042163992] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000030 -0.000105 -0.000342 [component_container_isolated-3] 0.000030 1.000000 -0.000082 0.000359 [component_container_isolated-3] 0.000105 0.000082 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] [1762964987.042189230] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.003} {0.123,0.122,0.174} [component_container_isolated-3] [DEBUG] [1762964987.042239376] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.042284883] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.042324268] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979107 -0.000133 0.203344 -0.006859 [component_container_isolated-3] 0.002554 0.999929 -0.011643 0.059256 [component_container_isolated-3] -0.203328 0.011919 0.979038 0.018417 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.042347893] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.697,11.732,0.149} [component_container_isolated-3] [DEBUG] [1762964987.042378612] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.003} {0.538,11.612,-0.030} [component_container_isolated-3] [DEBUG] [1762964987.042427235] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.047627426] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.047699704] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.047740812] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.047785217] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000141 -0.000014 0.000005 [component_container_isolated-3] 0.000141 1.000000 -0.000175 -0.000549 [component_container_isolated-3] 0.000014 0.000175 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] [1762964987.047810585] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.015} {0.010,-0.206,-0.256} [component_container_isolated-3] [DEBUG] [1762964987.047858367] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.047905326] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.047982574] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981502 0.000036 0.191451 -0.006601 [component_container_isolated-3] -0.001766 0.999959 0.008867 0.061067 [component_container_isolated-3] -0.191443 -0.009041 0.981462 0.017723 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.048009555] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.528,11.037,-0.103} [component_container_isolated-3] [DEBUG] [1762964987.048040865] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.017} {-0.487,11.245,0.156} [component_container_isolated-3] [DEBUG] [1762964987.048093446] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.056150162] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.056720481] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.056780175] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.056853575] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000054 -0.000076 0.000072 [component_container_isolated-3] -0.000054 1.000000 0.000017 -0.000050 [component_container_isolated-3] 0.000076 -0.000017 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] [1762964987.056890776] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.045} {0.098,-0.568,-0.150} [component_container_isolated-3] [DEBUG] [1762964987.056988794] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.057054098] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.057110105] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000057 0.185139 -0.007158 [component_container_isolated-3] -0.000169 1.000000 0.000594 0.059855 [component_container_isolated-3] -0.185138 -0.000615 0.982712 0.017345 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.057144311] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.669,-0.010} [component_container_isolated-3] [DEBUG] [1762964987.057188275] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.104,11.238,0.142} [component_container_isolated-3] [DEBUG] [1762964987.057266153] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.072589297] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.072643761] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.072686963] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.072732120] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000029 -0.000124 0.000087 [component_container_isolated-3] 0.000029 1.000000 -0.000075 -0.000405 [component_container_isolated-3] 0.000124 0.000075 1.000000 -0.000483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.072757949] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.016,0.002} {0.128,0.115,0.176} [component_container_isolated-3] [DEBUG] [1762964987.072806722] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.072848291] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.072883318] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979133 -0.000146 0.203222 -0.006876 [component_container_isolated-3] 0.002581 0.999928 -0.011718 0.059157 [component_container_isolated-3] -0.203206 0.011998 0.979062 0.018317 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.072905841] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.702,11.724,0.151} [component_container_isolated-3] [DEBUG] [1762964987.072980714] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.003} {0.538,11.612,-0.030} [component_container_isolated-3] [DEBUG] [1762964987.073037042] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.074126973] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.074191497] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.074236402] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.074283983] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000102 0.000085 0.000146 [component_container_isolated-3] 0.000102 1.000000 -0.000045 -0.000184 [component_container_isolated-3] -0.000085 0.000045 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] [1762964987.074311696] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.005,0.003} {-0.201,0.039,-0.198} [component_container_isolated-3] [DEBUG] [1762964987.074364397] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.074410254] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.074451543] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879407 -0.000022 0.476070 -0.001185 [component_container_isolated-3] -0.004631 0.999952 0.008601 0.060215 [component_container_isolated-3] -0.476048 -0.009768 0.879365 0.018133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.074476461] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.636,28.428,-0.302} [component_container_isolated-3] [DEBUG] [1762964987.074508121] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.004} {-0.328,28.390,-0.077} [component_container_isolated-3] [DEBUG] [1762964987.074559159] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.078706128] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.078759220] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.078797553] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.078841357] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000029 -0.000124 0.000087 [component_container_isolated-3] 0.000029 1.000000 -0.000075 -0.000405 [component_container_isolated-3] 0.000124 0.000075 1.000000 -0.000483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.078866895] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.016,0.002} {0.132,0.107,0.177} [component_container_isolated-3] [DEBUG] [1762964987.078914967] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.078987476] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.079028965] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979133 -0.000146 0.203222 -0.006876 [component_container_isolated-3] 0.002581 0.999928 -0.011718 0.059157 [component_container_isolated-3] -0.203206 0.011998 0.979062 0.018317 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.079053953] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.702,11.724,0.151} [component_container_isolated-3] [DEBUG] [1762964987.079087607] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.002} {0.533,11.619,-0.031} [component_container_isolated-3] [DEBUG] [1762964987.079139286] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.082604554] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.082671872] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.082712219] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.082756844] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000068 -0.000042 0.000158 [component_container_isolated-3] -0.000068 1.000000 0.000074 0.000095 [component_container_isolated-3] 0.000042 -0.000074 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] [1762964987.082782774] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.015} {0.005,-0.208,-0.260} [component_container_isolated-3] [DEBUG] [1762964987.082832429] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.082878767] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.082959872] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981510 0.000088 0.191409 -0.006581 [component_container_isolated-3] -0.001833 0.999958 0.008941 0.061046 [component_container_isolated-3] -0.191401 -0.009126 0.981470 0.017659 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.082987044] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.533,11.035,-0.107} [component_container_isolated-3] [DEBUG] [1762964987.083020929] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.017} {-0.487,11.245,0.156} [component_container_isolated-3] [DEBUG] [1762964987.083082667] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.092132259] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.092203906] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.092247379] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.092294960] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000068 -0.000042 0.000158 [component_container_isolated-3] -0.000068 1.000000 0.000074 0.000095 [component_container_isolated-3] 0.000042 -0.000074 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] [1762964987.092322192] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.006,0.030,-0.015} {0.001,-0.211,-0.264} [component_container_isolated-3] [DEBUG] [1762964987.092362559] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.092429988] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.092473260] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.092519839] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000206 -0.000252 -0.000404 [component_container_isolated-3] 0.000206 1.000000 -0.000150 -0.000918 [component_container_isolated-3] 0.000252 0.000150 1.000000 -0.001109 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.092545027] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.008,-0.047} {0.106,-0.583,-0.139} [component_container_isolated-3] [DEBUG] [1762964987.092596005] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.092383910] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.092641962] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.092727315] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982759 -0.000119 0.184891 -0.007245 [component_container_isolated-3] 0.000037 1.000000 0.000444 0.059657 [component_container_isolated-3] -0.184891 -0.000430 0.982759 0.017113 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.092748827] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.025,10.655,0.002} [component_container_isolated-3] [DEBUG] [1762964987.092772842] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.008,0.047} {-0.104,11.238,0.142} [component_container_isolated-3] [DEBUG] [1762964987.092734690] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.092816626] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.092837857] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981510 0.000088 0.191409 -0.006581 [component_container_isolated-3] -0.001833 0.999958 0.008941 0.061046 [component_container_isolated-3] -0.191401 -0.009126 0.981470 0.017659 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.092860049] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.533,11.035,-0.107} [component_container_isolated-3] [DEBUG] [1762964987.092884886] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.017} {-0.482,11.247,0.160} [component_container_isolated-3] [DEBUG] [1762964987.092950772] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.098683030] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.098760708] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.098802858] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.098850539] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000009 -0.000012 -0.000092 [component_container_isolated-3] -0.000009 1.000000 -0.000097 -0.000006 [component_container_isolated-3] 0.000012 0.000097 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] [1762964987.098877571] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.005,0.003} {-0.195,0.038,-0.198} [component_container_isolated-3] [DEBUG] [1762964987.098990316] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.099041133] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.099085719] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879413 0.000032 0.476060 -0.001172 [component_container_isolated-3] -0.004640 0.999953 0.008504 0.060189 [component_container_isolated-3] -0.476037 -0.009687 0.879372 0.018158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.099110616] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.631,28.427,-0.302} [component_container_isolated-3] [DEBUG] [1762964987.099154460] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.004} {-0.328,28.390,-0.077} [component_container_isolated-3] [DEBUG] [1762964987.099207361] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.101285590] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.101342028] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.101380461] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.101423704] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000029 -0.000124 0.000087 [component_container_isolated-3] 0.000029 1.000000 -0.000075 -0.000405 [component_container_isolated-3] 0.000124 0.000075 1.000000 -0.000483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.101448471] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.016,0.001} {0.136,0.100,0.179} [component_container_isolated-3] [DEBUG] [1762964987.101496102] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.101537601] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.101573510] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979133 -0.000146 0.203222 -0.006876 [component_container_isolated-3] 0.002581 0.999928 -0.011718 0.059157 [component_container_isolated-3] -0.203206 0.011998 0.979062 0.018317 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.101596984] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.702,11.724,0.151} [component_container_isolated-3] [DEBUG] [1762964987.101630088] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.016,-0.002} {0.529,11.626,-0.033} [component_container_isolated-3] [DEBUG] [1762964987.101679502] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.114572515] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.114638451] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.114677475] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.114720948] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000226 0.000302 0.000113 [component_container_isolated-3] -0.000226 1.000000 0.000121 0.000865 [component_container_isolated-3] -0.000302 -0.000121 1.000000 0.001359 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.114746206] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.045} {0.100,-0.565,-0.152} [component_container_isolated-3] [DEBUG] [1762964987.114795000] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.114838863] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.114877707] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000081 0.185187 -0.007179 [component_container_isolated-3] -0.000189 1.000000 0.000565 0.059759 [component_container_isolated-3] -0.185187 -0.000591 0.982703 0.017377 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.114902876] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.672,-0.011} [component_container_isolated-3] [DEBUG] [1762964987.114961828] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.104,11.238,0.142} [component_container_isolated-3] [DEBUG] [1762964987.115015110] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.120796120] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.120851837] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.120888096] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.120956066] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000068 -0.000042 0.000158 [component_container_isolated-3] -0.000068 1.000000 0.000074 0.000095 [component_container_isolated-3] 0.000042 -0.000074 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] [1762964987.120983789] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.006,0.030,-0.015} {-0.003,-0.213,-0.268} [component_container_isolated-3] [DEBUG] [1762964987.121035497] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.121083279] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.121123706] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981510 0.000088 0.191409 -0.006581 [component_container_isolated-3] -0.001833 0.999958 0.008941 0.061046 [component_container_isolated-3] -0.191401 -0.009126 0.981470 0.017659 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.121148543] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.533,11.035,-0.107} [component_container_isolated-3] [DEBUG] [1762964987.121179853] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.017} {-0.477,11.250,0.164} [component_container_isolated-3] [DEBUG] [1762964987.121229869] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.127054172] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.127110008] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.127149243] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.127192476] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000042 0.000004 0.000040 [component_container_isolated-3] -0.000042 1.000000 0.000139 0.000123 [component_container_isolated-3] -0.000004 -0.000139 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] [1762964987.127218325] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.005,0.003} {-0.203,0.038,-0.201} [component_container_isolated-3] [DEBUG] [1762964987.127270745] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.127313667] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.127355277] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 0.000003 0.476063 -0.001166 [component_container_isolated-3] -0.004682 0.999952 0.008643 0.060181 [component_container_isolated-3] -0.476040 -0.009830 0.879369 0.018156 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.127382158] [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] [1762964987.127413959] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.004} {-0.328,28.390,-0.077} [component_container_isolated-3] [DEBUG] [1762964987.127500023] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.127887193] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.127959701] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.127999327] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.128042519] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000226 0.000302 0.000113 [component_container_isolated-3] -0.000226 1.000000 0.000121 0.000865 [component_container_isolated-3] -0.000302 -0.000121 1.000000 0.001359 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.128067737] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.010,-0.044} {0.093,-0.548,-0.164} [component_container_isolated-3] [DEBUG] [1762964987.128117021] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.128164923] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.128204739] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000081 0.185187 -0.007179 [component_container_isolated-3] -0.000189 1.000000 0.000565 0.059759 [component_container_isolated-3] -0.185187 -0.000591 0.982703 0.017377 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.128229366] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.672,-0.011} [component_container_isolated-3] [DEBUG] [1762964987.128263130] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.010,0.044} {-0.095,11.221,0.155} [component_container_isolated-3] [DEBUG] [1762964987.128314228] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.148277954] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.148333430] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.148371322] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.148414414] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000119 0.000154 -0.000176 [component_container_isolated-3] -0.000119 1.000000 0.000008 0.000549 [component_container_isolated-3] -0.000154 -0.000008 1.000000 0.000551 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.148438701] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.016,0.002} {0.136,0.109,0.172} [component_container_isolated-3] [DEBUG] [1762964987.148487845] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.148532971] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.148571685] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979101 -0.000031 0.203373 -0.006876 [component_container_isolated-3] 0.002464 0.999928 -0.011710 0.059180 [component_container_isolated-3] -0.203358 0.011967 0.979031 0.018354 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.148595480] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.700,11.733,0.144} [component_container_isolated-3] [DEBUG] [1762964987.148627842] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.002} {0.529,11.626,-0.033} [component_container_isolated-3] [DEBUG] [1762964987.148682126] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.164162810] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.164228926] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.164266438] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.164309741] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000068 -0.000042 0.000158 [component_container_isolated-3] -0.000068 1.000000 0.000074 0.000095 [component_container_isolated-3] 0.000042 -0.000074 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] [1762964987.164334518] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.006,0.030,-0.015} {-0.007,-0.215,-0.272} [component_container_isolated-3] [DEBUG] [1762964987.164384564] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.164431674] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.164471750] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981510 0.000088 0.191409 -0.006581 [component_container_isolated-3] -0.001833 0.999958 0.008941 0.061046 [component_container_isolated-3] -0.191401 -0.009126 0.981470 0.017659 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.164496487] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.533,11.035,-0.107} [component_container_isolated-3] [DEBUG] [1762964987.164529631] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.017} {-0.472,11.252,0.168} [component_container_isolated-3] [DEBUG] [1762964987.164581129] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.169825224] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.169887102] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.169961845] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.170010267] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000055 0.000030 -0.000022 [component_container_isolated-3] -0.000055 1.000000 0.000045 0.000054 [component_container_isolated-3] -0.000030 -0.000045 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] [1762964987.170039243] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.206,0.040,-0.204} [component_container_isolated-3] [DEBUG] [1762964987.170090561] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.170134935] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.170170233] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879397 0.000030 0.476090 -0.001162 [component_container_isolated-3] -0.004738 0.999951 0.008688 0.060180 [component_container_isolated-3] -0.476066 -0.009896 0.879354 0.018156 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.170193217] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.429,-0.309} [component_container_isolated-3] [DEBUG] [1762964987.170229145] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.328,28.390,-0.077} [component_container_isolated-3] [DEBUG] [1762964987.170283058] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.189527651] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.189596061] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.189638042] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.189684170] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000030 -0.000035 0.000235 [component_container_isolated-3] 0.000030 1.000000 -0.000010 0.000388 [component_container_isolated-3] 0.000035 0.000010 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] [1762964987.189709578] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.010,-0.044} {0.093,-0.550,-0.163} [component_container_isolated-3] [DEBUG] [1762964987.189758101] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.189805712] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.189842422] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 0.000053 0.185153 -0.007138 [component_container_isolated-3] -0.000159 1.000000 0.000556 0.059899 [component_container_isolated-3] -0.185153 -0.000576 0.982710 0.017425 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.189866227] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.670,-0.009} [component_container_isolated-3] [DEBUG] [1762964987.189896886] [zed_multi.front]: +++ Diff [map -> odom] - {0.000,-0.010,0.045} {-0.095,11.221,0.155} [component_container_isolated-3] [DEBUG] [1762964987.189985255] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.190050609] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.190098481] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.190135512] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.190177852] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000119 0.000154 -0.000176 [component_container_isolated-3] -0.000119 1.000000 0.000008 0.000549 [component_container_isolated-3] -0.000154 -0.000008 1.000000 0.000551 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.190202219] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.002} {0.135,0.118,0.165} [component_container_isolated-3] [DEBUG] [1762964987.190248988] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.190289746] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.190324022] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979101 -0.000031 0.203373 -0.006876 [component_container_isolated-3] 0.002464 0.999928 -0.011710 0.059180 [component_container_isolated-3] -0.203358 0.011967 0.979031 0.018354 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.190346835] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.700,11.733,0.144} [component_container_isolated-3] [DEBUG] [1762964987.190376482] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.003} {0.531,11.617,-0.026} [component_container_isolated-3] [DEBUG] [1762964987.190485320] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.204274684] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.204328136] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.204368183] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.204411014] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000119 0.000154 -0.000176 [component_container_isolated-3] -0.000119 1.000000 0.000008 0.000549 [component_container_isolated-3] -0.000154 -0.000008 1.000000 0.000551 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.204435151] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.003} {0.135,0.127,0.159} [component_container_isolated-3] [DEBUG] [1762964987.204481760] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.204522317] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.204556432] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979101 -0.000031 0.203373 -0.006876 [component_container_isolated-3] 0.002464 0.999928 -0.011710 0.059180 [component_container_isolated-3] -0.203358 0.011967 0.979031 0.018354 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.204577563] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,-0.000} {0.700,11.733,0.144} [component_container_isolated-3] [DEBUG] [1762964987.204606688] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.003} {0.532,11.608,-0.019} [component_container_isolated-3] [DEBUG] [1762964987.204658958] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.209711036] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.209756623] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.209783234] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.209810787] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000059 -0.000021 0.000307 [component_container_isolated-3] 0.000059 1.000000 -0.000100 -0.000126 [component_container_isolated-3] 0.000021 0.000100 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] [1762964987.209827028] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.005,0.003} {-0.200,0.039,-0.200} [component_container_isolated-3] [DEBUG] [1762964987.209858287] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.209885079] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.209908203] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879407 0.000026 0.476071 -0.001112 [component_container_isolated-3] -0.004679 0.999952 0.008588 0.060159 [component_container_isolated-3] -0.476048 -0.009780 0.879365 0.018144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.209942418] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.428,-0.305} [component_container_isolated-3] [DEBUG] [1762964987.209962476] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.004} {-0.328,28.390,-0.077} [component_container_isolated-3] [DEBUG] [1762964987.209995750] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.229162524] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.229225063] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.229268336] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.229313432] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000037 0.000102 -0.000262 [component_container_isolated-3] -0.000037 1.000000 -0.000148 0.000173 [component_container_isolated-3] -0.000102 0.000148 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] [1762964987.229339301] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.006,0.031,-0.015} {0.001,-0.210,-0.274} [component_container_isolated-3] [DEBUG] [1762964987.229389267] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.229434092] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.229470712] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981491 0.000152 0.191510 -0.006566 [component_container_isolated-3] -0.001871 0.999960 0.008792 0.061041 [component_container_isolated-3] -0.191500 -0.008987 0.981451 0.017783 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.229493506] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.525,11.040,-0.109} [component_container_isolated-3] [DEBUG] [1762964987.229525758] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.016} {-0.472,11.252,0.168} [component_container_isolated-3] [DEBUG] [1762964987.229578138] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.234111385] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.234170508] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.234208050] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.234250180] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000037 0.000102 -0.000262 [component_container_isolated-3] -0.000037 1.000000 -0.000148 0.000173 [component_container_isolated-3] -0.000102 0.000148 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] [1762964987.234274827] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.031,-0.014} {0.010,-0.204,-0.276} [component_container_isolated-3] [DEBUG] [1762964987.234322849] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.234370279] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.234410336] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981491 0.000152 0.191510 -0.006566 [component_container_isolated-3] -0.001871 0.999960 0.008792 0.061041 [component_container_isolated-3] -0.191500 -0.008987 0.981451 0.017783 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.234434482] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.525,11.040,-0.109} [component_container_isolated-3] [DEBUG] [1762964987.234467605] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.016} {-0.480,11.247,0.170} [component_container_isolated-3] [DEBUG] [1762964987.234518823] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.235263455] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.235314082] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.235354309] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.235398844] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000052 -0.000039 -0.000449 [component_container_isolated-3] -0.000052 1.000000 0.000058 0.000090 [component_container_isolated-3] 0.000039 -0.000058 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] [1762964987.235423200] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.005,0.003} {-0.204,0.037,-0.203} [component_container_isolated-3] [DEBUG] [1762964987.235471362] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.235513352] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.235549141] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879425 0.000044 0.476037 -0.001143 [component_container_isolated-3] -0.004731 0.999951 0.008647 0.060156 [component_container_isolated-3] -0.476013 -0.009856 0.879383 0.018159 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.235573267] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.425,-0.308} [component_container_isolated-3] [DEBUG] [1762964987.235606310] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.328,28.390,-0.077} [component_container_isolated-3] [DEBUG] [1762964987.235658800] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.236841799] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.236914498] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.237005953] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.237059986] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000144 -0.000251 -0.000526 [component_container_isolated-3] 0.000144 1.000000 -0.000146 -0.001161 [component_container_isolated-3] 0.000251 0.000146 1.000000 -0.001292 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.237089713] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.045} {0.102,-0.565,-0.155} [component_container_isolated-3] [DEBUG] [1762964987.237142243] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.237191758] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.237230552] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982756 -0.000061 0.184906 -0.007273 [component_container_isolated-3] -0.000015 1.000000 0.000410 0.059698 [component_container_isolated-3] -0.184906 -0.000406 0.982756 0.017148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.237256061] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.024,10.656,-0.001} [component_container_isolated-3] [DEBUG] [1762964987.237295446] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.045} {-0.095,11.221,0.155} [component_container_isolated-3] [DEBUG] [1762964987.237343758] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.242506538] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.242581551] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.242621577] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.242666734] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000144 -0.000251 -0.000526 [component_container_isolated-3] 0.000144 1.000000 -0.000146 -0.001161 [component_container_isolated-3] 0.000251 0.000146 1.000000 -0.001292 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.242692453] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.008,-0.046} {0.110,-0.579,-0.146} [component_container_isolated-3] [DEBUG] [1762964987.242743260] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.242803565] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.242856927] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982756 -0.000061 0.184906 -0.007273 [component_container_isolated-3] -0.000015 1.000000 0.000410 0.059698 [component_container_isolated-3] -0.184906 -0.000406 0.982756 0.017148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.242889769] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.024,10.656,-0.001} [component_container_isolated-3] [DEBUG] [1762964987.242966536] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,-0.008,0.047} {-0.105,11.235,0.147} [component_container_isolated-3] [DEBUG] [1762964987.243045868] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.259028450] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.259084678] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.259122941] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.259165602] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000037 0.000102 -0.000262 [component_container_isolated-3] -0.000037 1.000000 -0.000148 0.000173 [component_container_isolated-3] -0.000102 0.000148 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] [1762964987.259190760] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.031,-0.013} {0.018,-0.198,-0.278} [component_container_isolated-3] [DEBUG] [1762964987.259239133] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.259285331] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.259323724] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981491 0.000152 0.191510 -0.006566 [component_container_isolated-3] -0.001871 0.999960 0.008792 0.061041 [component_container_isolated-3] -0.191500 -0.008987 0.981451 0.017783 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.259346107] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.525,11.040,-0.109} [component_container_isolated-3] [DEBUG] [1762964987.259375984] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.015} {-0.488,11.241,0.172} [component_container_isolated-3] [DEBUG] [1762964987.259425118] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.265348981] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.265414306] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.265459051] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.265507714] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000031 0.000011 0.000072 [component_container_isolated-3] -0.000031 1.000000 -0.000056 -0.000038 [component_container_isolated-3] -0.000011 0.000056 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] [1762964987.265535317] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.005,0.003} {-0.200,0.037,-0.205} [component_container_isolated-3] [DEBUG] [1762964987.265585202] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.265631661] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.265670776] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 0.000098 0.476046 -0.001146 [component_container_isolated-3] -0.004762 0.999952 0.008590 0.060148 [component_container_isolated-3] -0.476023 -0.009821 0.879378 0.018165 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.265694251] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.426,-0.310} [component_container_isolated-3] [DEBUG] [1762964987.265724428] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.328,28.390,-0.077} [component_container_isolated-3] [DEBUG] [1762964987.265773582] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.266875877] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.266956221] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.266998201] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.267044680] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000098 0.000132 -0.000134 [component_container_isolated-3] 0.000098 1.000000 0.000027 -0.000124 [component_container_isolated-3] -0.000132 -0.000027 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] [1762964987.267071140] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.003} {0.133,0.134,0.164} [component_container_isolated-3] [DEBUG] [1762964987.267121426] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.267165060] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.267206579] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979075 -0.000132 0.203502 -0.006884 [component_container_isolated-3] 0.002564 0.999929 -0.011683 0.059174 [component_container_isolated-3] -0.203486 0.011960 0.979005 0.018489 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.267236165] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.700,11.741,0.150} [component_container_isolated-3] [DEBUG] [1762964987.267270781] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.004} {0.532,11.608,-0.019} [component_container_isolated-3] [DEBUG] [1762964987.267327850] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.282106053] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.282155618] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.282200173] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.282248585] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000106 0.000163 0.000570 [component_container_isolated-3] -0.000106 1.000000 0.000249 0.000685 [component_container_isolated-3] -0.000163 -0.000249 1.000000 0.001138 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.282274284] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.045} {0.096,-0.570,-0.152} [component_container_isolated-3] [DEBUG] [1762964987.282324731] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.282368304] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.282404714] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982726 -0.000003 0.185066 -0.007174 [component_container_isolated-3] -0.000121 1.000000 0.000660 0.059757 [component_container_isolated-3] -0.185066 -0.000670 0.982726 0.017289 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.282428379] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.665,-0.007} [component_container_isolated-3] [DEBUG] [1762964987.282461813] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.105,11.235,0.147} [component_container_isolated-3] [DEBUG] [1762964987.282513091] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.293485706] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.293556260] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.293596898] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.293643747] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000031 0.000011 0.000072 [component_container_isolated-3] -0.000031 1.000000 -0.000056 -0.000038 [component_container_isolated-3] -0.000011 0.000056 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] [1762964987.293670178] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.005,0.003} {-0.197,0.038,-0.207} [component_container_isolated-3] [DEBUG] [1762964987.293718961] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.293763156] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.293803082] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 0.000098 0.476046 -0.001146 [component_container_isolated-3] -0.004762 0.999952 0.008590 0.060148 [component_container_isolated-3] -0.476023 -0.009821 0.879378 0.018165 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.293827098] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.426,-0.310} [component_container_isolated-3] [DEBUG] [1762964987.293858498] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.004} {-0.331,28.389,-0.075} [component_container_isolated-3] [DEBUG] [1762964987.293908012] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.301332982] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.301397125] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.301436059] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.301478740] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000037 0.000102 -0.000262 [component_container_isolated-3] -0.000037 1.000000 -0.000148 0.000173 [component_container_isolated-3] -0.000102 0.000148 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] [1762964987.301502987] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.031,-0.012} {0.027,-0.192,-0.280} [component_container_isolated-3] [DEBUG] [1762964987.301550758] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.301594191] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.301634348] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981491 0.000152 0.191510 -0.006566 [component_container_isolated-3] -0.001871 0.999960 0.008792 0.061041 [component_container_isolated-3] -0.191500 -0.008987 0.981451 0.017783 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.301659125] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.525,11.040,-0.109} [component_container_isolated-3] [DEBUG] [1762964987.301691647] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.014} {-0.496,11.235,0.174} [component_container_isolated-3] [DEBUG] [1762964987.301745169] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.302897520] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.302988283] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.303029953] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.303075620] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000014 -0.000084 0.000026 [component_container_isolated-3] -0.000014 1.000000 -0.000025 -0.000113 [component_container_isolated-3] 0.000084 0.000025 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] [1762964987.303100467] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.003} {0.135,0.130,0.163} [component_container_isolated-3] [DEBUG] [1762964987.303148259] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.303190750] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.303225496] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 -0.000114 0.203420 -0.006894 [component_container_isolated-3] 0.002549 0.999928 -0.011709 0.059155 [component_container_isolated-3] -0.203404 0.011982 0.979022 0.018525 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.303247889] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.701,11.736,0.149} [component_container_isolated-3] [DEBUG] [1762964987.303277475] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.003} {0.532,11.608,-0.019} [component_container_isolated-3] [DEBUG] [1762964987.303330557] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.315493726] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.315555834] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.315596642] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.315640285] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000018 0.000107 -0.000132 [component_container_isolated-3] -0.000018 1.000000 -0.000089 0.000154 [component_container_isolated-3] -0.000107 0.000089 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] [1762964987.315665173] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.045} {0.101,-0.564,-0.153} [component_container_isolated-3] [DEBUG] [1762964987.315713886] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.315756908] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.315792446] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000031 0.185171 -0.007153 [component_container_isolated-3] -0.000139 1.000000 0.000571 0.059810 [component_container_isolated-3] -0.185171 -0.000587 0.982706 0.017320 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.315814528] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964987.315847661] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.105,11.235,0.147} [component_container_isolated-3] [DEBUG] [1762964987.315901003] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.328771884] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.328829664] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.328870101] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.328914446] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000018 0.000107 -0.000132 [component_container_isolated-3] -0.000018 1.000000 -0.000089 0.000154 [component_container_isolated-3] -0.000107 0.000089 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] [1762964987.328970964] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.009,-0.046} {0.106,-0.557,-0.154} [component_container_isolated-3] [DEBUG] [1762964987.329022312] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.329064352] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.329100371] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000031 0.185171 -0.007153 [component_container_isolated-3] -0.000139 1.000000 0.000571 0.059810 [component_container_isolated-3] -0.185171 -0.000587 0.982706 0.017320 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.329122233] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964987.329152591] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.110,11.229,0.148} [component_container_isolated-3] [DEBUG] [1762964987.329207045] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.335158480] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.335225659] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.335267408] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.335311823] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000076 -0.000012 -0.000019 [component_container_isolated-3] 0.000076 1.000000 0.000032 0.000077 [component_container_isolated-3] 0.000012 -0.000032 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] [1762964987.335338695] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.005,0.003} {-0.199,0.037,-0.203} [component_container_isolated-3] [DEBUG] [1762964987.335388349] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.335432283] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.335468823] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 0.000016 0.476036 -0.001160 [component_container_isolated-3] -0.004686 0.999952 0.008623 0.060149 [component_container_isolated-3] -0.476013 -0.009814 0.879383 0.018168 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.335493841] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.425,-0.305} [component_container_isolated-3] [DEBUG] [1762964987.335524329] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.331,28.389,-0.075} [component_container_isolated-3] [DEBUG] [1762964987.335575547] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.336690376] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.336746994] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.336788744] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.336833099] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000005 -0.000049 0.000057 [component_container_isolated-3] -0.000005 1.000000 0.000199 -0.000250 [component_container_isolated-3] 0.000049 -0.000199 1.000000 0.000202 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.336857806] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.003} {0.123,0.127,0.163} [component_container_isolated-3] [DEBUG] [1762964987.336905857] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.336984738] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.337021709] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979102 -0.000149 0.203372 -0.006895 [component_container_isolated-3] 0.002543 0.999931 -0.011510 0.059096 [component_container_isolated-3] -0.203357 0.011786 0.979034 0.018576 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.337044172] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.690,11.733,0.149} [component_container_isolated-3] [DEBUG] [1762964987.337076624] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.003} {0.532,11.608,-0.019} [component_container_isolated-3] [DEBUG] [1762964987.337128483] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.351386442] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.351441557] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.351483177] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.351528533] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000134 -0.000121 0.000263 [component_container_isolated-3] 0.000134 1.000000 0.000195 -0.000628 [component_container_isolated-3] 0.000121 -0.000195 1.000000 -0.001008 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.351554162] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.013} {0.016,-0.199,-0.272} [component_container_isolated-3] [DEBUG] [1762964987.351607875] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.351657910] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.351698308] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981514 -0.000016 0.191391 -0.006584 [component_container_isolated-3] -0.001736 0.999958 0.008987 0.060889 [component_container_isolated-3] -0.191383 -0.009153 0.981473 0.017580 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.351724618] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.534,11.034,-0.101} [component_container_isolated-3] [DEBUG] [1762964987.351764474] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.015} {-0.496,11.235,0.174} [component_container_isolated-3] [DEBUG] [1762964987.351809911] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.353983031] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.354047404] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.354088092] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.354133669] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000076 -0.000012 -0.000019 [component_container_isolated-3] 0.000076 1.000000 0.000032 0.000077 [component_container_isolated-3] 0.000012 -0.000032 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] [1762964987.354159518] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.201,0.037,-0.198} [component_container_isolated-3] [DEBUG] [1762964987.354208001] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.354250912] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.354286300] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 0.000016 0.476036 -0.001160 [component_container_isolated-3] -0.004686 0.999952 0.008623 0.060149 [component_container_isolated-3] -0.476013 -0.009814 0.879383 0.018168 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.354309454] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.425,-0.305} [component_container_isolated-3] [DEBUG] [1762964987.354344221] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.331,28.390,-0.080} [component_container_isolated-3] [DEBUG] [1762964987.354397142] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.365623221] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.365678827] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.365717050] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.365759271] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000053 -0.000061 -0.000270 [component_container_isolated-3] -0.000053 1.000000 -0.000086 0.000463 [component_container_isolated-3] 0.000061 0.000086 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] [1762964987.365783337] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.003} {0.128,0.123,0.160} [component_container_isolated-3] [DEBUG] [1762964987.365830587] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.365873429] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.365912704] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979114 -0.000080 0.203313 -0.006954 [component_container_isolated-3] 0.002489 0.999930 -0.011596 0.059124 [component_container_isolated-3] -0.203298 0.011860 0.979045 0.018568 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.365969392] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.694,11.730,0.146} [component_container_isolated-3] [DEBUG] [1762964987.366002816] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.003} {0.532,11.608,-0.019} [component_container_isolated-3] [DEBUG] [1762964987.366056879] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.376592710] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.376653155] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.376693793] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.376738669] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000076 0.000052 -0.000157 [component_container_isolated-3] 0.000076 1.000000 -0.000016 -0.000522 [component_container_isolated-3] -0.000052 0.000016 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] [1762964987.376764809] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.013} {0.017,-0.196,-0.268} [component_container_isolated-3] [DEBUG] [1762964987.376829432] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.376879207] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.376961805] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981504 -0.000088 0.191442 -0.006586 [component_container_isolated-3] -0.001660 0.999958 0.008971 0.060651 [component_container_isolated-3] -0.191435 -0.009123 0.981463 0.017576 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.376989728] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.533,11.037,-0.097} [component_container_isolated-3] [DEBUG] [1762964987.377021238] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.014} {-0.496,11.235,0.174} [component_container_isolated-3] [DEBUG] [1762964987.377087375] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.380958227] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.381025545] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.381066544] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.381111940] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000023 0.000056 -0.000033 [component_container_isolated-3] 0.000023 1.000000 0.000010 -0.000082 [component_container_isolated-3] -0.000056 -0.000010 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] [1762964987.381137028] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.009,-0.046} {0.105,-0.554,-0.153} [component_container_isolated-3] [DEBUG] [1762964987.381186363] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.381230136] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.381266115] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 0.000007 0.185226 -0.007142 [component_container_isolated-3] -0.000116 1.000000 0.000581 0.059833 [component_container_isolated-3] -0.185226 -0.000592 0.982696 0.017349 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.381288688] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.035,10.674,-0.007} [component_container_isolated-3] [DEBUG] [1762964987.381322292] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.110,11.229,0.148} [component_container_isolated-3] [DEBUG] [1762964987.381374271] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.399205455] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.399271872] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.399312419] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.399355972] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000060 -0.000127 0.000026 [component_container_isolated-3] -0.000060 1.000000 0.000034 0.000044 [component_container_isolated-3] 0.000127 -0.000034 1.000000 -0.000523 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.399380810] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.002} {0.126,0.116,0.157} [component_container_isolated-3] [DEBUG] [1762964987.399432759] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.399475500] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.399510427] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979140 -0.000028 0.203189 -0.007008 [component_container_isolated-3] 0.002428 0.999930 -0.011562 0.059146 [component_container_isolated-3] -0.203174 0.011814 0.979071 0.018433 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.399532980] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.691,11.723,0.142} [component_container_isolated-3] [DEBUG] [1762964987.399566274] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.003} {0.532,11.608,-0.019} [component_container_isolated-3] [DEBUG] [1762964987.399620708] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.401097298] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.401155419] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.401197359] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.401245010] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000004 0.000022 0.000052 [component_container_isolated-3] 0.000004 1.000000 -0.000036 -0.000008 [component_container_isolated-3] -0.000022 0.000036 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] [1762964987.401273805] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.199,0.038,-0.198} [component_container_isolated-3] [DEBUG] [1762964987.401325594] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.401370459] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.401408452] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879416 0.000029 0.476055 -0.001158 [component_container_isolated-3] -0.004681 0.999952 0.008587 0.060149 [component_container_isolated-3] -0.476032 -0.009780 0.879374 0.018178 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.401431776] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.427,-0.305} [component_container_isolated-3] [DEBUG] [1762964987.401461774] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.331,28.390,-0.080} [component_container_isolated-3] [DEBUG] [1762964987.401510988] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.410701038] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.410761794] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.410803244] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.410847608] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000199 0.000052 -0.000034 [component_container_isolated-3] -0.000199 1.000000 0.000119 0.000992 [component_container_isolated-3] -0.000052 -0.000119 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] [1762964987.410873578] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.031,-0.013} {0.010,-0.193,-0.279} [component_container_isolated-3] [DEBUG] [1762964987.410954432] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.411009978] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.411053401] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981494 0.000084 0.191493 -0.006570 [component_container_isolated-3] -0.001860 0.999957 0.009090 0.060713 [component_container_isolated-3] -0.191484 -0.009278 0.981452 0.017610 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.411078479] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.542,11.039,-0.109} [component_container_isolated-3] [DEBUG] [1762964987.411114859] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.014} {-0.496,11.235,0.174} [component_container_isolated-3] [DEBUG] [1762964987.411167459] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.416646373] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.416708181] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.416748257] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.416791460] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000018 -0.000065 0.000099 [component_container_isolated-3] -0.000018 1.000000 0.000046 -0.000045 [component_container_isolated-3] 0.000065 -0.000046 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] [1762964987.416816397] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.046} {0.103,-0.558,-0.154} [component_container_isolated-3] [DEBUG] [1762964987.416865080] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.416906960] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.416976784] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 0.000015 0.185162 -0.007121 [component_container_isolated-3] -0.000134 1.000000 0.000627 0.059850 [component_container_isolated-3] -0.185162 -0.000641 0.982708 0.017364 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.417001351] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964987.417034414] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.110,11.229,0.148} [component_container_isolated-3] [DEBUG] [1762964987.417090681] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.442345452] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.442408783] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.442449901] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.442495328] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000002 0.000222 -0.000023 [component_container_isolated-3] 0.000002 1.000000 0.000072 0.000079 [component_container_isolated-3] -0.000222 -0.000072 1.000000 0.000439 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.442520386] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.003} {0.122,0.129,0.157} [component_container_isolated-3] [DEBUG] [1762964987.442568377] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.442611109] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.442646797] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979094 -0.000045 0.203406 -0.007034 [component_container_isolated-3] 0.002433 0.999931 -0.011489 0.059173 [component_container_isolated-3] -0.203392 0.011744 0.979027 0.018431 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.442669030] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.687,11.735,0.142} [component_container_isolated-3] [DEBUG] [1762964987.442701421] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.003} {0.532,11.608,-0.019} [component_container_isolated-3] [DEBUG] [1762964987.442751597] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.446120231] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.446190755] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.446230882] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.446275698] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000068 0.000075 -0.000074 [component_container_isolated-3] -0.000068 1.000000 0.000066 0.000103 [component_container_isolated-3] -0.000075 -0.000066 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] [1762964987.446300946] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.203,0.042,-0.202} [component_container_isolated-3] [DEBUG] [1762964987.446349178] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.446390367] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.446429050] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879380 0.000057 0.476121 -0.001160 [component_container_isolated-3] -0.004750 0.999951 0.008653 0.060164 [component_container_isolated-3] -0.476098 -0.009870 0.879337 0.018188 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.446452746] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.643,28.431,-0.309} [component_container_isolated-3] [DEBUG] [1762964987.446486160] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.331,28.390,-0.080} [component_container_isolated-3] [DEBUG] [1762964987.446535834] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.455557463] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.455620644] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.455666562] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.455720485] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000013 -0.000169 -0.000009 [component_container_isolated-3] -0.000013 1.000000 -0.000121 -0.000222 [component_container_isolated-3] 0.000169 0.000121 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] [1762964987.455749360] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.031,-0.013} {0.017,-0.203,-0.280} [component_container_isolated-3] [DEBUG] [1762964987.455798634] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.455844872] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.455881613] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981526 0.000120 0.191327 -0.006580 [component_container_isolated-3] -0.001871 0.999958 0.008969 0.060702 [component_container_isolated-3] -0.191318 -0.009162 0.981485 0.017588 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.455905568] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.001} {-0.535,11.030,-0.109} [component_container_isolated-3] [DEBUG] [1762964987.455963549] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.014} {-0.496,11.235,0.174} [component_container_isolated-3] [DEBUG] [1762964987.456024616] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.461047097] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.461109146] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.461151176] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.461201192] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000011 -0.000041 0.000099 [component_container_isolated-3] -0.000011 1.000000 -0.000053 0.000009 [component_container_isolated-3] 0.000041 0.000053 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] [1762964987.461230127] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.046} {0.106,-0.560,-0.155} [component_container_isolated-3] [DEBUG] [1762964987.461283298] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.461329276] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.461369042] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 0.000035 0.185122 -0.007090 [component_container_isolated-3] -0.000144 1.000000 0.000574 0.059863 [component_container_isolated-3] -0.185122 -0.000591 0.982715 0.017378 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.461393248] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.668,-0.008} [component_container_isolated-3] [DEBUG] [1762964987.461433235] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.110,11.229,0.148} [component_container_isolated-3] [DEBUG] [1762964987.461508809] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.473045191] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.473113822] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.473153157] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.473197822] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000082 -0.000075 -0.000016 [component_container_isolated-3] -0.000082 1.000000 -0.000146 0.000008 [component_container_isolated-3] 0.000075 0.000146 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] [1762964987.473222990] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.003} {0.131,0.124,0.152} [component_container_isolated-3] [DEBUG] [1762964987.473270281] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.473311439] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.473349071] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979110 0.000065 0.203333 -0.007055 [component_container_isolated-3] 0.002350 0.999929 -0.011636 0.059191 [component_container_isolated-3] -0.203319 0.011870 0.979041 0.018447 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.473376844] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.695,11.731,0.137} [component_container_isolated-3] [DEBUG] [1762964987.473411671] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.003} {0.532,11.608,-0.019} [component_container_isolated-3] [DEBUG] [1762964987.473465584] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.475580533] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.475649154] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.475689912] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.475734697] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000055 -0.000079 0.000117 [component_container_isolated-3] 0.000055 1.000000 -0.000054 -0.000107 [component_container_isolated-3] 0.000079 0.000054 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] [1762964987.475760987] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.200,0.038,-0.199} [component_container_isolated-3] [DEBUG] [1762964987.475809901] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.475851781] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.475888260] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879417 0.000034 0.476051 -0.001160 [component_container_isolated-3] -0.004694 0.999952 0.008599 0.060160 [component_container_isolated-3] -0.476028 -0.009797 0.879375 0.018190 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.475913278] [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] [1762964987.475981208] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.331,28.390,-0.080} [component_container_isolated-3] [DEBUG] [1762964987.476035702] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.481260129] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.481319092] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.481357946] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.481403082] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000082 -0.000075 -0.000016 [component_container_isolated-3] -0.000082 1.000000 -0.000146 0.000008 [component_container_isolated-3] 0.000075 0.000146 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] [1762964987.481427329] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.003} {0.139,0.120,0.147} [component_container_isolated-3] [DEBUG] [1762964987.481474719] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.481515868] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.481550704] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979110 0.000065 0.203333 -0.007055 [component_container_isolated-3] 0.002350 0.999929 -0.011636 0.059191 [component_container_isolated-3] -0.203319 0.011870 0.979041 0.018447 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.481572105] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.001,0.000} {0.695,11.731,0.137} [component_container_isolated-3] [DEBUG] [1762964987.481603956] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.003} {0.525,11.612,-0.014} [component_container_isolated-3] [DEBUG] [1762964987.481663219] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.490663898] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.490742659] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.490786603] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.490834714] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000002 0.000049 -0.000085 [component_container_isolated-3] 0.000002 1.000000 0.000012 0.000011 [component_container_isolated-3] -0.000049 -0.000012 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] [1762964987.490860103] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.045} {0.105,-0.557,-0.155} [component_container_isolated-3] [DEBUG] [1762964987.490909718] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.490984881] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.491022954] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000031 0.185170 -0.007071 [component_container_isolated-3] -0.000142 1.000000 0.000586 0.059876 [component_container_isolated-3] -0.185170 -0.000602 0.982706 0.017402 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.491051298] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.035,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964987.491090212] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.110,11.229,0.148} [component_container_isolated-3] [DEBUG] [1762964987.491146340] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.496490606] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.496553065] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.496605555] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.496666702] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000154 0.000008 0.000045 [component_container_isolated-3] 0.000154 1.000000 -0.000269 -0.000292 [component_container_isolated-3] -0.000008 0.000269 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] [1762964987.496703082] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.013} {0.032,-0.202,-0.271} [component_container_isolated-3] [DEBUG] [1762964987.496770480] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.496834984] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.496888917] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 0.000021 0.191335 -0.006592 [component_container_isolated-3] -0.001717 0.999961 0.008700 0.060637 [component_container_isolated-3] -0.191327 -0.008868 0.981486 0.017561 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.496950043] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.518,11.030,-0.100} [component_container_isolated-3] [DEBUG] [1762964987.496998265] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.014} {-0.496,11.235,0.174} [component_container_isolated-3] [DEBUG] [1762964987.497079631] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.500544478] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.500599833] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.500641022] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.500685517] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000010 0.000028 -0.000076 [component_container_isolated-3] 0.000010 1.000000 0.000036 -0.000074 [component_container_isolated-3] -0.000028 -0.000036 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] [1762964987.500710645] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.005,0.003} {-0.202,0.039,-0.198} [component_container_isolated-3] [DEBUG] [1762964987.500758847] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.500801679] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.500836716] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879404 0.000009 0.476076 -0.001168 [component_container_isolated-3] -0.004684 0.999952 0.008635 0.060151 [component_container_isolated-3] -0.476053 -0.009823 0.879362 0.018187 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.500858958] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.640,28.428,-0.305} [component_container_isolated-3] [DEBUG] [1762964987.500891540] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.331,28.390,-0.080} [component_container_isolated-3] [DEBUG] [1762964987.500991281] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.505737796] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.505794204] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.505833759] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.505878555] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000154 0.000008 0.000045 [component_container_isolated-3] 0.000154 1.000000 -0.000269 -0.000292 [component_container_isolated-3] -0.000008 0.000269 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] [1762964987.505904254] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.013} {0.047,-0.202,-0.262} [component_container_isolated-3] [DEBUG] [1762964987.505986801] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.506033350] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.506075000] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 0.000021 0.191335 -0.006592 [component_container_isolated-3] -0.001717 0.999961 0.008700 0.060637 [component_container_isolated-3] -0.191327 -0.008868 0.981486 0.017561 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.506099346] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.518,11.030,-0.100} [component_container_isolated-3] [DEBUG] [1762964987.506130846] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.015} {-0.513,11.235,0.165} [component_container_isolated-3] [DEBUG] [1762964987.506180932] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.512362107] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.512431910] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.512473730] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.512520629] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000026 0.000019 -0.000120 [component_container_isolated-3] -0.000026 1.000000 -0.000038 0.000158 [component_container_isolated-3] -0.000019 0.000038 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] [1762964987.512546469] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.009,-0.045} {0.107,-0.556,-0.156} [component_container_isolated-3] [DEBUG] [1762964987.512595462] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.512640108] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.512679002] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000063 0.185189 -0.007067 [component_container_isolated-3] -0.000168 1.000000 0.000548 0.059915 [component_container_isolated-3] -0.185188 -0.000570 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] [1762964987.512701855] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.672,-0.010} [component_container_isolated-3] [DEBUG] [1762964987.512732815] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.110,11.229,0.148} [component_container_isolated-3] [DEBUG] [1762964987.512790725] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.521498144] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.521566545] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.521608665] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.521653320] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000094 0.000032 0.000419 [component_container_isolated-3] 0.000094 1.000000 0.000050 -0.000243 [component_container_isolated-3] -0.000032 -0.000050 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] [1762964987.521678148] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.003} {0.136,0.122,0.153} [component_container_isolated-3] [DEBUG] [1762964987.521727472] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.521769362] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.521807164] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979103 -0.000037 0.203364 -0.007028 [component_container_isolated-3] 0.002444 0.999930 -0.011585 0.059182 [component_container_isolated-3] -0.203349 0.011840 0.979035 0.018425 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.521830158] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.693,11.733,0.143} [component_container_isolated-3] [DEBUG] [1762964987.521862119] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.003} {0.525,11.612,-0.014} [component_container_isolated-3] [DEBUG] [1762964987.521914289] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.528788968] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.528848642] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.528888879] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.528997687] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000016 -0.000027 0.000004 [component_container_isolated-3] -0.000016 1.000000 0.000043 -0.000003 [component_container_isolated-3] 0.000027 -0.000043 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] [1762964987.529027744] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.005,0.003} {-0.204,0.038,-0.199} [component_container_isolated-3] [DEBUG] [1762964987.529077740] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.529120191] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.529160688] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879417 0.000002 0.476053 -0.001178 [component_container_isolated-3] -0.004700 0.999951 0.008678 0.060143 [component_container_isolated-3] -0.476029 -0.009869 0.879374 0.018177 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.529184594] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.426,-0.306} [component_container_isolated-3] [DEBUG] [1762964987.529216555] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.331,28.390,-0.080} [component_container_isolated-3] [DEBUG] [1762964987.529266700] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.538774889] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.538839612] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.538877705] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.538945585] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000094 0.000032 0.000419 [component_container_isolated-3] 0.000094 1.000000 0.000050 -0.000243 [component_container_isolated-3] -0.000032 -0.000050 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] [1762964987.538973538] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.003} {0.133,0.124,0.158} [component_container_isolated-3] [DEBUG] [1762964987.539036298] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.539083618] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.539123825] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979103 -0.000037 0.203364 -0.007028 [component_container_isolated-3] 0.002444 0.999930 -0.011585 0.059182 [component_container_isolated-3] -0.203349 0.011840 0.979035 0.018425 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.539148061] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.693,11.733,0.143} [component_container_isolated-3] [DEBUG] [1762964987.539181405] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.003} {0.527,11.611,-0.020} [component_container_isolated-3] [DEBUG] [1762964987.539232583] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.539754900] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.539807841] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.539850262] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.539898985] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000085 0.000062 -0.000349 [component_container_isolated-3] -0.000085 1.000000 0.000071 0.000196 [component_container_isolated-3] -0.000062 -0.000071 1.000000 0.000540 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.539944262] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.013} {0.043,-0.198,-0.267} [component_container_isolated-3] [DEBUG] [1762964987.539998505] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.540044153] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.540081153] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 0.000090 0.191396 -0.006633 [component_container_isolated-3] -0.001802 0.999960 0.008771 0.060626 [component_container_isolated-3] -0.191388 -0.008954 0.981474 0.017627 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.540104438] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.523,11.034,-0.105} [component_container_isolated-3] [DEBUG] [1762964987.540134545] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.014} {-0.513,11.235,0.165} [component_container_isolated-3] [DEBUG] [1762964987.540183348] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.546707919] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.546765990] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.546806016] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.546852735] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000034 0.000000 -0.000055 [component_container_isolated-3] 0.000034 1.000000 -0.000037 -0.000102 [component_container_isolated-3] -0.000000 0.000037 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] [1762964987.546877843] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.009,-0.045} {0.109,-0.556,-0.154} [component_container_isolated-3] [DEBUG] [1762964987.546962365] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.547009435] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.547049892] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000037 0.185189 -0.007070 [component_container_isolated-3] -0.000134 1.000000 0.000512 0.059930 [component_container_isolated-3] -0.185189 -0.000528 0.982703 0.017461 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.547076392] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.672,-0.008} [component_container_isolated-3] [DEBUG] [1762964987.547109305] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.110,11.229,0.148} [component_container_isolated-3] [DEBUG] [1762964987.547160012] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.561909660] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.561989834] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.562028257] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.562070658] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000033 0.000060 -0.000016 [component_container_isolated-3] 0.000033 1.000000 -0.000167 0.000076 [component_container_isolated-3] -0.000060 0.000167 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] [1762964987.562095195] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.194,0.041,-0.197} [component_container_isolated-3] [DEBUG] [1762964987.562143297] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.562187401] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.562227578] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879388 0.000053 0.476105 -0.001174 [component_container_isolated-3] -0.004668 0.999953 0.008511 0.060141 [component_container_isolated-3] -0.476083 -0.009707 0.879347 0.018198 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.562251904] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.632,28.430,-0.304} [component_container_isolated-3] [DEBUG] [1762964987.562284907] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.331,28.390,-0.080} [component_container_isolated-3] [DEBUG] [1762964987.562337808] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.573649501] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.573708453] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.573750674] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.573797784] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000085 0.000062 -0.000349 [component_container_isolated-3] -0.000085 1.000000 0.000071 0.000196 [component_container_isolated-3] -0.000062 -0.000071 1.000000 0.000540 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.573824174] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.031,-0.012} {0.039,-0.195,-0.272} [component_container_isolated-3] [DEBUG] [1762964987.573874380] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.573917923] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.573986474] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 0.000090 0.191396 -0.006633 [component_container_isolated-3] -0.001802 0.999960 0.008771 0.060626 [component_container_isolated-3] -0.191388 -0.008954 0.981474 0.017627 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.574009839] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.523,11.034,-0.105} [component_container_isolated-3] [DEBUG] [1762964987.574040507] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.014} {-0.508,11.231,0.170} [component_container_isolated-3] [DEBUG] [1762964987.574091094] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.583098907] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.583161446] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.583204198] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.583251188] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000021 -0.000013 0.000032 [component_container_isolated-3] -0.000021 1.000000 0.000133 0.000078 [component_container_isolated-3] 0.000013 -0.000133 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] [1762964987.583277107] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.009,-0.046} {0.102,-0.557,-0.155} [component_container_isolated-3] [DEBUG] [1762964987.583326501] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.583368341] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.583405102] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 0.000033 0.185176 -0.007072 [component_container_isolated-3] -0.000155 1.000000 0.000645 0.059955 [component_container_isolated-3] -0.185176 -0.000663 0.982705 0.017460 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.583427424] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.671,-0.009} [component_container_isolated-3] [DEBUG] [1762964987.583458724] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.110,11.229,0.148} [component_container_isolated-3] [DEBUG] [1762964987.583508339] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.596624127] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.596687638] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.596727624] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.596771198] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000047 0.000129 -0.000119 [component_container_isolated-3] -0.000047 1.000000 -0.000081 0.000219 [component_container_isolated-3] -0.000129 0.000081 1.000000 0.000870 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.596796175] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.004} {0.138,0.131,0.155} [component_container_isolated-3] [DEBUG] [1762964987.596843886] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.596887930] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.596959237] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 0.000026 0.203490 -0.006976 [component_container_isolated-3] 0.002398 0.999929 -0.011666 0.059202 [component_container_isolated-3] -0.203476 0.011910 0.979007 0.018638 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.596984996] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.001,0.000} {0.697,11.740,0.140} [component_container_isolated-3] [DEBUG] [1762964987.597016035] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.004} {0.527,11.611,-0.020} [component_container_isolated-3] [DEBUG] [1762964987.597067754] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.597198944] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.597245934] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.597284127] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.597330766] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000040 0.000003 -0.000173 [component_container_isolated-3] -0.000040 1.000000 -0.000100 -0.000020 [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] [1762964987.597357387] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.189,0.041,-0.200} [component_container_isolated-3] [DEBUG] [1762964987.597407142] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.597451497] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.597490241] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879387 0.000136 0.476109 -0.001190 [component_container_isolated-3] -0.004708 0.999954 0.008411 0.060139 [component_container_isolated-3] -0.476085 -0.009638 0.879346 0.018228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.597518665] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.628,28.430,-0.307} [component_container_isolated-3] [DEBUG] [1762964987.597550736] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.331,28.390,-0.080} [component_container_isolated-3] [DEBUG] [1762964987.597596383] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.603641889] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.603701172] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.603741289] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.603786375] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000085 0.000062 -0.000349 [component_container_isolated-3] -0.000085 1.000000 0.000071 0.000196 [component_container_isolated-3] -0.000062 -0.000071 1.000000 0.000540 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.603811733] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.031,-0.012} {0.035,-0.191,-0.277} [component_container_isolated-3] [DEBUG] [1762964987.603860396] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.603908318] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.603976979] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 0.000090 0.191396 -0.006633 [component_container_isolated-3] -0.001802 0.999960 0.008771 0.060626 [component_container_isolated-3] -0.191388 -0.008954 0.981474 0.017627 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.604002888] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.523,11.034,-0.105} [component_container_isolated-3] [DEBUG] [1762964987.604036783] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.030,0.013} {-0.503,11.227,0.175} [component_container_isolated-3] [DEBUG] [1762964987.604094954] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.613080324] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.613136511] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.613177690] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.613229118] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000093 0.000059 0.000047 [component_container_isolated-3] 0.000093 1.000000 -0.000112 -0.000119 [component_container_isolated-3] -0.000059 0.000112 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] [1762964987.613257072] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.009,-0.045} {0.108,-0.554,-0.150} [component_container_isolated-3] [DEBUG] [1762964987.613309922] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.613358185] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.613398622] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982694 -0.000037 0.185234 -0.007070 [component_container_isolated-3] -0.000063 1.000000 0.000533 0.059960 [component_container_isolated-3] -0.185234 -0.000536 0.982694 0.017485 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.613423039] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.675,-0.004} [component_container_isolated-3] [DEBUG] [1762964987.613455340] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.110,11.229,0.148} [component_container_isolated-3] [DEBUG] [1762964987.613507530] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.622421243] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.622500625] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.622546202] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.622597640] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000019 -0.000058 0.000142 [component_container_isolated-3] 0.000019 1.000000 -0.000003 -0.000102 [component_container_isolated-3] 0.000058 0.000003 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] [1762964987.622630563] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.005,0.003} {-0.189,0.038,-0.198} [component_container_isolated-3] [DEBUG] [1762964987.622684786] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.622729582] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.622772263] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879414 0.000120 0.476057 -0.001198 [component_container_isolated-3] -0.004688 0.999954 0.008408 0.060125 [component_container_isolated-3] -0.476034 -0.009626 0.879374 0.018230 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.622802741] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.627,28.427,-0.305} [component_container_isolated-3] [DEBUG] [1762964987.622838780] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.331,28.390,-0.080} [component_container_isolated-3] [DEBUG] [1762964987.622896020] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.631209857] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.631263039] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.631304207] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.631352680] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000009 -0.000098 -0.000008 [component_container_isolated-3] 0.000009 1.000000 0.000089 0.000262 [component_container_isolated-3] 0.000098 -0.000089 1.000000 -0.000582 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.631381785] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.003} {0.133,0.126,0.156} [component_container_isolated-3] [DEBUG] [1762964987.631444475] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.631499190] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.631545268] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 -0.000001 0.203394 -0.006979 [component_container_isolated-3] 0.002406 0.999930 -0.011577 0.059270 [component_container_isolated-3] -0.203380 0.011825 0.979028 0.018630 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.631573902] [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] [1762964987.631610923] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.003} {0.527,11.611,-0.020} [component_container_isolated-3] [DEBUG] [1762964987.631711164] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.636417082] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.636478990] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.636515730] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.636557860] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000009 -0.000098 -0.000008 [component_container_isolated-3] 0.000009 1.000000 0.000089 0.000262 [component_container_isolated-3] 0.000098 -0.000089 1.000000 -0.000582 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.636581265] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.002} {0.128,0.120,0.156} [component_container_isolated-3] [DEBUG] [1762964987.636627714] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.636669854] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.636708678] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 -0.000001 0.203394 -0.006979 [component_container_isolated-3] 0.002406 0.999930 -0.011577 0.059270 [component_container_isolated-3] -0.203380 0.011825 0.979028 0.018630 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.636731933] [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] [1762964987.636763944] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.002} {0.532,11.616,-0.020} [component_container_isolated-3] [DEBUG] [1762964987.636813809] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.640134742] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.640194225] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.640235273] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.640279748] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000053 -0.000027 0.000094 [component_container_isolated-3] -0.000053 1.000000 0.000049 0.000091 [component_container_isolated-3] 0.000027 -0.000049 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] [1762964987.640305518] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.046} {0.105,-0.555,-0.153} [component_container_isolated-3] [DEBUG] [1762964987.640358168] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.640410117] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.640453130] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982699 0.000006 0.185208 -0.007054 [component_container_isolated-3] -0.000116 1.000000 0.000582 0.059978 [component_container_isolated-3] -0.185208 -0.000594 0.982699 0.017478 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.640482486] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.035,10.673,-0.007} [component_container_isolated-3] [DEBUG] [1762964987.640522742] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.110,11.229,0.148} [component_container_isolated-3] [DEBUG] [1762964987.640584761] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.646138878] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.646183994] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.646218951] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.646256482] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000071 0.000073 0.000316 [component_container_isolated-3] 0.000071 1.000000 0.000101 0.000101 [component_container_isolated-3] -0.000073 -0.000101 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] [1762964987.646278224] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.031,-0.012} {0.029,-0.187,-0.273} [component_container_isolated-3] [DEBUG] [1762964987.646318160] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.646355882] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.646386230] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981499 0.000002 0.191468 -0.006628 [component_container_isolated-3] -0.001733 0.999959 0.008872 0.060629 [component_container_isolated-3] -0.191460 -0.009040 0.981459 0.017634 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.646406048] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.528,11.038,-0.101} [component_container_isolated-3] [DEBUG] [1762964987.646433721] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.013} {-0.503,11.227,0.175} [component_container_isolated-3] [DEBUG] [1762964987.646479288] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.647362425] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.647427449] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.647471603] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.647518302] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000019 -0.000058 0.000142 [component_container_isolated-3] 0.000019 1.000000 -0.000003 -0.000102 [component_container_isolated-3] 0.000058 0.000003 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] [1762964987.647544853] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.005,0.003} {-0.188,0.035,-0.197} [component_container_isolated-3] [DEBUG] [1762964987.647707794] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.647754533] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.647794570] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879414 0.000120 0.476057 -0.001198 [component_container_isolated-3] -0.004688 0.999954 0.008408 0.060125 [component_container_isolated-3] -0.476034 -0.009626 0.879374 0.018230 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.647818335] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.627,28.427,-0.305} [component_container_isolated-3] [DEBUG] [1762964987.647849966] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.005,-0.003} {-0.332,28.393,-0.081} [component_container_isolated-3] [DEBUG] [1762964987.647899791] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.670153240] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.670221480] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.670264181] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.670311472] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000036 -0.000048 0.000081 [component_container_isolated-3] -0.000036 1.000000 -0.000008 0.000302 [component_container_isolated-3] 0.000048 0.000008 1.000000 -0.000476 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.670338383] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.031,-0.012} {0.030,-0.190,-0.275} [component_container_isolated-3] [DEBUG] [1762964987.670389651] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.670440428] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.670479122] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981508 0.000039 0.191421 -0.006626 [component_container_isolated-3] -0.001768 0.999959 0.008864 0.060682 [component_container_isolated-3] -0.191413 -0.009039 0.981468 0.017559 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.670503248] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.528,11.035,-0.103} [component_container_isolated-3] [DEBUG] [1762964987.670534858] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.014} {-0.503,11.227,0.175} [component_container_isolated-3] [DEBUG] [1762964987.670585305] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.672359473] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.672408487] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.672452370] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.672495603] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000016 -0.000068 -0.000129 [component_container_isolated-3] -0.000016 1.000000 0.000128 0.000010 [component_container_isolated-3] 0.000068 -0.000128 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] [1762964987.672520420] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.009,-0.046} {0.098,-0.559,-0.154} [component_container_isolated-3] [DEBUG] [1762964987.672600463] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.672646722] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.672685526] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 -0.000002 0.185141 -0.007058 [component_container_isolated-3] -0.000132 1.000000 0.000711 0.059994 [component_container_isolated-3] -0.185141 -0.000723 0.982712 0.017477 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.672711104] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.042,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964987.672743426] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.110,11.229,0.148} [component_container_isolated-3] [DEBUG] [1762964987.672792610] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.697379385] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.697437486] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.697479737] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.697529011] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000009 -0.000098 -0.000008 [component_container_isolated-3] 0.000009 1.000000 0.000089 0.000262 [component_container_isolated-3] 0.000098 -0.000089 1.000000 -0.000582 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.697555892] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.002} {0.123,0.114,0.157} [component_container_isolated-3] [DEBUG] [1762964987.697608212] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.697668247] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.697710537] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 -0.000001 0.203394 -0.006979 [component_container_isolated-3] 0.002406 0.999930 -0.011577 0.059270 [component_container_isolated-3] -0.203380 0.011825 0.979028 0.018630 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.697734353] [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] [1762964987.697767326] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.002} {0.537,11.622,-0.021} [component_container_isolated-3] [DEBUG] [1762964987.697821680] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.698544249] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.698632288] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.698685619] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.698745303] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000052 -0.000083 -0.000091 [component_container_isolated-3] -0.000052 1.000000 0.000003 0.000125 [component_container_isolated-3] 0.000083 -0.000002 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] [1762964987.698775391] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.005,0.002} {-0.189,0.030,-0.200} [component_container_isolated-3] [DEBUG] [1762964987.698819625] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.698855093] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.698894879] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879454 0.000165 0.475984 -0.001214 [component_container_isolated-3] -0.004740 0.999953 0.008411 0.060128 [component_container_isolated-3] -0.475961 -0.009654 0.879414 0.018230 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.698936839] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.629,28.422,-0.309} [component_container_isolated-3] [DEBUG] [1762964987.698965985] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.332,28.393,-0.081} [component_container_isolated-3] [DEBUG] [1762964987.699010680] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.711241288] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.711320108] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.711366316] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.711416963] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000001 0.000026 0.000241 [component_container_isolated-3] 0.000001 1.000000 -0.000028 -0.000421 [component_container_isolated-3] -0.000026 0.000028 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] [1762964987.711444726] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.031,-0.012} {0.032,-0.188,-0.275} [component_container_isolated-3] [DEBUG] [1762964987.711494331] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.711539627] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.711576318] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 0.000043 0.191447 -0.006576 [component_container_isolated-3] -0.001767 0.999959 0.008837 0.060652 [component_container_isolated-3] -0.191438 -0.009012 0.981463 0.017529 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.711599502] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.526,11.037,-0.103} [component_container_isolated-3] [DEBUG] [1762964987.711631413] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.013} {-0.503,11.227,0.175} [component_container_isolated-3] [DEBUG] [1762964987.711698301] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.718005666] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.718078044] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.718117850] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.718161554] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000052 -0.000083 -0.000091 [component_container_isolated-3] -0.000052 1.000000 0.000003 0.000125 [component_container_isolated-3] 0.000083 -0.000002 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] [1762964987.718186231] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.189,0.025,-0.203} [component_container_isolated-3] [DEBUG] [1762964987.718234694] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.718280291] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.718319706] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879454 0.000165 0.475984 -0.001214 [component_container_isolated-3] -0.004740 0.999953 0.008411 0.060128 [component_container_isolated-3] -0.475961 -0.009654 0.879414 0.018230 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.718344253] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.629,28.422,-0.309} [component_container_isolated-3] [DEBUG] [1762964987.718374440] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.330,28.398,-0.077} [component_container_isolated-3] [DEBUG] [1762964987.718433373] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.720967993] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.721023159] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.721061813] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.721105857] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000005 0.000041 0.000079 [component_container_isolated-3] -0.000005 1.000000 -0.000101 0.000025 [component_container_isolated-3] -0.000041 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] [1762964987.721130374] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.009,-0.045} {0.104,-0.557,-0.154} [component_container_isolated-3] [DEBUG] [1762964987.721178345] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.721224233] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.721264179] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 0.000022 0.185182 -0.007048 [component_container_isolated-3] -0.000137 1.000000 0.000610 0.060008 [component_container_isolated-3] -0.185182 -0.000625 0.982704 0.017496 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.721289477] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.672,-0.008} [component_container_isolated-3] [DEBUG] [1762964987.721322891] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.110,11.229,0.148} [component_container_isolated-3] [DEBUG] [1762964987.721373518] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.724124041] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.724178715] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.724217840] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.724261092] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000009 -0.000098 -0.000008 [component_container_isolated-3] 0.000009 1.000000 0.000089 0.000262 [component_container_isolated-3] 0.000098 -0.000089 1.000000 -0.000582 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.724285489] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.001} {0.118,0.109,0.157} [component_container_isolated-3] [DEBUG] [1762964987.724333381] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.724376813] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.724416419] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 -0.000001 0.203394 -0.006979 [component_container_isolated-3] 0.002406 0.999930 -0.011577 0.059270 [component_container_isolated-3] -0.203380 0.011825 0.979028 0.018630 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.724439814] [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] [1762964987.724471033] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.001} {0.542,11.627,-0.021} [component_container_isolated-3] [DEBUG] [1762964987.724523333] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.729526218] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.729582936] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.729622061] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.729664652] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000005 0.000041 0.000079 [component_container_isolated-3] -0.000005 1.000000 -0.000101 0.000025 [component_container_isolated-3] -0.000041 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] [1762964987.729691233] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.045} {0.109,-0.554,-0.155} [component_container_isolated-3] [DEBUG] [1762964987.729744284] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.729789300] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.729828635] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 0.000022 0.185182 -0.007048 [component_container_isolated-3] -0.000137 1.000000 0.000610 0.060008 [component_container_isolated-3] -0.185182 -0.000625 0.982704 0.017496 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.729852471] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.672,-0.008} [component_container_isolated-3] [DEBUG] [1762964987.729884893] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.115,11.227,0.148} [component_container_isolated-3] [DEBUG] [1762964987.729965727] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.751155695] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.751215639] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.751249604] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.751286414] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000138 -0.000163 0.000030 [component_container_isolated-3] 0.000138 1.000000 -0.000125 -0.000489 [component_container_isolated-3] 0.000163 0.000125 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] [1762964987.751307625] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.012} {0.039,-0.198,-0.267} [component_container_isolated-3] [DEBUG] [1762964987.751349946] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.751417004] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.751479824] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 -0.000069 0.191286 -0.006558 [component_container_isolated-3] -0.001627 0.999961 0.008712 0.060513 [component_container_isolated-3] -0.191279 -0.008862 0.981496 0.017481 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.751510602] [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] [1762964987.751547974] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.014} {-0.503,11.227,0.175} [component_container_isolated-3] [DEBUG] [1762964987.751611806] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.756742193] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.756806647] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.756849208] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.756894484] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000052 -0.000083 -0.000091 [component_container_isolated-3] -0.000052 1.000000 0.000003 0.000125 [component_container_isolated-3] 0.000083 -0.000002 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] [1762964987.756948598] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.189,0.020,-0.206} [component_container_isolated-3] [DEBUG] [1762964987.757000226] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.757042938] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.757086872] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879454 0.000165 0.475984 -0.001214 [component_container_isolated-3] -0.004740 0.999953 0.008411 0.060128 [component_container_isolated-3] -0.475961 -0.009654 0.879414 0.018230 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.757112130] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.629,28.422,-0.309} [component_container_isolated-3] [DEBUG] [1762964987.757142608] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.328,28.403,-0.074} [component_container_isolated-3] [DEBUG] [1762964987.757193856] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.762017077] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.762084717] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.762129522] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.762180229] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000053 -0.000119 0.000060 [component_container_isolated-3] -0.000053 1.000000 -0.000157 0.000034 [component_container_isolated-3] 0.000119 0.000157 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] [1762964987.762211859] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.001} {0.127,0.102,0.154} [component_container_isolated-3] [DEBUG] [1762964987.762272154] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.762319946] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.762355914] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979121 0.000083 0.203278 -0.006983 [component_container_isolated-3] 0.002351 0.999928 -0.011734 0.059312 [component_container_isolated-3] -0.203265 0.011967 0.979051 0.018568 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.762379059] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.700,11.728,0.138} [component_container_isolated-3] [DEBUG] [1762964987.762410909] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.001} {0.542,11.627,-0.021} [component_container_isolated-3] [DEBUG] [1762964987.762459703] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.768978161] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.769036663] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.769079264] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.769123789] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000138 -0.000163 0.000030 [component_container_isolated-3] 0.000138 1.000000 -0.000125 -0.000489 [component_container_isolated-3] 0.000163 0.000125 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] [1762964987.769149288] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.030,-0.012} {0.046,-0.207,-0.259} [component_container_isolated-3] [DEBUG] [1762964987.769198252] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.769243408] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.769279236] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 -0.000069 0.191286 -0.006558 [component_container_isolated-3] -0.001627 0.999961 0.008712 0.060513 [component_container_isolated-3] -0.191279 -0.008862 0.981496 0.017481 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.769302360] [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] [1762964987.769334983] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.014} {-0.512,11.237,0.167} [component_container_isolated-3] [DEBUG] [1762964987.769387243] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.774673668] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.774733613] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.774776865] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.774825829] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000005 0.000041 0.000079 [component_container_isolated-3] -0.000005 1.000000 -0.000101 0.000025 [component_container_isolated-3] -0.000041 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] [1762964987.774851267] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.045} {0.115,-0.552,-0.155} [component_container_isolated-3] [DEBUG] [1762964987.774900602] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.774975364] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.775015371] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 0.000022 0.185182 -0.007048 [component_container_isolated-3] -0.000137 1.000000 0.000610 0.060008 [component_container_isolated-3] -0.185182 -0.000625 0.982704 0.017496 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.775039357] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.672,-0.008} [component_container_isolated-3] [DEBUG] [1762964987.775073422] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.121,11.224,0.148} [component_container_isolated-3] [DEBUG] [1762964987.775130100] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.791043561] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.791108284] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.791149373] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.791192595] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000052 -0.000083 -0.000091 [component_container_isolated-3] -0.000052 1.000000 0.000003 0.000125 [component_container_isolated-3] 0.000083 -0.000002 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] [1762964987.791217864] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.189,0.016,-0.209} [component_container_isolated-3] [DEBUG] [1762964987.791265084] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.791307695] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.791342532] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879454 0.000165 0.475984 -0.001214 [component_container_isolated-3] -0.004740 0.999953 0.008411 0.060128 [component_container_isolated-3] -0.475961 -0.009654 0.879414 0.018230 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.791364263] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.629,28.422,-0.309} [component_container_isolated-3] [DEBUG] [1762964987.791396836] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.327,28.408,-0.071} [component_container_isolated-3] [DEBUG] [1762964987.791449306] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.797558282] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.797630120] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.797674625] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.797721925] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000138 -0.000163 0.000030 [component_container_isolated-3] 0.000138 1.000000 -0.000125 -0.000489 [component_container_isolated-3] 0.000163 0.000125 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] [1762964987.797749067] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.029,-0.013} {0.053,-0.216,-0.251} [component_container_isolated-3] [DEBUG] [1762964987.797797970] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.797842826] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.797878564] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 -0.000069 0.191286 -0.006558 [component_container_isolated-3] -0.001627 0.999961 0.008712 0.060513 [component_container_isolated-3] -0.191279 -0.008862 0.981496 0.017481 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.797901608] [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] [1762964987.797960060] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.014} {-0.521,11.246,0.159} [component_container_isolated-3] [DEBUG] [1762964987.798044621] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.798308094] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.798361927] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.798407294] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.798453672] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000041 0.000141 -0.000047 [component_container_isolated-3] -0.000041 1.000000 0.000075 0.000012 [component_container_isolated-3] -0.000141 -0.000075 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] [1762964987.798475173] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.001} {0.122,0.110,0.152} [component_container_isolated-3] [DEBUG] [1762964987.798514989] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.798548764] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.798575415] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 0.000109 0.203416 -0.006982 [component_container_isolated-3] 0.002311 0.999929 -0.011659 0.059348 [component_container_isolated-3] -0.203403 0.011885 0.979023 0.018544 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.798592528] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.696,11.736,0.135} [component_container_isolated-3] [DEBUG] [1762964987.798614670] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.001} {0.542,11.627,-0.021} [component_container_isolated-3] [DEBUG] [1762964987.798653043] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.815483595] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.815551195] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.815590269] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.815635836] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000041 0.000141 -0.000047 [component_container_isolated-3] -0.000041 1.000000 0.000075 0.000012 [component_container_isolated-3] -0.000141 -0.000075 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] [1762964987.815661094] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.001} {0.118,0.118,0.150} [component_container_isolated-3] [DEBUG] [1762964987.815708876] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.815753371] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.815792916] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 0.000109 0.203416 -0.006982 [component_container_isolated-3] 0.002311 0.999929 -0.011659 0.059348 [component_container_isolated-3] -0.203403 0.011885 0.979023 0.018544 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.815816090] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.696,11.736,0.135} [component_container_isolated-3] [DEBUG] [1762964987.815846679] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.001} {0.547,11.619,-0.019} [component_container_isolated-3] [DEBUG] [1762964987.815895873] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.829816798] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.829877985] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.829917070] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.829986853] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000138 -0.000163 0.000030 [component_container_isolated-3] 0.000138 1.000000 -0.000125 -0.000489 [component_container_isolated-3] 0.000163 0.000125 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] [1762964987.830013223] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.029,-0.013} {0.060,-0.226,-0.243} [component_container_isolated-3] [DEBUG] [1762964987.830063229] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.830112693] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.830153321] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 -0.000069 0.191286 -0.006558 [component_container_isolated-3] -0.001627 0.999961 0.008712 0.060513 [component_container_isolated-3] -0.191279 -0.008862 0.981496 0.017481 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.830179020] [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] [1762964987.830211412] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.028,0.014} {-0.529,11.255,0.151} [component_container_isolated-3] [DEBUG] [1762964987.830270314] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.837752904] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.837821976] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.837863175] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.837908171] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000033 0.000095 0.000117 [component_container_isolated-3] 0.000033 1.000000 0.000202 0.000032 [component_container_isolated-3] -0.000095 -0.000202 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] [1762964987.837961763] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.201,0.021,-0.207} [component_container_isolated-3] [DEBUG] [1762964987.838013672] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.838057687] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.838094597] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 0.000040 0.476067 -0.001228 [component_container_isolated-3] -0.004707 0.999952 0.008613 0.060136 [component_container_isolated-3] -0.476044 -0.009815 0.879367 0.018206 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.838117711] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.639,28.427,-0.307} [component_container_isolated-3] [DEBUG] [1762964987.838147358] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.327,28.408,-0.071} [component_container_isolated-3] [DEBUG] [1762964987.838199026] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.839013913] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.839063107] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.839101279] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.839150223] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000006 -0.000116 0.000229 [component_container_isolated-3] 0.000006 1.000000 0.000047 -0.000187 [component_container_isolated-3] 0.000116 -0.000047 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] [1762964987.839176864] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.045} {0.112,-0.559,-0.155} [component_container_isolated-3] [DEBUG] [1762964987.839227070] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.839273949] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.839313385] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982726 0.000007 0.185068 -0.007009 [component_container_isolated-3] -0.000130 1.000000 0.000657 0.060001 [component_container_isolated-3] -0.185068 -0.000670 0.982726 0.017483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.839336318] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.665,-0.008} [component_container_isolated-3] [DEBUG] [1762964987.839368530] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.009,0.046} {-0.121,11.224,0.148} [component_container_isolated-3] [DEBUG] [1762964987.839418896] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.845900554] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.845983322] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.846022928] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.846066672] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000006 -0.000116 0.000229 [component_container_isolated-3] 0.000006 1.000000 0.000047 -0.000187 [component_container_isolated-3] 0.000116 -0.000047 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] [1762964987.846091489] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.009,-0.046} {0.110,-0.565,-0.154} [component_container_isolated-3] [DEBUG] [1762964987.846140583] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.846184256] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.846219764] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982726 0.000007 0.185068 -0.007009 [component_container_isolated-3] -0.000130 1.000000 0.000657 0.060001 [component_container_isolated-3] -0.185068 -0.000670 0.982726 0.017483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.846244341] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.665,-0.008} [component_container_isolated-3] [DEBUG] [1762964987.846277905] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.008,0.046} {-0.118,11.231,0.148} [component_container_isolated-3] [DEBUG] [1762964987.846684421] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.851166661] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.851230313] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.851272534] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.851320385] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000041 0.000141 -0.000047 [component_container_isolated-3] -0.000041 1.000000 0.000075 0.000012 [component_container_isolated-3] -0.000141 -0.000075 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] [1762964987.851347697] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.001} {0.114,0.126,0.147} [component_container_isolated-3] [DEBUG] [1762964987.851397923] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.851442969] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.851479619] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 0.000109 0.203416 -0.006982 [component_container_isolated-3] 0.002311 0.999929 -0.011659 0.059348 [component_container_isolated-3] -0.203403 0.011885 0.979023 0.018544 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.851502954] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.696,11.736,0.135} [component_container_isolated-3] [DEBUG] [1762964987.851537500] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.001} {0.551,11.611,-0.016} [component_container_isolated-3] [DEBUG] [1762964987.851589048] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.864087798] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.864157070] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.864197998] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.864244016] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000006 -0.000116 0.000229 [component_container_isolated-3] 0.000006 1.000000 0.000047 -0.000187 [component_container_isolated-3] 0.000116 -0.000047 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] [1762964987.864270206] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.008,-0.046} {0.107,-0.572,-0.154} [component_container_isolated-3] [DEBUG] [1762964987.864318869] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.864362292] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.864402008] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982726 0.000007 0.185068 -0.007009 [component_container_isolated-3] -0.000130 1.000000 0.000657 0.060001 [component_container_isolated-3] -0.185068 -0.000670 0.982726 0.017483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.864427757] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.665,-0.008} [component_container_isolated-3] [DEBUG] [1762964987.864461602] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.008,0.046} {-0.116,11.237,0.148} [component_container_isolated-3] [DEBUG] [1762964987.864511427] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.865883768] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.865966155] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.866020208] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.866063250] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000138 -0.000163 0.000030 [component_container_isolated-3] 0.000138 1.000000 -0.000125 -0.000489 [component_container_isolated-3] 0.000163 0.000125 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] [1762964987.866094891] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.028,-0.013} {0.067,-0.235,-0.235} [component_container_isolated-3] [DEBUG] [1762964987.866158212] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.866216844] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.866260988] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 -0.000069 0.191286 -0.006558 [component_container_isolated-3] -0.001627 0.999961 0.008712 0.060513 [component_container_isolated-3] -0.191279 -0.008862 0.981496 0.017481 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.866290174] [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] [1762964987.866328918] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.028,0.014} {-0.538,11.265,0.142} [component_container_isolated-3] [DEBUG] [1762964987.866395485] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.869707750] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.869794276] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.869838710] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.869885680] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000003 -0.000105 0.000315 [component_container_isolated-3] 0.000003 1.000000 0.000023 -0.000039 [component_container_isolated-3] 0.000105 -0.000023 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] [1762964987.869913463] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.202,0.015,-0.207} [component_container_isolated-3] [DEBUG] [1762964987.869987895] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.870034885] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.870074421] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879459 0.000026 0.475975 -0.001197 [component_container_isolated-3] -0.004704 0.999952 0.008636 0.060137 [component_container_isolated-3] -0.475952 -0.009834 0.879416 0.018150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.870098316] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.641,28.421,-0.306} [component_container_isolated-3] [DEBUG] [1762964987.870129145] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.327,28.408,-0.071} [component_container_isolated-3] [DEBUG] [1762964987.870177888] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.893143918] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.893219803] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.893258857] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.893302330] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000003 -0.000105 0.000315 [component_container_isolated-3] 0.000003 1.000000 0.000023 -0.000039 [component_container_isolated-3] 0.000105 -0.000023 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] [1762964987.893327919] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.002} {-0.203,0.009,-0.207} [component_container_isolated-3] [DEBUG] [1762964987.893374729] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.893417570] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.893456435] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879459 0.000026 0.475975 -0.001197 [component_container_isolated-3] -0.004704 0.999952 0.008636 0.060137 [component_container_isolated-3] -0.475952 -0.009834 0.879416 0.018150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.893480481] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.641,28.421,-0.306} [component_container_isolated-3] [DEBUG] [1762964987.893510518] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.325,28.414,-0.071} [component_container_isolated-3] [DEBUG] [1762964987.893560353] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.905970223] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.906047691] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.906090493] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.906138554] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000196 -0.000039 -0.000069 [component_container_isolated-3] 0.000196 1.000000 0.000007 -0.000040 [component_container_isolated-3] 0.000039 -0.000007 1.000000 0.000230 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.906165566] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.001} {0.113,0.124,0.159} [component_container_isolated-3] [DEBUG] [1762964987.906216303] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.906261149] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.906300384] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979100 -0.000085 0.203377 -0.006997 [component_container_isolated-3] 0.002507 0.999929 -0.011652 0.059374 [component_container_isolated-3] -0.203362 0.011918 0.979031 0.018556 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.906323848] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.697,11.734,0.147} [component_container_isolated-3] [DEBUG] [1762964987.906353766] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.002} {0.551,11.611,-0.016} [component_container_isolated-3] [DEBUG] [1762964987.906404793] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.915858958] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.915915085] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.915980570] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.916018232] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000141 -0.000018 -0.000365 [component_container_isolated-3] -0.000141 1.000000 0.000126 0.000476 [component_container_isolated-3] 0.000018 -0.000126 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] [1762964987.916038771] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.013} {0.060,-0.236,-0.243} [component_container_isolated-3] [DEBUG] [1762964987.916102754] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.916156025] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.916186784] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 0.000045 0.191269 -0.006590 [component_container_isolated-3] -0.001768 0.999959 0.008838 0.060513 [component_container_isolated-3] -0.191260 -0.009013 0.981498 0.017353 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.916205851] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.526,11.026,-0.103} [component_container_isolated-3] [DEBUG] [1762964987.916228133] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.014} {-0.538,11.265,0.142} [component_container_isolated-3] [DEBUG] [1762964987.916266777] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.923165502] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.923229334] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.923271284] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.923326940] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000210 -0.000165 -0.000288 [component_container_isolated-3] 0.000210 1.000000 -0.000238 -0.001021 [component_container_isolated-3] 0.000165 0.000238 1.000000 -0.000991 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.923353831] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.007,-0.047} {0.121,-0.581,-0.142} [component_container_isolated-3] [DEBUG] [1762964987.923403516] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.923447080] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.923483409] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982756 -0.000156 0.184905 -0.007084 [component_container_isolated-3] 0.000079 1.000000 0.000419 0.059669 [component_container_isolated-3] -0.184906 -0.000397 0.982756 0.017197 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.923505511] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.023,10.656,0.005} [component_container_isolated-3] [DEBUG] [1762964987.923536550] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.008,0.047} {-0.116,11.237,0.148} [component_container_isolated-3] [DEBUG] [1762964987.923585885] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.932599999] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.932656497] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.932693748] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.932736310] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000210 -0.000165 -0.000288 [component_container_isolated-3] 0.000210 1.000000 -0.000238 -0.001021 [component_container_isolated-3] 0.000165 0.000238 1.000000 -0.000991 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.932760616] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.006,-0.048} {0.134,-0.591,-0.130} [component_container_isolated-3] [DEBUG] [1762964987.932807165] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.932849005] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.932886857] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982756 -0.000156 0.184905 -0.007084 [component_container_isolated-3] 0.000079 1.000000 0.000419 0.059669 [component_container_isolated-3] -0.184906 -0.000397 0.982756 0.017197 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.932910873] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.023,10.656,0.005} [component_container_isolated-3] [DEBUG] [1762964987.932973523] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.007,0.048} {-0.132,11.247,0.135} [component_container_isolated-3] [DEBUG] [1762964987.933030381] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.935308482] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.935369128] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.935411098] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.935457076] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000014 -0.000002 -0.000272 [component_container_isolated-3] -0.000014 1.000000 -0.000140 0.000044 [component_container_isolated-3] 0.000002 0.000140 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] [1762964987.935481993] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.002} {-0.195,0.009,-0.208} [component_container_isolated-3] [DEBUG] [1762964987.935529133] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.936034749] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.936114612] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879459 0.000105 0.475974 -0.001198 [component_container_isolated-3] -0.004718 0.999953 0.008496 0.060140 [component_container_isolated-3] -0.475951 -0.009717 0.879418 0.018150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.936150761] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.633,28.421,-0.307} [component_container_isolated-3] [DEBUG] [1762964987.936194454] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.325,28.414,-0.071} [component_container_isolated-3] [DEBUG] [1762964987.936274076] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.938225994] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.938289946] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.938339140] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.938399766] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000225 -0.000060 0.000332 [component_container_isolated-3] -0.000225 1.000000 0.000330 -0.000137 [component_container_isolated-3] 0.000061 -0.000330 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] [1762964987.938433310] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.001} {0.094,0.120,0.146} [component_container_isolated-3] [DEBUG] [1762964987.938502301] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.938564390] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.938611991] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979113 0.000068 0.203318 -0.006945 [component_container_isolated-3] 0.002281 0.999933 -0.011323 0.059395 [component_container_isolated-3] -0.203305 0.011550 0.979047 0.018510 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.938640726] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.676,11.730,0.134} [component_container_isolated-3] [DEBUG] [1762964987.938680241] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.001} {0.551,11.611,-0.016} [component_container_isolated-3] [DEBUG] [1762964987.938752459] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.946828633] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.946890982] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.946985953] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.947032352] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000031 0.000166 -0.000007 [component_container_isolated-3] -0.000031 1.000000 0.000130 0.000117 [component_container_isolated-3] -0.000166 -0.000130 1.000000 0.000687 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.947056949] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.013} {0.053,-0.226,-0.245} [component_container_isolated-3] [DEBUG] [1762964987.947199481] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.947251029] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.947293200] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981506 0.000051 0.191432 -0.006588 [component_container_isolated-3] -0.001801 0.999958 0.008968 0.060531 [component_container_isolated-3] -0.191423 -0.009146 0.981465 0.017382 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.947316855] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.534,11.036,-0.105} [component_container_isolated-3] [DEBUG] [1762964987.947346912] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.028,0.014} {-0.538,11.265,0.142} [component_container_isolated-3] [DEBUG] [1762964987.947396096] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.971040992] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.971104404] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.971145762] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.971191119] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000036 0.000069 -0.000008 [component_container_isolated-3] 0.000036 1.000000 0.000076 -0.000069 [component_container_isolated-3] -0.000069 -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] [1762964987.971217069] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.002} {-0.200,0.013,-0.206} [component_container_isolated-3] [DEBUG] [1762964987.971266844] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.971312982] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.971352307] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 0.000038 0.476035 -0.001205 [component_container_isolated-3] -0.004683 0.999952 0.008572 0.060138 [component_container_isolated-3] -0.476012 -0.009767 0.879385 0.018144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.971376904] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.636,28.425,-0.305} [component_container_isolated-3] [DEBUG] [1762964987.971409747] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.325,28.414,-0.071} [component_container_isolated-3] [DEBUG] [1762964987.971459602] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.983228237] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.983298471] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.983339830] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.983385087] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000131 0.000261 -0.000672 [component_container_isolated-3] 0.000131 1.000000 -0.000306 0.000131 [component_container_isolated-3] -0.000261 0.000306 1.000000 0.000490 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.983410706] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.002} {0.112,0.135,0.153} [component_container_isolated-3] [DEBUG] [1762964987.983459278] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.983501699] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.983536696] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979046 0.000130 0.203638 -0.007063 [component_container_isolated-3] 0.002241 0.999932 -0.011409 0.059449 [component_container_isolated-3] -0.203625 0.011626 0.978980 0.018712 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.983563287] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.680,11.749,0.131} [component_container_isolated-3] [DEBUG] [1762964987.983601239] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.002} {0.537,11.615,-0.027} [component_container_isolated-3] [DEBUG] [1762964987.983644823] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.986583495] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.986646255] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.986685169] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.986729253] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000205 0.000147 0.000191 [component_container_isolated-3] -0.000205 1.000000 0.000074 0.001104 [component_container_isolated-3] -0.000147 -0.000074 1.000000 0.001021 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964987.986755313] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.007,-0.047} {0.130,-0.583,-0.141} [component_container_isolated-3] [DEBUG] [1762964987.986805960] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.986852519] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.986892625] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982729 0.000032 0.185050 -0.007035 [component_container_isolated-3] -0.000125 1.000000 0.000493 0.059780 [component_container_isolated-3] -0.185050 -0.000508 0.982729 0.017276 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.986915809] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.664,-0.007} [component_container_isolated-3] [DEBUG] [1762964987.986979120] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.008,0.047} {-0.132,11.247,0.135} [component_container_isolated-3] [DEBUG] [1762964987.987032262] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964987.995205391] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964987.995265175] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964987.995304159] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964987.995348334] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000042 0.000048 -0.000167 [component_container_isolated-3] 0.000042 1.000000 -0.000043 -0.000265 [component_container_isolated-3] -0.000048 0.000043 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] [1762964987.995373512] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.012} {0.055,-0.224,-0.243} [component_container_isolated-3] [DEBUG] [1762964987.995421253] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964987.995464776] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964987.995502929] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981497 0.000018 0.191479 -0.006593 [component_container_isolated-3] -0.001759 0.999959 0.008925 0.060504 [component_container_isolated-3] -0.191471 -0.009096 0.981456 0.017535 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964987.995527997] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.531,11.039,-0.103} [component_container_isolated-3] [DEBUG] [1762964987.995561280] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.013} {-0.538,11.265,0.142} [component_container_isolated-3] [DEBUG] [1762964987.995616506] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.007738977] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.007795254] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.007836463] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.007884144] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000070 -0.000098 0.000715 [component_container_isolated-3] 0.000070 1.000000 -0.000150 -0.000070 [component_container_isolated-3] 0.000098 0.000150 1.000000 -0.000560 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.007909472] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.014,0.001} {0.120,0.130,0.157} [component_container_isolated-3] [DEBUG] [1762964988.008001518] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.008043178] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.008079928] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979066 0.000092 0.203542 -0.007009 [component_container_isolated-3] 0.002309 0.999931 -0.011560 0.059470 [component_container_isolated-3] -0.203529 0.011788 0.978998 0.018691 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.008102832] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.743,0.135} [component_container_isolated-3] [DEBUG] [1762964988.008136175] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.001} {0.537,11.615,-0.027} [component_container_isolated-3] [DEBUG] [1762964988.008190188] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.009785245] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.009842093] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.009881679] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.009962012] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000036 -0.000000 0.000044 [component_container_isolated-3] -0.000036 1.000000 0.000018 0.000011 [component_container_isolated-3] 0.000000 -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] [1762964988.009989715] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.002} {-0.201,0.013,-0.208} [component_container_isolated-3] [DEBUG] [1762964988.010039530] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.010087251] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.010127939] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879427 0.000061 0.476035 -0.001200 [component_container_isolated-3] -0.004718 0.999952 0.008590 0.060137 [component_container_isolated-3] -0.476011 -0.009800 0.879385 0.018143 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.010152085] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.638,28.425,-0.307} [component_container_isolated-3] [DEBUG] [1762964988.010184327] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.325,28.414,-0.071} [component_container_isolated-3] [DEBUG] [1762964988.010234983] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.020028106] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.020079504] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.020123649] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.020172993] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000033 -0.000236 0.000348 [component_container_isolated-3] 0.000033 1.000000 -0.000045 -0.000006 [component_container_isolated-3] 0.000236 0.000045 1.000000 -0.001355 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.020200505] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.029,-0.013} {0.058,-0.237,-0.241} [component_container_isolated-3] [DEBUG] [1762964988.020251703] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.020298322] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.020335613] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 -0.000007 0.191247 -0.006630 [component_container_isolated-3] -0.001724 0.999959 0.008880 0.060485 [component_container_isolated-3] -0.191239 -0.009046 0.981502 0.017239 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.020359729] [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] [1762964988.020390709] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.028,0.014} {-0.538,11.265,0.142} [component_container_isolated-3] [DEBUG] [1762964988.020442177] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.025641326] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.025707663] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.025751045] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.025798797] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000011 0.000059 -0.000017 [component_container_isolated-3] -0.000011 1.000000 0.000055 0.000020 [component_container_isolated-3] -0.000059 -0.000055 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] [1762964988.025824866] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.008,0.007,-0.047} {0.127,-0.579,-0.142} [component_container_isolated-3] [DEBUG] [1762964988.025875223] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.025955506] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.025997195] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 0.000032 0.185108 -0.007016 [component_container_isolated-3] -0.000136 1.000000 0.000548 0.059818 [component_container_isolated-3] -0.185108 -0.000564 0.982718 0.017316 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.026021602] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.667,-0.008} [component_container_isolated-3] [DEBUG] [1762964988.026055367] [zed_multi.front]: +++ Diff [map -> odom] - {0.001,-0.008,0.047} {-0.132,11.247,0.135} [component_container_isolated-3] [DEBUG] [1762964988.026109871] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.042268730] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.042331761] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.042389291] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.042434837] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000040 0.000044 0.000034 [component_container_isolated-3] 0.000040 1.000000 -0.000042 0.000047 [component_container_isolated-3] -0.000044 0.000042 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] [1762964988.042460476] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.002} {-0.198,0.015,-0.206} [component_container_isolated-3] [DEBUG] [1762964988.042515852] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.042562040] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.042599833] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879406 0.000045 0.476073 -0.001192 [component_container_isolated-3] -0.004679 0.999952 0.008547 0.060140 [component_container_isolated-3] -0.476050 -0.009744 0.879364 0.018148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.042622847] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.635,28.428,-0.305} [component_container_isolated-3] [DEBUG] [1762964988.042653575] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.325,28.414,-0.071} [component_container_isolated-3] [DEBUG] [1762964988.042703350] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.043388348] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.043440729] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.043478841] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.043524478] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000058 -0.000066 0.000338 [component_container_isolated-3] 0.000058 1.000000 -0.000008 -0.000014 [component_container_isolated-3] 0.000066 0.000008 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] [1762964988.043549406] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.014,0.001} {0.121,0.126,0.160} [component_container_isolated-3] [DEBUG] [1762964988.043595915] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.043635731] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.043670567] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 0.000037 0.203477 -0.006913 [component_container_isolated-3] 0.002366 0.999930 -0.011568 0.059490 [component_container_isolated-3] -0.203463 0.011807 0.979011 0.018646 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.043691988] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.740,0.138} [component_container_isolated-3] [DEBUG] [1762964988.043721885] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.001} {0.537,11.615,-0.027} [component_container_isolated-3] [DEBUG] [1762964988.043769025] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.052542110] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.052604709] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.052640798] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.052682929] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000063 0.000014 -0.000107 [component_container_isolated-3] -0.000063 1.000000 -0.000090 0.000229 [component_container_isolated-3] -0.000014 0.000090 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] [1762964988.052706975] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.013} {0.063,-0.236,-0.244} [component_container_isolated-3] [DEBUG] [1762964988.052752752] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.052799612] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.052840099] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981539 0.000073 0.191261 -0.006637 [component_container_isolated-3] -0.001787 0.999960 0.008790 0.060498 [component_container_isolated-3] -0.191253 -0.008969 0.981500 0.017173 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.052864856] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.524,11.026,-0.104} [component_container_isolated-3] [DEBUG] [1762964988.052898030] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.014} {-0.538,11.265,0.142} [component_container_isolated-3] [DEBUG] [1762964988.052978814] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.058864324] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.058950528] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.058992498] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.059038366] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000150 -0.000262 -0.000644 [component_container_isolated-3] 0.000150 1.000000 -0.000069 -0.000766 [component_container_isolated-3] 0.000262 0.000069 1.000000 -0.000991 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.059063634] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.007,-0.048} {0.131,-0.594,-0.134} [component_container_isolated-3] [DEBUG] [1762964988.059114251] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.059160590] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.059200566] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982767 -0.000102 0.184851 -0.007192 [component_container_isolated-3] 0.000014 1.000000 0.000479 0.059680 [component_container_isolated-3] -0.184851 -0.000468 0.982767 0.017133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.059225854] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.027,10.652,0.001} [component_container_isolated-3] [DEBUG] [1762964988.059256513] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,-0.007,0.048} {-0.132,11.247,0.135} [component_container_isolated-3] [DEBUG] [1762964988.059305917] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.064197148] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.064266942] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.064311186] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.064354950] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000040 0.000044 0.000034 [component_container_isolated-3] 0.000040 1.000000 -0.000042 0.000047 [component_container_isolated-3] -0.000044 0.000042 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] [1762964988.064381510] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.002} {-0.196,0.018,-0.203} [component_container_isolated-3] [DEBUG] [1762964988.064426116] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.064467605] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.064501570] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879406 0.000045 0.476073 -0.001192 [component_container_isolated-3] -0.004679 0.999952 0.008547 0.060140 [component_container_isolated-3] -0.476050 -0.009744 0.879364 0.018148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.064523782] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.635,28.428,-0.305} [component_container_isolated-3] [DEBUG] [1762964988.064552276] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.329,28.411,-0.074} [component_container_isolated-3] [DEBUG] [1762964988.064597322] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.074396256] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.074457132] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.074510083] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.074572753] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000089 0.000120 -0.000693 [component_container_isolated-3] -0.000089 1.000000 -0.000047 -0.000049 [component_container_isolated-3] -0.000120 0.000047 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] [1762964988.074611647] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.002} {0.124,0.133,0.155} [component_container_isolated-3] [DEBUG] [1762964988.074679507] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.074741575] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.074796631] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979055 0.000133 0.203594 -0.006953 [component_container_isolated-3] 0.002279 0.999930 -0.011615 0.059504 [component_container_isolated-3] -0.203582 0.011835 0.978986 0.018718 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.074831597] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.746,0.133} [component_container_isolated-3] [DEBUG] [1762964988.074877044] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.001} {0.537,11.615,-0.027} [component_container_isolated-3] [DEBUG] [1762964988.074981383] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.076229998] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.076280625] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.076319669] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.076363523] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000150 -0.000262 -0.000644 [component_container_isolated-3] 0.000150 1.000000 -0.000069 -0.000766 [component_container_isolated-3] 0.000262 0.000069 1.000000 -0.000991 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.076388751] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.006,-0.049} {0.135,-0.609,-0.125} [component_container_isolated-3] [DEBUG] [1762964988.076436092] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.076478703] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.076514221] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982767 -0.000102 0.184851 -0.007192 [component_container_isolated-3] 0.000014 1.000000 0.000479 0.059680 [component_container_isolated-3] -0.184851 -0.000468 0.982767 0.017133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.076537245] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.027,10.652,0.001} [component_container_isolated-3] [DEBUG] [1762964988.076570027] [zed_multi.front]: +++ Diff [map -> odom] - {0.003,-0.006,0.049} {-0.137,11.262,0.127} [component_container_isolated-3] [DEBUG] [1762964988.076623349] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.087586095] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.087635289] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.087671939] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.087726944] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000034 0.000219 -0.000196 [component_container_isolated-3] 0.000034 1.000000 0.000157 -0.000171 [component_container_isolated-3] -0.000219 -0.000157 1.000000 0.000696 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.087754367] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.013} {0.054,-0.224,-0.242} [component_container_isolated-3] [DEBUG] [1762964988.087804973] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.087852364] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.087889154] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981497 0.000009 0.191476 -0.006653 [component_container_isolated-3] -0.001754 0.999958 0.008946 0.060489 [component_container_isolated-3] -0.191468 -0.009117 0.981457 0.017227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.087912799] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.532,11.038,-0.102} [component_container_isolated-3] [DEBUG] [1762964988.087970860] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.014} {-0.538,11.265,0.142} [component_container_isolated-3] [DEBUG] [1762964988.088026567] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.092699791] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.092748945] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.092785715] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.092828357] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000034 0.000219 -0.000196 [component_container_isolated-3] 0.000034 1.000000 0.000157 -0.000171 [component_container_isolated-3] -0.000219 -0.000157 1.000000 0.000696 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.092852373] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.028,-0.012} {0.045,-0.211,-0.240} [component_container_isolated-3] [DEBUG] [1762964988.092899553] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.092985016] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.093027778] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981497 0.000009 0.191476 -0.006653 [component_container_isolated-3] -0.001754 0.999958 0.008946 0.060489 [component_container_isolated-3] -0.191468 -0.009117 0.981457 0.017227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.093052385] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.532,11.038,-0.102} [component_container_isolated-3] [DEBUG] [1762964988.093085308] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.013} {-0.530,11.252,0.141} [component_container_isolated-3] [DEBUG] [1762964988.093139341] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.101851409] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.101896204] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.101971308] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.102009290] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000066 -0.000111 0.000186 [component_container_isolated-3] 0.000066 1.000000 0.000176 -0.000022 [component_container_isolated-3] 0.000111 -0.000176 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] [1762964988.102028928] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.001} {0.114,0.126,0.159} [component_container_isolated-3] [DEBUG] [1762964988.102070677] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.102125131] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.102153856] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 0.000033 0.203485 -0.006960 [component_container_isolated-3] 0.002344 0.999932 -0.011439 0.059515 [component_container_isolated-3] -0.203472 0.011677 0.979011 0.018715 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.102170919] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.683,11.740,0.137} [component_container_isolated-3] [DEBUG] [1762964988.102192280] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.001} {0.537,11.615,-0.027} [component_container_isolated-3] [DEBUG] [1762964988.102232196] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.103135441] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.103190737] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.103232967] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.103279536] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000040 0.000044 0.000034 [component_container_isolated-3] 0.000040 1.000000 -0.000042 0.000047 [component_container_isolated-3] -0.000044 0.000042 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] [1762964988.103306157] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.002} {-0.193,0.020,-0.201} [component_container_isolated-3] [DEBUG] [1762964988.103353978] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.103396029] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.103432308] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879406 0.000045 0.476073 -0.001192 [component_container_isolated-3] -0.004679 0.999952 0.008547 0.060140 [component_container_isolated-3] -0.476050 -0.009744 0.879364 0.018148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.103455442] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.635,28.428,-0.305} [component_container_isolated-3] [DEBUG] [1762964988.103489187] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.333,28.409,-0.076} [component_container_isolated-3] [DEBUG] [1762964988.103539563] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.103700380] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.103747981] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.103786965] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.103835207] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000150 -0.000262 -0.000644 [component_container_isolated-3] 0.000150 1.000000 -0.000069 -0.000766 [component_container_isolated-3] 0.000262 0.000069 1.000000 -0.000991 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.103861788] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.005,-0.050} {0.138,-0.624,-0.117} [component_container_isolated-3] [DEBUG] [1762964988.103912725] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.103994952] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.104036361] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982767 -0.000102 0.184851 -0.007192 [component_container_isolated-3] 0.000014 1.000000 0.000479 0.059680 [component_container_isolated-3] -0.184851 -0.000468 0.982767 0.017133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.104060918] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.027,10.652,0.001} [component_container_isolated-3] [DEBUG] [1762964988.104091467] [zed_multi.front]: +++ Diff [map -> odom] - {0.003,-0.005,0.049} {-0.143,11.277,0.118} [component_container_isolated-3] [DEBUG] [1762964988.104141342] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.117610675] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.117663576] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.117704635] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.117750442] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000066 -0.000111 0.000186 [component_container_isolated-3] 0.000066 1.000000 0.000176 -0.000022 [component_container_isolated-3] 0.000111 -0.000176 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] [1762964988.117777784] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.014,0.001} {0.103,0.120,0.163} [component_container_isolated-3] [DEBUG] [1762964988.117828170] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.117877184] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.117912972] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 0.000033 0.203485 -0.006960 [component_container_isolated-3] 0.002344 0.999932 -0.011439 0.059515 [component_container_isolated-3] -0.203472 0.011677 0.979011 0.018715 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.117968468] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.683,11.740,0.137} [component_container_isolated-3] [DEBUG] [1762964988.117998887] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.001} {0.546,11.622,-0.030} [component_container_isolated-3] [DEBUG] [1762964988.118056797] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.139712915] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.139758983] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.139790453] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.139843505] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000063 0.000159 -0.000135 [component_container_isolated-3] -0.000063 1.000000 -0.000199 0.000504 [component_container_isolated-3] -0.000159 0.000199 1.000000 0.001050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.139873622] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.011} {0.056,-0.202,-0.244} [component_container_isolated-3] [DEBUG] [1762964988.139962141] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.140014892] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.140052774] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981467 0.000109 0.191632 -0.006610 [component_container_isolated-3] -0.001819 0.999960 0.008747 0.060578 [component_container_isolated-3] -0.191624 -0.008934 0.981428 0.017627 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.140076650] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.522,11.048,-0.106} [component_container_isolated-3] [DEBUG] [1762964988.140107268] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.012} {-0.530,11.252,0.141} [component_container_isolated-3] [DEBUG] [1762964988.140163506] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.142254599] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.142324392] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.142363497] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.142407681] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000000 -0.000045 -0.000142 [component_container_isolated-3] -0.000000 1.000000 0.000158 -0.000098 [component_container_isolated-3] 0.000045 -0.000158 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] [1762964988.142432739] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.002} {-0.202,0.018,-0.201} [component_container_isolated-3] [DEBUG] [1762964988.142480851] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.142523292] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.142562467] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879427 -0.000030 0.476033 -0.001213 [component_container_isolated-3] -0.004679 0.999951 0.008706 0.060135 [component_container_isolated-3] -0.476010 -0.009884 0.879384 0.018136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.142586393] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.644,28.425,-0.305} [component_container_isolated-3] [DEBUG] [1762964988.142620718] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.333,28.409,-0.076} [component_container_isolated-3] [DEBUG] [1762964988.142673078] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.151665622] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.151725456] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.151766555] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.151811030] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000131 0.000378 0.000677 [component_container_isolated-3] -0.000131 1.000000 0.000172 0.000723 [component_container_isolated-3] -0.000378 -0.000173 1.000000 0.000931 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.151836228] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.006,-0.049} {0.129,-0.603,-0.124} [component_container_isolated-3] [DEBUG] [1762964988.151884229] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.151958722] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.151998808] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 -0.000005 0.185222 -0.007102 [component_container_isolated-3] -0.000117 1.000000 0.000652 0.059762 [component_container_isolated-3] -0.185222 -0.000662 0.982697 0.017226 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.152022013] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.674,-0.007} [component_container_isolated-3] [DEBUG] [1762964988.152055226] [zed_multi.front]: +++ Diff [map -> odom] - {0.003,-0.006,0.049} {-0.143,11.277,0.118} [component_container_isolated-3] [DEBUG] [1762964988.152110271] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.154754441] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.154807552] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.154845304] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.154888517] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000066 -0.000111 0.000186 [component_container_isolated-3] 0.000066 1.000000 0.000176 -0.000022 [component_container_isolated-3] 0.000111 -0.000176 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] [1762964988.154914316] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.014,0.001} {0.093,0.114,0.167} [component_container_isolated-3] [DEBUG] [1762964988.154993407] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.155041559] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.155081606] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 0.000033 0.203485 -0.006960 [component_container_isolated-3] 0.002344 0.999932 -0.011439 0.059515 [component_container_isolated-3] -0.203472 0.011677 0.979011 0.018715 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.155104309] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.683,11.740,0.137} [component_container_isolated-3] [DEBUG] [1762964988.155134386] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.001} {0.555,11.628,-0.034} [component_container_isolated-3] [DEBUG] [1762964988.155182819] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.156612369] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.156668135] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.156709154] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.156753408] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000000 -0.000045 -0.000142 [component_container_isolated-3] -0.000000 1.000000 0.000158 -0.000098 [component_container_isolated-3] 0.000045 -0.000158 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] [1762964988.156779408] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.211,0.015,-0.201} [component_container_isolated-3] [DEBUG] [1762964988.156827911] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.156869730] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.156905890] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879427 -0.000030 0.476033 -0.001213 [component_container_isolated-3] -0.004679 0.999951 0.008706 0.060135 [component_container_isolated-3] -0.476010 -0.009884 0.879384 0.018136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.156970413] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.644,28.425,-0.305} [component_container_isolated-3] [DEBUG] [1762964988.157005420] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.324,28.411,-0.076} [component_container_isolated-3] [DEBUG] [1762964988.157061587] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.178682207] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.178729076] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.178767400] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.178821834] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000081 -0.000226 0.000275 [component_container_isolated-3] 0.000081 1.000000 0.000125 -0.000298 [component_container_isolated-3] 0.000226 -0.000125 1.000000 -0.000802 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.178852402] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.012} {0.049,-0.215,-0.239} [component_container_isolated-3] [DEBUG] [1762964988.178912487] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.179001296] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.179038137] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981510 0.000005 0.191410 -0.006615 [component_container_isolated-3] -0.001736 0.999959 0.008873 0.060585 [component_container_isolated-3] -0.191402 -0.009041 0.981470 0.017625 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.179067843] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.001} {-0.528,11.035,-0.101} [component_container_isolated-3] [DEBUG] [1762964988.179107710] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.028,0.013} {-0.530,11.252,0.141} [component_container_isolated-3] [DEBUG] [1762964988.179178374] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.184739435] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.184807555] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.184846469] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.184890694] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000033 0.000042 -0.000093 [component_container_isolated-3] 0.000033 1.000000 -0.000106 -0.000089 [component_container_isolated-3] -0.000042 0.000106 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] [1762964988.184915762] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.006,-0.049} {0.135,-0.600,-0.122} [component_container_isolated-3] [DEBUG] [1762964988.184998700] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.185042824] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.185081719] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982689 -0.000018 0.185264 -0.007083 [component_container_isolated-3] -0.000085 1.000000 0.000545 0.059776 [component_container_isolated-3] -0.185264 -0.000552 0.982689 0.017276 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.185106145] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.677,-0.005} [component_container_isolated-3] [DEBUG] [1762964988.185139278] [zed_multi.front]: +++ Diff [map -> odom] - {0.003,-0.006,0.049} {-0.143,11.277,0.118} [component_container_isolated-3] [DEBUG] [1762964988.185189985] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.195049575] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.195127013] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.195168392] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.195215602] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000066 -0.000111 0.000186 [component_container_isolated-3] 0.000066 1.000000 0.000176 -0.000022 [component_container_isolated-3] 0.000111 -0.000176 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] [1762964988.195242363] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.014,0.001} {0.083,0.107,0.171} [component_container_isolated-3] [DEBUG] [1762964988.195295144] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.195345871] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.195385546] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 0.000033 0.203485 -0.006960 [component_container_isolated-3] 0.002344 0.999932 -0.011439 0.059515 [component_container_isolated-3] -0.203472 0.011677 0.979011 0.018715 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.195408300] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.683,11.740,0.137} [component_container_isolated-3] [DEBUG] [1762964988.195439690] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.001} {0.565,11.634,-0.038} [component_container_isolated-3] [DEBUG] [1762964988.195494194] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.202735643] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.202804044] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.202845964] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.202891220] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000013 0.000038 0.000111 [component_container_isolated-3] -0.000013 1.000000 0.000019 0.000044 [component_container_isolated-3] -0.000038 -0.000019 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] [1762964988.202942118] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.213,0.017,-0.202} [component_container_isolated-3] [DEBUG] [1762964988.202998706] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.203045766] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.203087976] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 -0.000027 0.476066 -0.001211 [component_container_isolated-3] -0.004692 0.999951 0.008725 0.060134 [component_container_isolated-3] -0.476043 -0.009906 0.879366 0.018129 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.203114146] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.645,28.427,-0.306} [component_container_isolated-3] [DEBUG] [1762964988.203145486] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.324,28.411,-0.076} [component_container_isolated-3] [DEBUG] [1762964988.203195251] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.216535999] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.216604780] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.216645919] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.216692147] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000008 -0.000029 0.000100 [component_container_isolated-3] -0.000008 1.000000 -0.000101 0.000060 [component_container_isolated-3] 0.000029 0.000101 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] [1762964988.216717064] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.006,-0.049} {0.140,-0.602,-0.123} [component_container_isolated-3] [DEBUG] [1762964988.216767190] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.216810042] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.216846762] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982694 0.000009 0.185235 -0.007050 [component_container_isolated-3] -0.000093 1.000000 0.000444 0.059798 [component_container_isolated-3] -0.185235 -0.000454 0.982694 0.017328 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.216869075] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.026,10.675,-0.005} [component_container_isolated-3] [DEBUG] [1762964988.216899182] [zed_multi.front]: +++ Diff [map -> odom] - {0.003,-0.006,0.049} {-0.143,11.277,0.118} [component_container_isolated-3] [DEBUG] [1762964988.216985487] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.220696554] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.220756178] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.220795744] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.220838365] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000013 0.000038 0.000111 [component_container_isolated-3] -0.000013 1.000000 0.000019 0.000044 [component_container_isolated-3] -0.000038 -0.000019 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] [1762964988.220863593] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.002} {-0.214,0.020,-0.203} [component_container_isolated-3] [DEBUG] [1762964988.220915823] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.220992620] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.221029250] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 -0.000027 0.476066 -0.001211 [component_container_isolated-3] -0.004692 0.999951 0.008725 0.060134 [component_container_isolated-3] -0.476043 -0.009906 0.879366 0.018129 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.221054127] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.645,28.427,-0.306} [component_container_isolated-3] [DEBUG] [1762964988.221087551] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.322,28.409,-0.075} [component_container_isolated-3] [DEBUG] [1762964988.221138789] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.222702475] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.222751088] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.222794952] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.222844015] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000067 -0.000137 -0.000007 [component_container_isolated-3] -0.000067 1.000000 -0.000019 0.000453 [component_container_isolated-3] 0.000137 0.000019 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] [1762964988.222870205] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.012} {0.050,-0.223,-0.243} [component_container_isolated-3] [DEBUG] [1762964988.222949908] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.222999262] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.223036283] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981536 0.000075 0.191276 -0.006631 [component_container_isolated-3] -0.001801 0.999959 0.008854 0.060679 [component_container_isolated-3] -0.191267 -0.009035 0.981497 0.017530 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.223060268] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.527,11.027,-0.105} [component_container_isolated-3] [DEBUG] [1762964988.223093602] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.013} {-0.530,11.252,0.141} [component_container_isolated-3] [DEBUG] [1762964988.223149449] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.234362994] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.234424521] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.234462734] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.234506518] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000067 -0.000137 -0.000007 [component_container_isolated-3] -0.000067 1.000000 -0.000019 0.000453 [component_container_isolated-3] 0.000137 0.000019 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] [1762964988.234531546] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.013} {0.051,-0.231,-0.247} [component_container_isolated-3] [DEBUG] [1762964988.234579107] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.234626126] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.234667155] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981536 0.000075 0.191276 -0.006631 [component_container_isolated-3] -0.001801 0.999959 0.008854 0.060679 [component_container_isolated-3] -0.191267 -0.009035 0.981497 0.017530 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.234691551] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.527,11.027,-0.105} [component_container_isolated-3] [DEBUG] [1762964988.234723783] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.014} {-0.530,11.260,0.144} [component_container_isolated-3] [DEBUG] [1762964988.234774199] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.248856573] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.248955833] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.248996460] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.249042278] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000009 -0.000043 -0.000178 [component_container_isolated-3] -0.000009 1.000000 -0.000133 0.000224 [component_container_isolated-3] 0.000043 0.000133 1.000000 0.000180 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.249066284] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.014,0.001} {0.091,0.105,0.170} [component_container_isolated-3] [DEBUG] [1762964988.249115227] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.249162708] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.249201842] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 0.000069 0.203443 -0.006977 [component_container_isolated-3] 0.002334 0.999930 -0.011572 0.059559 [component_container_isolated-3] -0.203429 0.011805 0.979018 0.018756 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.249225538] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.738,0.137} [component_container_isolated-3] [DEBUG] [1762964988.249266546] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.001} {0.565,11.634,-0.038} [component_container_isolated-3] [DEBUG] [1762964988.249340327] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.254478129] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.254531521] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.254580544] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.254639307] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000009 -0.000043 -0.000178 [component_container_isolated-3] -0.000009 1.000000 -0.000133 0.000224 [component_container_isolated-3] 0.000043 0.000133 1.000000 0.000180 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.254674073] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.014,0.001} {0.099,0.102,0.169} [component_container_isolated-3] [DEBUG] [1762964988.254742514] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.254801236] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.254854658] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 0.000069 0.203443 -0.006977 [component_container_isolated-3] 0.002334 0.999930 -0.011572 0.059559 [component_container_isolated-3] -0.203429 0.011805 0.979018 0.018756 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.254887420] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.738,0.137} [component_container_isolated-3] [DEBUG] [1762964988.254954769] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.001} {0.557,11.637,-0.037} [component_container_isolated-3] [DEBUG] [1762964988.255038549] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.257568461] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.257630750] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.257670145] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.257714399] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000099 -0.000359 -0.000625 [component_container_isolated-3] 0.000099 1.000000 0.000022 -0.000723 [component_container_isolated-3] 0.000359 -0.000022 1.000000 -0.001132 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.257739347] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.005,-0.050} {0.139,-0.622,-0.117} [component_container_isolated-3] [DEBUG] [1762964988.257787910] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.257832826] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.257872872] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982761 -0.000093 0.184882 -0.007207 [component_container_isolated-3] 0.000007 1.000000 0.000466 0.059662 [component_container_isolated-3] -0.184882 -0.000457 0.982760 0.017102 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.257897449] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.027,10.654,0.000} [component_container_isolated-3] [DEBUG] [1762964988.257970138] [zed_multi.front]: +++ Diff [map -> odom] - {0.003,-0.005,0.049} {-0.143,11.277,0.118} [component_container_isolated-3] [DEBUG] [1762964988.258024953] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.274703154] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.274774169] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.274813535] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.274856978] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000005 -0.000007 -0.000104 [component_container_isolated-3] 0.000005 1.000000 -0.000057 0.000017 [component_container_isolated-3] 0.000007 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] [1762964988.274882526] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.210,0.019,-0.202} [component_container_isolated-3] [DEBUG] [1762964988.274962730] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.275010942] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.275051900] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879413 -0.000004 0.476061 -0.001215 [component_container_isolated-3] -0.004687 0.999952 0.008668 0.060133 [component_container_isolated-3] -0.476037 -0.009854 0.879370 0.018141 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.275075946] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.642,28.427,-0.305} [component_container_isolated-3] [DEBUG] [1762964988.275106584] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.322,28.409,-0.075} [component_container_isolated-3] [DEBUG] [1762964988.275156530] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.278337224] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.278388051] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.278426735] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.278470428] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000009 -0.000043 -0.000178 [component_container_isolated-3] -0.000009 1.000000 -0.000133 0.000224 [component_container_isolated-3] 0.000043 0.000133 1.000000 0.000180 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.278495466] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.001} {0.106,0.100,0.169} [component_container_isolated-3] [DEBUG] [1762964988.278544319] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.278591239] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.278630895] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 0.000069 0.203443 -0.006977 [component_container_isolated-3] 0.002334 0.999930 -0.011572 0.059559 [component_container_isolated-3] -0.203429 0.011805 0.979018 0.018756 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.278654269] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.738,0.137} [component_container_isolated-3] [DEBUG] [1762964988.278685209] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.001} {0.550,11.639,-0.037} [component_container_isolated-3] [DEBUG] [1762964988.278734683] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.284299691] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.284354736] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.284395644] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.284440390] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000020 0.000023 -0.000527 [component_container_isolated-3] -0.000020 1.000000 0.000085 -0.000151 [component_container_isolated-3] -0.000023 -0.000085 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] [1762964988.284465968] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.013} {0.046,-0.230,-0.248} [component_container_isolated-3] [DEBUG] [1762964988.284514742] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.284561791] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.284602259] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000078 0.191298 -0.006747 [component_container_isolated-3] -0.001821 0.999958 0.008939 0.060709 [component_container_isolated-3] -0.191289 -0.009122 0.981491 0.017511 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.284627026] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.533,11.028,-0.106} [component_container_isolated-3] [DEBUG] [1762964988.284661331] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.014} {-0.530,11.260,0.144} [component_container_isolated-3] [DEBUG] [1762964988.284712499] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.288807930] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.288876782] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.288958167] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.289005007] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000005 -0.000007 -0.000104 [component_container_isolated-3] 0.000005 1.000000 -0.000057 0.000017 [component_container_isolated-3] 0.000007 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] [1762964988.289030325] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.207,0.019,-0.202} [component_container_isolated-3] [DEBUG] [1762964988.289084970] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.289126639] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.289162137] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879413 -0.000004 0.476061 -0.001215 [component_container_isolated-3] -0.004687 0.999952 0.008668 0.060133 [component_container_isolated-3] -0.476037 -0.009854 0.879370 0.018141 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.289184399] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.642,28.427,-0.305} [component_container_isolated-3] [DEBUG] [1762964988.289215579] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.326,28.409,-0.076} [component_container_isolated-3] [DEBUG] [1762964988.289277728] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.290017390] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.290072285] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.290113203] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.290160173] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000205 0.000269 0.000483 [component_container_isolated-3] -0.000205 1.000000 0.000034 0.000960 [component_container_isolated-3] -0.000269 -0.000034 1.000000 0.001016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.290184069] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.006,-0.049} {0.137,-0.607,-0.129} [component_container_isolated-3] [DEBUG] [1762964988.290382257] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.290449666] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.290481507] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 0.000103 0.185147 -0.007143 [component_container_isolated-3] -0.000199 1.000000 0.000500 0.059820 [component_container_isolated-3] -0.185147 -0.000528 0.982711 0.017228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.290499130] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.670,-0.012} [component_container_isolated-3] [DEBUG] [1762964988.290522134] [zed_multi.front]: +++ Diff [map -> odom] - {0.003,-0.006,0.049} {-0.143,11.277,0.118} [component_container_isolated-3] [DEBUG] [1762964988.290561449] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.305391261] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.305454842] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.305493155] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.305536318] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000205 0.000269 0.000483 [component_container_isolated-3] -0.000205 1.000000 0.000034 0.000960 [component_container_isolated-3] -0.000269 -0.000034 1.000000 0.001016 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.305560153] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.007,-0.048} {0.135,-0.591,-0.140} [component_container_isolated-3] [DEBUG] [1762964988.305607263] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.305654403] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.305694199] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 0.000103 0.185147 -0.007143 [component_container_isolated-3] -0.000199 1.000000 0.000500 0.059820 [component_container_isolated-3] -0.185147 -0.000528 0.982711 0.017228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.305718556] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.670,-0.012} [component_container_isolated-3] [DEBUG] [1762964988.305752240] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,-0.007,0.048} {-0.139,11.261,0.130} [component_container_isolated-3] [DEBUG] [1762964988.305801935] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.310723013] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.310789821] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.310837191] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.310884512] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000083 0.000138 0.000130 [component_container_isolated-3] -0.000083 1.000000 -0.000033 0.000023 [component_container_isolated-3] -0.000138 0.000033 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] [1762964988.310910802] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.012} {0.048,-0.222,-0.253} [component_container_isolated-3] [DEBUG] [1762964988.311013137] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.311059516] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.311096597] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981506 0.000165 0.191433 -0.006763 [component_container_isolated-3] -0.001905 0.999959 0.008906 0.060732 [component_container_isolated-3] -0.191424 -0.009106 0.981465 0.017550 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.311121454] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.000} {-0.532,11.036,-0.111} [component_container_isolated-3] [DEBUG] [1762964988.311155409] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.013} {-0.530,11.260,0.144} [component_container_isolated-3] [DEBUG] [1762964988.311206797] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.318435402] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.318495426] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.318535593] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.318580449] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000049 0.000065 0.000076 [component_container_isolated-3] -0.000049 1.000000 0.000085 -0.000013 [component_container_isolated-3] -0.000065 -0.000085 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] [1762964988.318606428] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.001} {0.101,0.104,0.166} [component_container_isolated-3] [DEBUG] [1762964988.318655352] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.318698033] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.318737579] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979074 0.000100 0.203506 -0.006980 [component_container_isolated-3] 0.002286 0.999931 -0.011488 0.059586 [component_container_isolated-3] -0.203494 0.011712 0.979006 0.018767 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.318761915] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.685,11.741,0.134} [component_container_isolated-3] [DEBUG] [1762964988.318795369] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.001} {0.550,11.639,-0.037} [component_container_isolated-3] [DEBUG] [1762964988.318846547] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.329759117] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.329824222] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.329865631] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.329910246] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000061 0.000101 0.000114 [component_container_isolated-3] 0.000061 1.000000 -0.000229 -0.000104 [component_container_isolated-3] -0.000101 0.000229 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] [1762964988.329962245] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.002} {-0.194,0.025,-0.199} [component_container_isolated-3] [DEBUG] [1762964988.330013203] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.330056165] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.330092755] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879364 0.000051 0.476149 -0.001195 [component_container_isolated-3] -0.004627 0.999954 0.008438 0.060118 [component_container_isolated-3] -0.476127 -0.009623 0.879324 0.018170 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.330119496] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.627,28.433,-0.301} [component_container_isolated-3] [DEBUG] [1762964988.330152759] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.326,28.409,-0.076} [component_container_isolated-3] [DEBUG] [1762964988.330203967] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.340262456] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.340324665] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.340366495] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.340411731] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000173 -0.000167 -0.000541 [component_container_isolated-3] 0.000173 1.000000 -0.000132 -0.000922 [component_container_isolated-3] 0.000167 0.000132 1.000000 -0.001046 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.340437330] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.006,-0.049} {0.143,-0.601,-0.130} [component_container_isolated-3] [DEBUG] [1762964988.340486825] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.340531330] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.340571797] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982742 -0.000043 0.184983 -0.007278 [component_container_isolated-3] -0.000026 1.000000 0.000369 0.059678 [component_container_isolated-3] -0.184983 -0.000367 0.982742 0.017054 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.340594601] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.021,10.660,-0.002} [component_container_isolated-3] [DEBUG] [1762964988.340625089] [zed_multi.front]: +++ Diff [map -> odom] - {0.003,-0.006,0.049} {-0.139,11.261,0.130} [component_container_isolated-3] [DEBUG] [1762964988.340674573] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.349467416] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.349526298] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.349565573] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.349610970] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000062 0.000079 -0.000302 [component_container_isolated-3] 0.000062 1.000000 -0.000085 -0.000022 [component_container_isolated-3] -0.000079 0.000085 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] [1762964988.349636488] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.002} {0.106,0.108,0.170} [component_container_isolated-3] [DEBUG] [1762964988.349683699] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.349728644] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.349768751] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979058 0.000057 0.203584 -0.007029 [component_container_isolated-3] 0.002348 0.999930 -0.011572 0.059603 [component_container_isolated-3] -0.203570 0.011808 0.978989 0.018855 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.349792967] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.746,0.137} [component_container_isolated-3] [DEBUG] [1762964988.349826151] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.001} {0.550,11.639,-0.037} [component_container_isolated-3] [DEBUG] [1762964988.349880755] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.351280468] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.351321156] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.351361673] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.351407090] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000159 0.000097 -0.000138 [component_container_isolated-3] 0.000159 1.000000 -0.000082 -0.000807 [component_container_isolated-3] -0.000097 0.000082 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] [1762964988.351431817] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.012} {0.053,-0.216,-0.244} [component_container_isolated-3] [DEBUG] [1762964988.351478947] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.351520787] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.351556756] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981487 0.000025 0.191529 -0.006805 [component_container_isolated-3] -0.001747 0.999959 0.008824 0.060571 [component_container_isolated-3] -0.191521 -0.008995 0.981447 0.017630 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.351579599] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.001} {-0.525,11.042,-0.102} [component_container_isolated-3] [DEBUG] [1762964988.351610128] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.013} {-0.530,11.260,0.144} [component_container_isolated-3] [DEBUG] [1762964988.351661185] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.377115006] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.377186262] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.377226899] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.377270803] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000074 -0.000051 -0.000120 [component_container_isolated-3] -0.000074 1.000000 0.000115 0.000207 [component_container_isolated-3] 0.000051 -0.000115 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] [1762964988.377295771] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.201,0.022,-0.203} [component_container_isolated-3] [DEBUG] [1762964988.377348552] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.377393698] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.377434436] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 0.000061 0.476104 -0.001200 [component_container_isolated-3] -0.004701 0.999952 0.008553 0.060137 [component_container_isolated-3] -0.476081 -0.009760 0.879347 0.018174 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.377459283] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.636,28.430,-0.306} [component_container_isolated-3] [DEBUG] [1762964988.377492176] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.326,28.409,-0.076} [component_container_isolated-3] [DEBUG] [1762964988.377541901] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.385079927] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.385138388] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.385178245] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.385221607] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000060 -0.000093 0.000515 [component_container_isolated-3] -0.000060 1.000000 0.000024 0.000238 [component_container_isolated-3] 0.000093 -0.000024 1.000000 -0.000786 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.385246645] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.013} {0.051,-0.221,-0.247} [component_container_isolated-3] [DEBUG] [1762964988.385293885] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.385337018] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.385372676] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981505 0.000080 0.191437 -0.006790 [component_container_isolated-3] -0.001807 0.999959 0.008848 0.060546 [component_container_isolated-3] -0.191429 -0.009030 0.981465 0.017500 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.385394948] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.527,11.036,-0.105} [component_container_isolated-3] [DEBUG] [1762964988.385427881] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.014} {-0.530,11.260,0.144} [component_container_isolated-3] [DEBUG] [1762964988.385481594] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.392318982] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.392373937] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.392416598] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.392466113] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000016 0.000158 -0.000663 [component_container_isolated-3] 0.000016 1.000000 -0.000049 -0.000257 [component_container_isolated-3] -0.000158 0.000049 1.000000 0.001173 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.392491782] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.003} {0.109,0.117,0.171} [component_container_isolated-3] [DEBUG] [1762964988.392539984] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.392580872] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.392616219] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979025 0.000051 0.203739 -0.007163 [component_container_isolated-3] 0.002366 0.999930 -0.011621 0.059584 [component_container_isolated-3] -0.203725 0.011859 0.978956 0.019402 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.392638402] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.694,11.755,0.138} [component_container_isolated-3] [DEBUG] [1762964988.392668389] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.002} {0.550,11.639,-0.037} [component_container_isolated-3] [DEBUG] [1762964988.392736930] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.395857600] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.395949726] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.395990393] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.396035810] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000152 0.000214 0.000292 [component_container_isolated-3] -0.000152 1.000000 0.000185 0.000873 [component_container_isolated-3] -0.000214 -0.000185 1.000000 0.001398 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.396061048] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.007,-0.047} {0.132,-0.589,-0.139} [component_container_isolated-3] [DEBUG] [1762964988.396109681] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.396156991] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.396196898] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000073 0.185193 -0.007218 [component_container_isolated-3] -0.000178 1.000000 0.000554 0.059810 [component_container_isolated-3] -0.185193 -0.000577 0.982702 0.017351 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.396220733] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.672,-0.010} [component_container_isolated-3] [DEBUG] [1762964988.396253967] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,-0.007,0.048} {-0.139,11.261,0.130} [component_container_isolated-3] [DEBUG] [1762964988.396304393] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.397113939] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.397165868] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.397204251] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.397246993] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000074 -0.000051 -0.000120 [component_container_isolated-3] -0.000074 1.000000 0.000115 0.000207 [component_container_isolated-3] 0.000051 -0.000115 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] [1762964988.397271981] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.207,0.019,-0.207} [component_container_isolated-3] [DEBUG] [1762964988.397318379] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.397361802] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.397402119] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 0.000061 0.476104 -0.001200 [component_container_isolated-3] -0.004701 0.999952 0.008553 0.060137 [component_container_isolated-3] -0.476081 -0.009760 0.879347 0.018174 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.397426325] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.636,28.430,-0.306} [component_container_isolated-3] [DEBUG] [1762964988.397459248] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.317,28.412,-0.071} [component_container_isolated-3] [DEBUG] [1762964988.397509494] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.420468691] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.420526982] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.420568081] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.420618367] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000052 -0.000106 -0.000147 [component_container_isolated-3] -0.000052 1.000000 0.000052 0.000484 [component_container_isolated-3] 0.000106 -0.000052 1.000000 0.000262 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.420644547] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.012} {0.049,-0.228,-0.250} [component_container_isolated-3] [DEBUG] [1762964988.420697117] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.420750068] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.420787269] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 0.000121 0.191333 -0.006793 [component_container_isolated-3] -0.001858 0.999959 0.008900 0.060612 [component_container_isolated-3] -0.191324 -0.009091 0.981485 0.017484 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.420811305] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.531,11.030,-0.108} [component_container_isolated-3] [DEBUG] [1762964988.420843066] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.014} {-0.530,11.260,0.144} [component_container_isolated-3] [DEBUG] [1762964988.420893181] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.421047316] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.421097702] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.421136716] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.421180971] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000074 -0.000051 -0.000120 [component_container_isolated-3] -0.000074 1.000000 0.000115 0.000207 [component_container_isolated-3] 0.000051 -0.000115 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] [1762964988.421205828] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.214,0.016,-0.211} [component_container_isolated-3] [DEBUG] [1762964988.421253349] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.421301110] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.421340766] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 0.000061 0.476104 -0.001200 [component_container_isolated-3] -0.004701 0.999952 0.008553 0.060137 [component_container_isolated-3] -0.476081 -0.009760 0.879347 0.018174 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.421364441] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.636,28.430,-0.306} [component_container_isolated-3] [DEBUG] [1762964988.421394970] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.308,28.415,-0.066} [component_container_isolated-3] [DEBUG] [1762964988.421444705] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.425002289] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.425064267] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.425105586] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.425150963] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000089 -0.000048 0.000142 [component_container_isolated-3] 0.000089 1.000000 -0.000027 -0.000044 [component_container_isolated-3] 0.000048 0.000027 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] [1762964988.425176411] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.007,-0.048} {0.134,-0.591,-0.134} [component_container_isolated-3] [DEBUG] [1762964988.425225806] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.425273577] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.425313944] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 -0.000010 0.185146 -0.007203 [component_container_isolated-3] -0.000089 1.000000 0.000527 0.059844 [component_container_isolated-3] -0.185146 -0.000534 0.982711 0.017389 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.425338912] [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] [1762964988.425369430] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,-0.007,0.048} {-0.139,11.261,0.130} [component_container_isolated-3] [DEBUG] [1762964988.425419446] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.432628784] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.432683478] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.432722092] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.432767158] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000019 -0.000254 0.000730 [component_container_isolated-3] -0.000019 1.000000 -0.000051 0.000198 [component_container_isolated-3] 0.000254 0.000051 1.000000 -0.001445 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.432792526] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.001} {0.112,0.103,0.169} [component_container_isolated-3] [DEBUG] [1762964988.432840488] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.432885364] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.432961128] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 0.000080 0.203490 -0.007196 [component_container_isolated-3] 0.002344 0.999929 -0.011673 0.059603 [component_container_isolated-3] -0.203477 0.011905 0.979007 0.019258 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.432988370] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.697,11.740,0.137} [component_container_isolated-3] [DEBUG] [1762964988.433021824] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.001} {0.550,11.639,-0.037} [component_container_isolated-3] [DEBUG] [1762964988.433085346] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.444367251] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.444425122] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.444466731] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.444515374] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000115 -0.000117 0.000555 [component_container_isolated-3] 0.000115 1.000000 0.000034 -0.000541 [component_container_isolated-3] 0.000117 -0.000034 1.000000 -0.001176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.444542175] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.029,-0.014} {0.047,-0.234,-0.244} [component_container_isolated-3] [DEBUG] [1762964988.444590989] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.444635453] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.444671773] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 0.000002 0.191218 -0.006758 [component_container_isolated-3] -0.001742 0.999959 0.008935 0.060547 [component_container_isolated-3] -0.191211 -0.009103 0.981507 0.017062 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.444694727] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.531,11.023,-0.102} [component_container_isolated-3] [DEBUG] [1762964988.444726087] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.028,0.015} {-0.530,11.260,0.144} [component_container_isolated-3] [DEBUG] [1762964988.444775822] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.448091464] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.448148152] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.448192727] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.448239717] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000014 -0.000038 0.000021 [component_container_isolated-3] -0.000014 1.000000 -0.000058 -0.000026 [component_container_isolated-3] 0.000038 0.000058 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] [1762964988.448266007] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.007,-0.047} {0.137,-0.594,-0.135} [component_container_isolated-3] [DEBUG] [1762964988.448313918] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.448357231] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.448395174] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 0.000015 0.185109 -0.007185 [component_container_isolated-3] -0.000104 1.000000 0.000469 0.059869 [component_container_isolated-3] -0.185109 -0.000480 0.982718 0.017426 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.448417917] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.028,10.667,-0.006} [component_container_isolated-3] [DEBUG] [1762964988.448448245] [zed_multi.front]: +++ Diff [map -> odom] - {0.002,-0.007,0.048} {-0.139,11.261,0.130} [component_container_isolated-3] [DEBUG] [1762964988.448497860] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.462415549] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.462471927] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.462513286] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.462559093] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000029 0.000265 -0.000342 [component_container_isolated-3] 0.000029 1.000000 0.000163 -0.000039 [component_container_isolated-3] -0.000265 -0.000163 1.000000 0.001050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.462584592] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.002} {0.103,0.118,0.171} [component_container_isolated-3] [DEBUG] [1762964988.462632644] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.462674253] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.462710713] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979023 0.000019 0.203750 -0.007204 [component_container_isolated-3] 0.002376 0.999931 -0.011509 0.059611 [component_container_isolated-3] -0.203736 0.011751 0.978955 0.019475 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.462732394] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.688,11.756,0.139} [component_container_isolated-3] [DEBUG] [1762964988.462765558] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.002} {0.550,11.639,-0.037} [component_container_isolated-3] [DEBUG] [1762964988.462815613] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.468064878] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.468112369] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.468148728] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.468189847] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000023 0.000053 -0.000534 [component_container_isolated-3] 0.000023 1.000000 0.000001 -0.000013 [component_container_isolated-3] -0.000053 -0.000001 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] [1762964988.468213692] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.013} {0.046,-0.231,-0.242} [component_container_isolated-3] [DEBUG] [1762964988.468262505] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.468306660] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.468345975] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 -0.000021 0.191271 -0.006785 [component_container_isolated-3] -0.001720 0.999959 0.008935 0.060518 [component_container_isolated-3] -0.191263 -0.009099 0.981497 0.017030 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.468370061] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.531,11.026,-0.100} [component_container_isolated-3] [DEBUG] [1762964988.468402623] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.014} {-0.530,11.260,0.144} [component_container_isolated-3] [DEBUG] [1762964988.468454903] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.471529445] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.471588157] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.471630628] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.471679812] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000071 -0.000099 0.000090 [component_container_isolated-3] -0.000071 1.000000 0.000092 0.000065 [component_container_isolated-3] 0.000099 -0.000092 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] [1762964988.471705892] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.219,0.010,-0.215} [component_container_isolated-3] [DEBUG] [1762964988.471754915] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.471797817] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.471835018] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879436 0.000080 0.476017 -0.001203 [component_container_isolated-3] -0.004771 0.999951 0.008646 0.060159 [component_container_isolated-3] -0.475993 -0.009874 0.879394 0.018158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.471862621] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.424,-0.311} [component_container_isolated-3] [DEBUG] [1762964988.471896536] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.308,28.415,-0.066} [component_container_isolated-3] [DEBUG] [1762964988.471974074] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.478830107] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.478885974] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.478971387] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.479030470] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000138 -0.000098 -0.000401 [component_container_isolated-3] 0.000138 1.000000 0.000048 -0.000872 [component_container_isolated-3] 0.000098 -0.000048 1.000000 -0.001116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.479063693] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.007,0.006,-0.049} {0.134,-0.599,-0.127} [component_container_isolated-3] [DEBUG] [1762964988.479225913] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.479287921] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.479337957] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982736 -0.000129 0.185012 -0.007296 [component_container_isolated-3] 0.000034 1.000000 0.000517 0.059690 [component_container_isolated-3] -0.185012 -0.000501 0.982736 0.017185 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.479367674] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.662,0.002} [component_container_isolated-3] [DEBUG] [1762964988.479405115] [zed_multi.front]: +++ Diff [map -> odom] - {0.003,-0.006,0.049} {-0.139,11.261,0.130} [component_container_isolated-3] [DEBUG] [1762964988.479472253] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.495172207] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.495230458] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.495269102] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.495313847] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000016 -0.000289 0.000331 [component_container_isolated-3] -0.000016 1.000000 0.000034 0.000149 [component_container_isolated-3] 0.000289 -0.000034 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] [1762964988.495339536] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.001} {0.101,0.101,0.170} [component_container_isolated-3] [DEBUG] [1762964988.495386856] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.495430590] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.495470596] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000027 0.203467 -0.007234 [component_container_isolated-3] 0.002357 0.999931 -0.011476 0.059642 [component_container_isolated-3] -0.203453 0.011715 0.979015 0.019316 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.495494502] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.686,11.739,0.138} [component_container_isolated-3] [DEBUG] [1762964988.495527164] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.001} {0.550,11.639,-0.037} [component_container_isolated-3] [DEBUG] [1762964988.495579615] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.497061735] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.497115057] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.497156606] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.497202263] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000138 -0.000098 -0.000401 [component_container_isolated-3] 0.000138 1.000000 0.000048 -0.000872 [component_container_isolated-3] 0.000098 -0.000048 1.000000 -0.001116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.497227982] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.005,-0.050} {0.132,-0.605,-0.119} [component_container_isolated-3] [DEBUG] [1762964988.497278960] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.497325749] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.497365635] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982736 -0.000129 0.185012 -0.007296 [component_container_isolated-3] 0.000034 1.000000 0.000517 0.059690 [component_container_isolated-3] -0.185012 -0.000501 0.982736 0.017185 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.497391034] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.662,0.002} [component_container_isolated-3] [DEBUG] [1762964988.497425630] [zed_multi.front]: +++ Diff [map -> odom] - {0.003,-0.005,0.050} {-0.137,11.267,0.122} [component_container_isolated-3] [DEBUG] [1762964988.497477369] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.498764837] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.498809623] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.498844740] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.498884296] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000123 0.000005 -0.000066 [component_container_isolated-3] 0.000123 1.000000 -0.000201 -0.000227 [component_container_isolated-3] -0.000005 0.000201 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] [1762964988.498906538] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.208,0.010,-0.208} [component_container_isolated-3] [DEBUG] [1762964988.498972845] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.499013122] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.499046505] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879434 0.000068 0.476021 -0.001211 [component_container_isolated-3] -0.004648 0.999954 0.008445 0.060143 [component_container_isolated-3] -0.475999 -0.009639 0.879393 0.018169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.499069078] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.628,28.424,-0.303} [component_container_isolated-3] [DEBUG] [1762964988.499096140] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.308,28.415,-0.066} [component_container_isolated-3] [DEBUG] [1762964988.499140144] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.507998622] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.508053857] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.508093122] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.508136626] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000021 -0.000017 0.000185 [component_container_isolated-3] 0.000021 1.000000 0.000035 -0.000186 [component_container_isolated-3] 0.000017 -0.000035 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] [1762964988.508161964] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.013} {0.044,-0.232,-0.241} [component_container_isolated-3] [DEBUG] [1762964988.508208984] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.508252677] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.508287904] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 -0.000049 0.191254 -0.006776 [component_container_isolated-3] -0.001698 0.999958 0.008970 0.060460 [component_container_isolated-3] -0.191246 -0.009129 0.981500 0.017015 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.508310999] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.533,11.026,-0.099} [component_container_isolated-3] [DEBUG] [1762964988.508345164] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.014} {-0.530,11.260,0.144} [component_container_isolated-3] [DEBUG] [1762964988.508403716] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.516742411] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.516808928] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.516847732] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.516890894] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000123 0.000005 -0.000066 [component_container_isolated-3] 0.000123 1.000000 -0.000201 -0.000227 [component_container_isolated-3] -0.000005 0.000201 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] [1762964988.516916273] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.196,0.011,-0.201} [component_container_isolated-3] [DEBUG] [1762964988.516992929] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.517049066] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.517098350] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879434 0.000068 0.476021 -0.001211 [component_container_isolated-3] -0.004648 0.999954 0.008445 0.060143 [component_container_isolated-3] -0.475999 -0.009639 0.879393 0.018169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.517129570] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.628,28.424,-0.303} [component_container_isolated-3] [DEBUG] [1762964988.517168955] [zed_multi.rear]: +++ Diff [map -> odom] - {0.002,-0.006,-0.003} {-0.323,28.415,-0.074} [component_container_isolated-3] [DEBUG] [1762964988.517228198] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.524332285] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.524388843] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.524428048] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.524472062] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000248 -0.000022 0.000798 [component_container_isolated-3] -0.000248 1.000000 0.000175 0.001357 [component_container_isolated-3] 0.000022 -0.000175 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] [1762964988.524496779] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.012,0.001} {0.091,0.100,0.156} [component_container_isolated-3] [DEBUG] [1762964988.524571492] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.524617209] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.524653619] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 0.000234 0.203446 -0.007032 [component_container_isolated-3] 0.002109 0.999934 -0.011300 0.060197 [component_container_isolated-3] -0.203435 0.011493 0.979021 0.019129 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.524679157] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.673,11.738,0.123} [component_container_isolated-3] [DEBUG] [1762964988.524718382] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.012,-0.000} {0.550,11.639,-0.037} [component_container_isolated-3] [DEBUG] [1762964988.524772225] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.526490828] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.526532026] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.526556212] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.526586019] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000138 -0.000098 -0.000401 [component_container_isolated-3] 0.000138 1.000000 0.000048 -0.000872 [component_container_isolated-3] 0.000098 -0.000048 1.000000 -0.001116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.526601309] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.004,-0.051} {0.129,-0.611,-0.111} [component_container_isolated-3] [DEBUG] [1762964988.526629693] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.526654911] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.526677704] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982736 -0.000129 0.185012 -0.007296 [component_container_isolated-3] 0.000034 1.000000 0.000517 0.059690 [component_container_isolated-3] -0.185012 -0.000501 0.982736 0.017185 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.526694527] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.662,0.002} [component_container_isolated-3] [DEBUG] [1762964988.526714304] [zed_multi.front]: +++ Diff [map -> odom] - {0.004,-0.005,0.051} {-0.136,11.273,0.114} [component_container_isolated-3] [DEBUG] [1762964988.526746596] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.549322561] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.549389158] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.549429735] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.549477236] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000065 0.000083 -0.000197 [component_container_isolated-3] -0.000065 1.000000 -0.000194 0.000197 [component_container_isolated-3] -0.000083 0.000194 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] [1762964988.549503686] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.013} {0.056,-0.227,-0.245} [component_container_isolated-3] [DEBUG] [1762964988.549554513] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.549598267] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.549634286] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 0.000052 0.191335 -0.006777 [component_container_isolated-3] -0.001764 0.999960 0.008776 0.060437 [component_container_isolated-3] -0.191327 -0.008951 0.981486 0.017063 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.549657921] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,-0.000} {-0.523,11.030,-0.103} [component_container_isolated-3] [DEBUG] [1762964988.549688590] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.013} {-0.530,11.260,0.144} [component_container_isolated-3] [DEBUG] [1762964988.549737733] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.555957311] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.556015913] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.556053766] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.556098391] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000255 -0.000133 0.000223 [component_container_isolated-3] 0.000255 1.000000 -0.000151 -0.001573 [component_container_isolated-3] 0.000133 0.000151 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] [1762964988.556123479] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.014,0.001} {0.099,0.092,0.171} [component_container_isolated-3] [DEBUG] [1762964988.556172222] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.556584699] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.556687566] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979113 0.000015 0.203316 -0.006925 [component_container_isolated-3] 0.002362 0.999932 -0.011451 0.059989 [component_container_isolated-3] -0.203302 0.011693 0.979046 0.018986 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.556712443] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.684,11.730,0.138} [component_container_isolated-3] [DEBUG] [1762964988.556737381] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.000} {0.550,11.639,-0.037} [component_container_isolated-3] [DEBUG] [1762964988.556781165] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.560615728] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.560656656] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.560680592] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.560710669] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000138 -0.000098 -0.000401 [component_container_isolated-3] 0.000138 1.000000 0.000048 -0.000872 [component_container_isolated-3] 0.000098 -0.000048 1.000000 -0.001116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.560726439] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.003,-0.052} {0.126,-0.616,-0.103} [component_container_isolated-3] [DEBUG] [1762964988.560756276] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.560782917] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.560804087] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982736 -0.000129 0.185012 -0.007296 [component_container_isolated-3] 0.000034 1.000000 0.000517 0.059690 [component_container_isolated-3] -0.185012 -0.000501 0.982736 0.017185 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.560818285] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.662,0.002} [component_container_isolated-3] [DEBUG] [1762964988.560836459] [zed_multi.front]: +++ Diff [map -> odom] - {0.004,-0.004,0.052} {-0.135,11.278,0.106} [component_container_isolated-3] [DEBUG] [1762964988.560866036] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.581409789] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.581471627] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.581512385] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.581556570] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000011 0.000046 0.000016 [component_container_isolated-3] 0.000011 1.000000 0.000110 -0.000073 [component_container_isolated-3] -0.000046 -0.000110 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] [1762964988.581582459] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.202,0.013,-0.201} [component_container_isolated-3] [DEBUG] [1762964988.581631483] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.581677521] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.581715834] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879412 0.000006 0.476062 -0.001217 [component_container_isolated-3] -0.004637 0.999953 0.008554 0.060128 [component_container_isolated-3] -0.476040 -0.009730 0.879370 0.018163 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.581738106] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.634,28.427,-0.302} [component_container_isolated-3] [DEBUG] [1762964988.581768484] [zed_multi.rear]: +++ Diff [map -> odom] - {0.002,-0.006,-0.003} {-0.323,28.415,-0.074} [component_container_isolated-3] [DEBUG] [1762964988.581817488] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.582487437] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.582548604] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.582589642] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.582636181] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000255 -0.000133 0.000223 [component_container_isolated-3] 0.000255 1.000000 -0.000151 -0.001573 [component_container_isolated-3] 0.000133 0.000151 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] [1762964988.582661159] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.001} {0.108,0.085,0.185} [component_container_isolated-3] [DEBUG] [1762964988.582740992] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.582790135] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.582831264] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979113 0.000015 0.203316 -0.006925 [component_container_isolated-3] 0.002362 0.999932 -0.011451 0.059989 [component_container_isolated-3] -0.203302 0.011693 0.979046 0.018986 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.582856402] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.684,11.730,0.138} [component_container_isolated-3] [DEBUG] [1762964988.582886590] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,0.000} {0.538,11.647,-0.052} [component_container_isolated-3] [DEBUG] [1762964988.582968506] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.594713767] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.594755376] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.594778451] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.594804841] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000138 -0.000098 -0.000401 [component_container_isolated-3] 0.000138 1.000000 0.000048 -0.000872 [component_container_isolated-3] 0.000098 -0.000048 1.000000 -0.001116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.594819699] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.003,-0.053} {0.123,-0.622,-0.095} [component_container_isolated-3] [DEBUG] [1762964988.594848354] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.594874093] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.594895414] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982736 -0.000129 0.185012 -0.007296 [component_container_isolated-3] 0.000034 1.000000 0.000517 0.059690 [component_container_isolated-3] -0.185012 -0.000501 0.982736 0.017185 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.594909100] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.662,0.002} [component_container_isolated-3] [DEBUG] [1762964988.594953114] [zed_multi.front]: +++ Diff [map -> odom] - {0.005,-0.003,0.053} {-0.134,11.284,0.098} [component_container_isolated-3] [DEBUG] [1762964988.594984454] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.596028588] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.596082411] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.596124902] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.596170218] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000103 0.000039 -0.000043 [component_container_isolated-3] -0.000103 1.000000 0.000067 0.000241 [component_container_isolated-3] -0.000039 -0.000067 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] [1762964988.596195777] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.012} {0.052,-0.225,-0.251} [component_container_isolated-3] [DEBUG] [1762964988.596243619] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.596288665] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.596325134] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 0.000141 0.191373 -0.006770 [component_container_isolated-3] -0.001867 0.999959 0.008842 0.060458 [component_container_isolated-3] -0.191364 -0.009036 0.981477 0.017150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.596349481] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.528,11.032,-0.109} [component_container_isolated-3] [DEBUG] [1762964988.596384417] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.013} {-0.530,11.260,0.144} [component_container_isolated-3] [DEBUG] [1762964988.596438561] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.602716731] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.602777236] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.602815579] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.602857459] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000103 0.000039 -0.000043 [component_container_isolated-3] -0.000103 1.000000 0.000067 0.000241 [component_container_isolated-3] -0.000039 -0.000067 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] [1762964988.602881405] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.012} {0.048,-0.223,-0.257} [component_container_isolated-3] [DEBUG] [1762964988.602958142] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.603008798] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.603049817] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 0.000141 0.191373 -0.006770 [component_container_isolated-3] -0.001867 0.999959 0.008842 0.060458 [component_container_isolated-3] -0.191364 -0.009036 0.981477 0.017150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.603074534] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.528,11.032,-0.109} [component_container_isolated-3] [DEBUG] [1762964988.603107467] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.013} {-0.525,11.258,0.151} [component_container_isolated-3] [DEBUG] [1762964988.603162742] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.603821761] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.603874051] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.603914538] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.603993258] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000011 0.000046 0.000016 [component_container_isolated-3] 0.000011 1.000000 0.000110 -0.000073 [component_container_isolated-3] -0.000046 -0.000110 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] [1762964988.604020470] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.209,0.016,-0.200} [component_container_isolated-3] [DEBUG] [1762964988.604072440] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.604119449] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.604159857] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879412 0.000006 0.476062 -0.001217 [component_container_isolated-3] -0.004637 0.999953 0.008554 0.060128 [component_container_isolated-3] -0.476040 -0.009730 0.879370 0.018163 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.604184363] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.634,28.427,-0.302} [component_container_isolated-3] [DEBUG] [1762964988.604215333] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.317,28.412,-0.075} [component_container_isolated-3] [DEBUG] [1762964988.604274395] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.627693350] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.627753645] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.627793752] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.627841343] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000111 0.000339 -0.001273 [component_container_isolated-3] -0.000111 1.000000 -0.000005 -0.000008 [component_container_isolated-3] -0.000339 0.000005 1.000000 0.001546 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.627868545] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.002} {0.108,0.104,0.179} [component_container_isolated-3] [DEBUG] [1762964988.627950802] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.628001208] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.628040202] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979044 0.000125 0.203647 -0.007040 [component_container_isolated-3] 0.002255 0.999932 -0.011456 0.059931 [component_container_isolated-3] -0.203635 0.011675 0.978977 0.019357 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.628062234] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.683,11.750,0.132} [component_container_isolated-3] [DEBUG] [1762964988.628092432] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.001} {0.538,11.647,-0.052} [component_container_isolated-3] [DEBUG] [1762964988.628140504] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.629507615] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.629560506] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.629601434] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.629646009] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000011 0.000046 0.000016 [component_container_isolated-3] 0.000011 1.000000 0.000110 -0.000073 [component_container_isolated-3] -0.000046 -0.000110 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] [1762964988.629671728] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.215,0.019,-0.199} [component_container_isolated-3] [DEBUG] [1762964988.629719860] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.629762562] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.629798250] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879412 0.000006 0.476062 -0.001217 [component_container_isolated-3] -0.004637 0.999953 0.008554 0.060128 [component_container_isolated-3] -0.476040 -0.009730 0.879370 0.018163 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.629820462] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.634,28.427,-0.302} [component_container_isolated-3] [DEBUG] [1762964988.629851642] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.311,28.410,-0.075} [component_container_isolated-3] [DEBUG] [1762964988.629905024] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.635060670] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.635103872] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.635129511] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.635159138] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000138 -0.000098 -0.000401 [component_container_isolated-3] 0.000138 1.000000 0.000048 -0.000872 [component_container_isolated-3] 0.000098 -0.000048 1.000000 -0.001116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.635176761] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.120,-0.627,-0.088} [component_container_isolated-3] [DEBUG] [1762964988.635209634] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.635238148] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.635260661] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982736 -0.000129 0.185012 -0.007296 [component_container_isolated-3] 0.000034 1.000000 0.000517 0.059690 [component_container_isolated-3] -0.185012 -0.000501 0.982736 0.017185 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.635275360] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.662,0.002} [component_container_isolated-3] [DEBUG] [1762964988.635294386] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.054} {-0.132,11.290,0.090} [component_container_isolated-3] [DEBUG] [1762964988.635324433] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.639834907] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.639894170] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.639965336] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.640012797] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000103 0.000039 -0.000043 [component_container_isolated-3] -0.000103 1.000000 0.000067 0.000241 [component_container_isolated-3] -0.000039 -0.000067 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] [1762964988.640038396] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.012} {0.044,-0.221,-0.263} [component_container_isolated-3] [DEBUG] [1762964988.640088221] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.640132896] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.640169636] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 0.000141 0.191373 -0.006770 [component_container_isolated-3] -0.001867 0.999959 0.008842 0.060458 [component_container_isolated-3] -0.191364 -0.009036 0.981477 0.017150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.640198972] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.528,11.032,-0.109} [component_container_isolated-3] [DEBUG] [1762964988.640230332] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.013} {-0.520,11.256,0.157} [component_container_isolated-3] [DEBUG] [1762964988.640281420] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.680808858] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.680883761] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.680951440] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.680996275] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000052 -0.000098 0.000241 [component_container_isolated-3] 0.000052 1.000000 0.000177 -0.000100 [component_container_isolated-3] 0.000098 -0.000177 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] [1762964988.681020632] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.015,0.002} {0.098,0.099,0.182} [component_container_isolated-3] [DEBUG] [1762964988.681070167] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.681111926] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.681151171] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979064 0.000038 0.203551 -0.007053 [component_container_isolated-3] 0.002306 0.999934 -0.011279 0.059878 [component_container_isolated-3] -0.203538 0.011513 0.978999 0.019404 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.681174776] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.674,11.744,0.135} [component_container_isolated-3] [DEBUG] [1762964988.681206868] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.001} {0.538,11.647,-0.052} [component_container_isolated-3] [DEBUG] [1762964988.681259809] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.686451453] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.686511268] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.686548168] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.686589687] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000052 -0.000098 0.000241 [component_container_isolated-3] 0.000052 1.000000 0.000177 -0.000100 [component_container_isolated-3] 0.000098 -0.000177 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] [1762964988.686612932] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.002} {0.088,0.093,0.185} [component_container_isolated-3] [DEBUG] [1762964988.686660302] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.687280236] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.687359468] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979064 0.000038 0.203551 -0.007053 [component_container_isolated-3] 0.002306 0.999934 -0.011279 0.059878 [component_container_isolated-3] -0.203538 0.011513 0.978999 0.019404 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.687392911] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.674,11.744,0.135} [component_container_isolated-3] [DEBUG] [1762964988.687435703] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.001} {0.547,11.653,-0.055} [component_container_isolated-3] [DEBUG] [1762964988.687516467] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.687818324] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.687866205] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.687904098] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.687981786] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000036 -0.000108 -0.000010 [component_container_isolated-3] 0.000036 1.000000 0.000106 0.000147 [component_container_isolated-3] 0.000108 -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] [1762964988.688008467] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.012} {0.038,-0.227,-0.261} [component_container_isolated-3] [DEBUG] [1762964988.688057791] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.688102146] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.688141661] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 0.000085 0.191267 -0.006784 [component_container_isolated-3] -0.001831 0.999958 0.008948 0.060493 [component_container_isolated-3] -0.191258 -0.009133 0.981497 0.017164 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.688166449] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.533,11.026,-0.107} [component_container_isolated-3] [DEBUG] [1762964988.688199973] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.013} {-0.520,11.256,0.157} [component_container_isolated-3] [DEBUG] [1762964988.688253234] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.694773597] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.694837920] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.694885531] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.694971996] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000166 0.000190 0.000463 [component_container_isolated-3] -0.000166 1.000000 0.000030 0.000767 [component_container_isolated-3] -0.000190 -0.000030 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] [1762964988.695006952] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.003,-0.053} {0.119,-0.617,-0.097} [component_container_isolated-3] [DEBUG] [1762964988.695073850] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.695138804] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.695190944] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000028 0.185199 -0.007222 [component_container_isolated-3] -0.000132 1.000000 0.000547 0.059766 [component_container_isolated-3] -0.185199 -0.000562 0.982701 0.017297 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.695221542] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.673,-0.008} [component_container_isolated-3] [DEBUG] [1762964988.695260747] [zed_multi.front]: +++ Diff [map -> odom] - {0.005,-0.003,0.053} {-0.132,11.290,0.090} [component_container_isolated-3] [DEBUG] [1762964988.695331142] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.702866522] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.702954791] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.702997603] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.703045604] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000052 -0.000098 0.000241 [component_container_isolated-3] 0.000052 1.000000 0.000177 -0.000100 [component_container_isolated-3] 0.000098 -0.000177 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] [1762964988.703070271] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.002} {0.078,0.087,0.188} [component_container_isolated-3] [DEBUG] [1762964988.703120728] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.703172497] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.703210229] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979064 0.000038 0.203551 -0.007053 [component_container_isolated-3] 0.002306 0.999934 -0.011279 0.059878 [component_container_isolated-3] -0.203538 0.011513 0.978999 0.019404 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.703232341] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.674,11.744,0.135} [component_container_isolated-3] [DEBUG] [1762964988.703263070] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.016,-0.001} {0.557,11.659,-0.058} [component_container_isolated-3] [DEBUG] [1762964988.703312865] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.705511073] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.705596766] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.705641943] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.705690966] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000008 -0.000041 -0.000036 [component_container_isolated-3] -0.000008 1.000000 0.000149 0.000069 [component_container_isolated-3] 0.000041 -0.000149 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] [1762964988.705717968] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.223,0.016,-0.200} [component_container_isolated-3] [DEBUG] [1762964988.705768995] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.705816155] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.705856713] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 -0.000059 0.476026 -0.001232 [component_container_isolated-3] -0.004645 0.999951 0.008704 0.060124 [component_container_isolated-3] -0.476003 -0.009865 0.879388 0.018148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.705882021] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.425,-0.303} [component_container_isolated-3] [DEBUG] [1762964988.705912179] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.311,28.410,-0.075} [component_container_isolated-3] [DEBUG] [1762964988.705995027] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.714428854] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.714506021] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.714552510] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.714606212] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000008 -0.000041 -0.000036 [component_container_isolated-3] -0.000008 1.000000 0.000149 0.000069 [component_container_isolated-3] 0.000041 -0.000149 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] [1762964988.714636721] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.232,0.014,-0.200} [component_container_isolated-3] [DEBUG] [1762964988.714681837] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.714749616] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.714797508] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.714846752] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000078 0.000111 0.000058 [component_container_isolated-3] -0.000078 1.000000 0.000069 0.000613 [component_container_isolated-3] -0.000111 -0.000069 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] [1762964988.714876248] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.012} {0.034,-0.221,-0.265} [component_container_isolated-3] [DEBUG] [1762964988.714958926] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.715007729] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.715045672] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 0.000148 0.191376 -0.006768 [component_container_isolated-3] -0.001909 0.999958 0.009017 0.060690 [component_container_isolated-3] -0.191366 -0.009216 0.981475 0.017250 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.715069447] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.000} {-0.538,11.033,-0.111} [component_container_isolated-3] [DEBUG] [1762964988.715100667] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.030,0.013} {-0.520,11.256,0.157} [component_container_isolated-3] [DEBUG] [1762964988.715150121] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.714689531] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.715336367] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.715381162] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 -0.000059 0.476026 -0.001232 [component_container_isolated-3] -0.004645 0.999951 0.008704 0.060124 [component_container_isolated-3] -0.476003 -0.009865 0.879388 0.018148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.715405268] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.425,-0.303} [component_container_isolated-3] [DEBUG] [1762964988.715435095] [zed_multi.rear]: +++ Diff [map -> odom] - {0.002,-0.006,-0.003} {-0.302,28.412,-0.075} [component_container_isolated-3] [DEBUG] [1762964988.715486594] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.726000553] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.726048474] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.726074835] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.726104451] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000008 -0.000041 -0.000036 [component_container_isolated-3] -0.000008 1.000000 0.000149 0.000069 [component_container_isolated-3] 0.000041 -0.000149 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] [1762964988.726122305] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.241,0.012,-0.201} [component_container_isolated-3] [DEBUG] [1762964988.726153164] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.726178743] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.726200655] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 -0.000059 0.476026 -0.001232 [component_container_isolated-3] -0.004645 0.999951 0.008704 0.060124 [component_container_isolated-3] -0.476003 -0.009865 0.879388 0.018148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.726214712] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.643,28.425,-0.303} [component_container_isolated-3] [DEBUG] [1762964988.726232385] [zed_multi.rear]: +++ Diff [map -> odom] - {0.002,-0.006,-0.003} {-0.294,28.414,-0.074} [component_container_isolated-3] [DEBUG] [1762964988.726262172] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.727246823] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.727299794] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.727342886] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.727389375] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000173 -0.000344 -0.000458 [component_container_isolated-3] 0.000173 1.000000 -0.000041 -0.000776 [component_container_isolated-3] 0.000344 0.000040 1.000000 -0.001060 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.727415585] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.121,-0.636,-0.087} [component_container_isolated-3] [DEBUG] [1762964988.727466001] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.727510847] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.727548369] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982765 -0.000134 0.184861 -0.007328 [component_container_isolated-3] 0.000041 1.000000 0.000506 0.059630 [component_container_isolated-3] -0.184861 -0.000490 0.982764 0.017098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.727573777] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.653,0.002} [component_container_isolated-3] [DEBUG] [1762964988.727610628] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.054} {-0.132,11.290,0.090} [component_container_isolated-3] [DEBUG] [1762964988.727667797] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.728728142] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.728782285] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.728821230] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.728864693] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000078 0.000111 0.000058 [component_container_isolated-3] -0.000078 1.000000 0.000069 0.000613 [component_container_isolated-3] -0.000111 -0.000069 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] [1762964988.728890001] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.031,-0.011} {0.030,-0.214,-0.270} [component_container_isolated-3] [DEBUG] [1762964988.728964443] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.729014829] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.729055818] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 0.000148 0.191376 -0.006768 [component_container_isolated-3] -0.001909 0.999958 0.009017 0.060690 [component_container_isolated-3] -0.191366 -0.009216 0.981475 0.017250 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.729079282] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.000} {-0.538,11.033,-0.111} [component_container_isolated-3] [DEBUG] [1762964988.729110312] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.030,0.012} {-0.515,11.249,0.161} [component_container_isolated-3] [DEBUG] [1762964988.729159526] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.732493723] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.732547386] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.732587202] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.732632067] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000173 -0.000344 -0.000458 [component_container_isolated-3] 0.000173 1.000000 -0.000041 -0.000776 [component_container_isolated-3] 0.000344 0.000040 1.000000 -0.001060 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.732656825] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.055} {0.123,-0.656,-0.077} [component_container_isolated-3] [DEBUG] [1762964988.732704285] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.732748690] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.732784578] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982765 -0.000134 0.184861 -0.007328 [component_container_isolated-3] 0.000041 1.000000 0.000506 0.059630 [component_container_isolated-3] -0.184861 -0.000490 0.982764 0.017098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.732807913] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.653,0.002} [component_container_isolated-3] [DEBUG] [1762964988.732842048] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.001,0.055} {-0.137,11.309,0.079} [component_container_isolated-3] [DEBUG] [1762964988.732894478] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.750316911] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.750375343] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.750413005] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.750457059] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000052 -0.000098 0.000241 [component_container_isolated-3] 0.000052 1.000000 0.000177 -0.000100 [component_container_isolated-3] 0.000098 -0.000177 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] [1762964988.750482147] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.016,0.002} {0.068,0.082,0.191} [component_container_isolated-3] [DEBUG] [1762964988.750530309] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.750571547] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.750612556] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979064 0.000038 0.203551 -0.007053 [component_container_isolated-3] 0.002306 0.999934 -0.011279 0.059878 [component_container_isolated-3] -0.203538 0.011513 0.978999 0.019404 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.750638094] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.674,11.744,0.135} [component_container_isolated-3] [DEBUG] [1762964988.750668432] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.016,-0.001} {0.566,11.664,-0.061} [component_container_isolated-3] [DEBUG] [1762964988.750724349] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.766537128] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.766590009] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.766617191] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.766646727] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000123 -0.000031 0.000303 [component_container_isolated-3] -0.000123 1.000000 -0.000149 0.000253 [component_container_isolated-3] 0.000031 0.000149 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] [1762964988.766663870] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.002} {-0.232,0.010,-0.208} [component_container_isolated-3] [DEBUG] [1762964988.766694458] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.766721039] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.766743462] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 0.000120 0.475999 -0.001182 [component_container_isolated-3] -0.004767 0.999952 0.008555 0.060156 [component_container_isolated-3] -0.475975 -0.009793 0.879404 0.018139 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.766758561] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.638,28.423,-0.311} [component_container_isolated-3] [DEBUG] [1762964988.766777326] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.294,28.414,-0.074} [component_container_isolated-3] [DEBUG] [1762964988.766807123] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.776867807] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.776959432] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.777001682] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.777046979] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000196 0.000032 -0.000293 [component_container_isolated-3] 0.000196 1.000000 -0.000071 -0.000877 [component_container_isolated-3] -0.000032 0.000071 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] [1762964988.777075033] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.011} {0.034,-0.212,-0.258} [component_container_isolated-3] [DEBUG] [1762964988.777129256] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.777173721] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.777210161] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 -0.000030 0.191407 -0.006810 [component_container_isolated-3] -0.001714 0.999959 0.008947 0.060622 [component_container_isolated-3] -0.191399 -0.009109 0.981470 0.017384 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.777233064] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.532,11.034,-0.100} [component_container_isolated-3] [DEBUG] [1762964988.777263703] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.012} {-0.515,11.249,0.161} [component_container_isolated-3] [DEBUG] [1762964988.777312396] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.779304701] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.779366900] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.779407106] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.779452423] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000173 0.000298 0.000522 [component_container_isolated-3] -0.000173 1.000000 -0.000006 0.000747 [component_container_isolated-3] -0.000298 0.000006 1.000000 0.001005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.779477340] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.124,-0.639,-0.087} [component_container_isolated-3] [DEBUG] [1762964988.779526605] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.779572733] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.779612939] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000037 0.185155 -0.007231 [component_container_isolated-3] -0.000132 1.000000 0.000500 0.059713 [component_container_isolated-3] -0.185155 -0.000516 0.982709 0.017220 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.779637025] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.670,-0.008} [component_container_isolated-3] [DEBUG] [1762964988.779671050] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.054} {-0.137,11.309,0.079} [component_container_isolated-3] [DEBUG] [1762964988.779722248] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.781848659] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.781904336] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.781974019] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.782020147] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000123 -0.000031 0.000303 [component_container_isolated-3] -0.000123 1.000000 -0.000149 0.000253 [component_container_isolated-3] 0.000031 0.000149 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] [1762964988.782048852] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.002} {-0.224,0.008,-0.215} [component_container_isolated-3] [DEBUG] [1762964988.782102474] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.782147039] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.782186815] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 0.000120 0.475999 -0.001182 [component_container_isolated-3] -0.004767 0.999952 0.008555 0.060156 [component_container_isolated-3] -0.475975 -0.009793 0.879404 0.018139 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.782210400] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.638,28.423,-0.311} [component_container_isolated-3] [DEBUG] [1762964988.782241279] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.298,28.416,-0.066} [component_container_isolated-3] [DEBUG] [1762964988.782299941] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.789046986] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.789110528] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.789151516] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.789196812] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000196 0.000032 -0.000293 [component_container_isolated-3] 0.000196 1.000000 -0.000071 -0.000877 [component_container_isolated-3] -0.000032 0.000071 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] [1762964988.789222752] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.029,-0.011} {0.038,-0.211,-0.247} [component_container_isolated-3] [DEBUG] [1762964988.789271695] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.789314437] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.789350095] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 -0.000030 0.191407 -0.006810 [component_container_isolated-3] -0.001714 0.999959 0.008947 0.060622 [component_container_isolated-3] -0.191399 -0.009109 0.981470 0.017384 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.789372548] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.532,11.034,-0.100} [component_container_isolated-3] [DEBUG] [1762964988.789403697] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.029,0.012} {-0.521,11.247,0.150} [component_container_isolated-3] [DEBUG] [1762964988.789453643] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.797126676] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.797184867] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.797221347] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.797263978] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000052 -0.000098 0.000241 [component_container_isolated-3] 0.000052 1.000000 0.000177 -0.000100 [component_container_isolated-3] 0.000098 -0.000177 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] [1762964988.797288335] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.016,0.002} {0.058,0.076,0.194} [component_container_isolated-3] [DEBUG] [1762964988.797336357] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.797377515] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.797416660] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979064 0.000038 0.203551 -0.007053 [component_container_isolated-3] 0.002306 0.999934 -0.011279 0.059878 [component_container_isolated-3] -0.203538 0.011513 0.978999 0.019404 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.797439754] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.674,11.744,0.135} [component_container_isolated-3] [DEBUG] [1762964988.797470643] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.016,-0.000} {0.576,11.670,-0.064} [component_container_isolated-3] [DEBUG] [1762964988.797520338] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.814216133] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.814273302] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.814311114] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.814354497] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000005 -0.000015 -0.000008 [component_container_isolated-3] -0.000005 1.000000 0.000008 0.000092 [component_container_isolated-3] 0.000015 -0.000008 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] [1762964988.814379305] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.123,-0.640,-0.087} [component_container_isolated-3] [DEBUG] [1762964988.814426605] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.814471982] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.814512850] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000040 0.185140 -0.007197 [component_container_isolated-3] -0.000137 1.000000 0.000508 0.059762 [component_container_isolated-3] -0.185140 -0.000524 0.982712 0.017270 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.814537096] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964988.814570259] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.054} {-0.137,11.309,0.079} [component_container_isolated-3] [DEBUG] [1762964988.814622028] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.816816649] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.816884649] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.816958731] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.817005530] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000123 -0.000031 0.000303 [component_container_isolated-3] -0.000123 1.000000 -0.000149 0.000253 [component_container_isolated-3] 0.000031 0.000149 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] [1762964988.817031760] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.215,0.006,-0.222} [component_container_isolated-3] [DEBUG] [1762964988.817081195] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.817123776] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.817159644] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 0.000120 0.475999 -0.001182 [component_container_isolated-3] -0.004767 0.999952 0.008555 0.060156 [component_container_isolated-3] -0.475975 -0.009793 0.879404 0.018139 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.817183109] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.638,28.423,-0.311} [component_container_isolated-3] [DEBUG] [1762964988.817213437] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.303,28.418,-0.058} [component_container_isolated-3] [DEBUG] [1762964988.817262771] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.830428274] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.830500662] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.830542302] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.830588891] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000196 0.000032 -0.000293 [component_container_isolated-3] 0.000196 1.000000 -0.000071 -0.000877 [component_container_isolated-3] -0.000032 0.000071 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] [1762964988.830616644] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.028,-0.010} {0.042,-0.209,-0.236} [component_container_isolated-3] [DEBUG] [1762964988.830667371] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.830715423] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.830754718] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 -0.000030 0.191407 -0.006810 [component_container_isolated-3] -0.001714 0.999959 0.008947 0.060622 [component_container_isolated-3] -0.191399 -0.009109 0.981470 0.017384 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.830779234] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.532,11.034,-0.100} [component_container_isolated-3] [DEBUG] [1762964988.830818109] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.011} {-0.528,11.246,0.138} [component_container_isolated-3] [DEBUG] [1762964988.830860600] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.839995946] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.840054879] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.840107489] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.840170229] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000013 0.000106 0.000152 [component_container_isolated-3] 0.000013 1.000000 0.000082 -0.000032 [component_container_isolated-3] -0.000106 -0.000082 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] [1762964988.840207791] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.118,-0.634,-0.087} [component_container_isolated-3] [DEBUG] [1762964988.840277213] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.840341706] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.840397583] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982693 0.000012 0.185244 -0.007145 [component_container_isolated-3] -0.000124 1.000000 0.000589 0.059789 [component_container_isolated-3] -0.185244 -0.000602 0.982692 0.017291 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.840430797] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.035,10.675,-0.007} [component_container_isolated-3] [DEBUG] [1762964988.840474550] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.054} {-0.137,11.309,0.079} [component_container_isolated-3] [DEBUG] [1762964988.840557278] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.857447464] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.857515895] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.857556523] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.857604464] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000028 -0.000121 0.000232 [component_container_isolated-3] -0.000028 1.000000 -0.000395 0.000109 [component_container_isolated-3] 0.000121 0.000395 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] [1762964988.857630113] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.016,0.001} {0.080,0.069,0.192} [component_container_isolated-3] [DEBUG] [1762964988.857680329] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.858277840] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.858356811] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979089 0.000146 0.203432 -0.007069 [component_container_isolated-3] 0.002276 0.999929 -0.011675 0.059842 [component_container_isolated-3] -0.203420 0.011894 0.979019 0.019256 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.858380827] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.696,11.737,0.133} [component_container_isolated-3] [DEBUG] [1762964988.858405744] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.016,0.000} {0.576,11.670,-0.064} [component_container_isolated-3] [DEBUG] [1762964988.858458084] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.860246019] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.860312125] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.860352132] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.860395905] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000041 0.000093 -0.000431 [component_container_isolated-3] 0.000040 1.000000 0.000061 -0.000097 [component_container_isolated-3] -0.000093 -0.000061 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] [1762964988.860420252] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.218,0.011,-0.219} [component_container_isolated-3] [DEBUG] [1762964988.860469436] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.860511446] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.860551462] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000055 0.476081 -0.001216 [component_container_isolated-3] -0.004727 0.999952 0.008616 0.060165 [component_container_isolated-3] -0.476057 -0.009827 0.879359 0.018167 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.860575518] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.640,28.428,-0.308} [component_container_isolated-3] [DEBUG] [1762964988.860607890] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.303,28.418,-0.058} [component_container_isolated-3] [DEBUG] [1762964988.860659268] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.867976332] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.868040735] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.868083567] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.868130186] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000016 -0.000011 -0.000091 [component_container_isolated-3] 0.000016 1.000000 0.000023 0.000053 [component_container_isolated-3] 0.000011 -0.000023 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] [1762964988.868156085] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.117,-0.634,-0.086} [component_container_isolated-3] [DEBUG] [1762964988.868207884] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.868252750] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.868294289] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982695 -0.000008 0.185233 -0.007117 [component_container_isolated-3] -0.000107 1.000000 0.000612 0.059821 [component_container_isolated-3] -0.185233 -0.000621 0.982695 0.017314 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.868320048] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.675,-0.006} [component_container_isolated-3] [DEBUG] [1762964988.868351328] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.054} {-0.137,11.309,0.079} [component_container_isolated-3] [DEBUG] [1762964988.868404079] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.870794875] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.870849699] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.870890738] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.870959589] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000043 -0.000042 0.000356 [component_container_isolated-3] -0.000043 1.000000 0.000012 0.000513 [component_container_isolated-3] 0.000042 -0.000012 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] [1762964988.870987823] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.029,-0.011} {0.042,-0.211,-0.238} [component_container_isolated-3] [DEBUG] [1762964988.871038410] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.871085269] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.871126107] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981519 0.000010 0.191365 -0.006804 [component_container_isolated-3] -0.001757 0.999958 0.008959 0.060685 [component_container_isolated-3] -0.191357 -0.009129 0.981478 0.017348 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.871151696] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.000} {-0.533,11.032,-0.103} [component_container_isolated-3] [DEBUG] [1762964988.871183667] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.012} {-0.528,11.246,0.138} [component_container_isolated-3] [DEBUG] [1762964988.871233061] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.903285294] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.903378451] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.903433246] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.903486157] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000019 0.000325 -0.000465 [component_container_isolated-3] 0.000018 1.000000 0.000035 -0.000003 [component_container_isolated-3] -0.000325 -0.000035 1.000000 0.001077 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.903516345] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.016,0.002} {0.078,0.088,0.193} [component_container_isolated-3] [DEBUG] [1762964988.903567342] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.903611266] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.903647616] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979023 0.000121 0.203750 -0.007099 [component_container_isolated-3] 0.002299 0.999930 -0.011639 0.059818 [component_container_isolated-3] -0.203737 0.011864 0.978954 0.019462 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.903671411] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.694,11.756,0.135} [component_container_isolated-3] [DEBUG] [1762964988.903702781] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.016,-0.001} {0.576,11.670,-0.064} [component_container_isolated-3] [DEBUG] [1762964988.903751835] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.903911770] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.904002784] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.904035206] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.904055004] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.904109738] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.904066956] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000042 -0.000053 -0.000050 [component_container_isolated-3] -0.000042 1.000000 -0.000134 -0.000003 [component_container_isolated-3] 0.000053 0.000134 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] [1762964988.904166787] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.211,0.008,-0.222} [component_container_isolated-3] [DEBUG] [1762964988.904202365] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.904230769] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.904251459] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879427 0.000157 0.476034 -0.001234 [component_container_isolated-3] -0.004769 0.999953 0.008482 0.060169 [component_container_isolated-3] -0.476010 -0.009729 0.879386 0.018190 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.904264253] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.634,28.425,-0.311} [component_container_isolated-3] [DEBUG] [1762964988.904279763] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.303,28.418,-0.058} [component_container_isolated-3] [DEBUG] [1762964988.904305031] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.904154413] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.904802792] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000016 -0.000011 -0.000091 [component_container_isolated-3] 0.000016 1.000000 0.000023 0.000053 [component_container_isolated-3] 0.000011 -0.000023 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] [1762964988.904829382] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.116,-0.635,-0.085} [component_container_isolated-3] [DEBUG] [1762964988.904884708] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.904942689] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.904974359] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982695 -0.000008 0.185233 -0.007117 [component_container_isolated-3] -0.000107 1.000000 0.000612 0.059821 [component_container_isolated-3] -0.185233 -0.000621 0.982695 0.017314 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.904993476] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.675,-0.006} [component_container_isolated-3] [DEBUG] [1762964988.905023824] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.054} {-0.135,11.310,0.078} [component_container_isolated-3] [DEBUG] [1762964988.905068118] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.910420911] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.910480294] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.910522204] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.910570517] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000019 0.000325 -0.000465 [component_container_isolated-3] 0.000018 1.000000 0.000035 -0.000003 [component_container_isolated-3] -0.000325 -0.000035 1.000000 0.001077 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.910596727] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.016,0.003} {0.076,0.106,0.194} [component_container_isolated-3] [DEBUG] [1762964988.910646291] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.910689774] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.910725092] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979023 0.000121 0.203750 -0.007099 [component_container_isolated-3] 0.002299 0.999930 -0.011639 0.059818 [component_container_isolated-3] -0.203737 0.011864 0.978954 0.019462 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.910747555] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.694,11.756,0.135} [component_container_isolated-3] [DEBUG] [1762964988.910783874] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.016,-0.002} {0.578,11.651,-0.065} [component_container_isolated-3] [DEBUG] [1762964988.910836525] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.912307694] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.912359182] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.912398638] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.912442371] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000087 0.000067 -0.000189 [component_container_isolated-3] -0.000087 1.000000 -0.000063 0.000415 [component_container_isolated-3] -0.000067 0.000063 1.000000 0.001063 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.912468191] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.029,-0.010} {0.045,-0.207,-0.243} [component_container_isolated-3] [DEBUG] [1762964988.912516222] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.912558433] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.912595504] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981506 0.000108 0.191431 -0.006761 [component_container_isolated-3] -0.001845 0.999959 0.008895 0.060827 [component_container_isolated-3] -0.191422 -0.009084 0.981466 0.017632 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.912621083] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.530,11.036,-0.108} [component_container_isolated-3] [DEBUG] [1762964988.912654577] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.011} {-0.528,11.246,0.138} [component_container_isolated-3] [DEBUG] [1762964988.912708409] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.930033656] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.930079183] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.930104141] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.930131583] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000074 0.000001 0.000148 [component_container_isolated-3] 0.000074 1.000000 0.000112 0.000066 [component_container_isolated-3] -0.000001 -0.000112 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] [1762964988.930147023] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.217,0.008,-0.218} [component_container_isolated-3] [DEBUG] [1762964988.930176599] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.930203310] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.930225493] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 0.000038 0.476035 -0.001246 [component_container_isolated-3] -0.004695 0.999952 0.008593 0.060184 [component_container_isolated-3] -0.476012 -0.009792 0.879384 0.018192 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.930240582] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.638,28.425,-0.306} [component_container_isolated-3] [DEBUG] [1762964988.930260540] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.303,28.418,-0.058} [component_container_isolated-3] [DEBUG] [1762964988.930293873] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.931388444] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.931437137] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.931475901] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.931519224] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000016 -0.000011 -0.000091 [component_container_isolated-3] 0.000016 1.000000 0.000023 0.000053 [component_container_isolated-3] 0.000011 -0.000023 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] [1762964988.931543841] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.114,-0.636,-0.084} [component_container_isolated-3] [DEBUG] [1762964988.931593014] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.931636758] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.931673879] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982695 -0.000008 0.185233 -0.007117 [component_container_isolated-3] -0.000107 1.000000 0.000612 0.059821 [component_container_isolated-3] -0.185233 -0.000621 0.982695 0.017314 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.931696933] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.675,-0.006} [component_container_isolated-3] [DEBUG] [1762964988.931727912] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.054} {-0.134,11.311,0.078} [component_container_isolated-3] [DEBUG] [1762964988.931780212] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.936333598] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.936402579] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.936443578] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.936489526] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000019 0.000325 -0.000465 [component_container_isolated-3] 0.000018 1.000000 0.000035 -0.000003 [component_container_isolated-3] -0.000325 -0.000035 1.000000 0.001077 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.936514724] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.016,0.004} {0.074,0.125,0.195} [component_container_isolated-3] [DEBUG] [1762964988.936563517] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.936604796] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.936641656] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979023 0.000121 0.203750 -0.007099 [component_container_isolated-3] 0.002299 0.999930 -0.011639 0.059818 [component_container_isolated-3] -0.203737 0.011864 0.978954 0.019462 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.936665291] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.694,11.756,0.135} [component_container_isolated-3] [DEBUG] [1762964988.936697753] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.016,-0.003} {0.580,11.633,-0.066} [component_container_isolated-3] [DEBUG] [1762964988.936756926] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.940392129] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.940450230] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.940492580] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.940536544] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000094 -0.000187 0.000134 [component_container_isolated-3] -0.000094 1.000000 -0.000086 -0.000068 [component_container_isolated-3] 0.000187 0.000086 1.000000 -0.000743 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.940561272] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.029,-0.011} {0.050,-0.218,-0.249} [component_container_isolated-3] [DEBUG] [1762964988.940610185] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.940653378] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.940689396] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 0.000217 0.191247 -0.006759 [component_container_isolated-3] -0.001937 0.999959 0.008809 0.060871 [component_container_isolated-3] -0.191238 -0.009017 0.981502 0.017617 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.940712541] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.526,11.025,-0.113} [component_container_isolated-3] [DEBUG] [1762964988.940744842] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.012} {-0.528,11.246,0.138} [component_container_isolated-3] [DEBUG] [1762964988.940795489] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.969868852] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.969913117] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.969960898] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.970002698] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000057 -0.000055 0.000146 [component_container_isolated-3] -0.000057 1.000000 0.000018 0.000081 [component_container_isolated-3] 0.000055 -0.000018 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] [1762964988.970024650] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.218,0.005,-0.221} [component_container_isolated-3] [DEBUG] [1762964988.970064856] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.970100885] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.970129710] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879453 0.000081 0.475986 -0.001233 [component_container_isolated-3] -0.004752 0.999952 0.008611 0.060207 [component_container_isolated-3] -0.475963 -0.009835 0.879410 0.018182 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.970148646] [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] [1762964988.970173193] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.303,28.418,-0.058} [component_container_isolated-3] [DEBUG] [1762964988.970212749] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.979774399] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.979842620] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.979883878] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.979968199] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000094 -0.000187 0.000134 [component_container_isolated-3] -0.000094 1.000000 -0.000086 -0.000068 [component_container_isolated-3] 0.000187 0.000086 1.000000 -0.000743 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.979997776] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.011} {0.055,-0.229,-0.254} [component_container_isolated-3] [DEBUG] [1762964988.980048192] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.980093348] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.980129828] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 0.000217 0.191247 -0.006759 [component_container_isolated-3] -0.001937 0.999959 0.008809 0.060871 [component_container_isolated-3] -0.191238 -0.009017 0.981502 0.017617 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.980153042] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.526,11.025,-0.113} [component_container_isolated-3] [DEBUG] [1762964988.980184793] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.013} {-0.531,11.256,0.144} [component_container_isolated-3] [DEBUG] [1762964988.980235099] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.984652836] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.984697702] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.984738770] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.984781772] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000021 -0.000315 0.000508 [component_container_isolated-3] 0.000021 1.000000 0.000025 0.000041 [component_container_isolated-3] 0.000315 -0.000025 1.000000 -0.001096 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.984807201] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.016,0.003} {0.073,0.107,0.197} [component_container_isolated-3] [DEBUG] [1762964988.984854231] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.984894698] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.984960854] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 0.000095 0.203442 -0.007103 [component_container_isolated-3] 0.002316 0.999930 -0.011615 0.059803 [component_container_isolated-3] -0.203429 0.011843 0.979018 0.019272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.984983748] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.693,11.738,0.136} [component_container_isolated-3] [DEBUG] [1762964988.985015008] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.016,-0.002} {0.580,11.633,-0.066} [component_container_isolated-3] [DEBUG] [1762964988.985070774] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.986509011] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.986561311] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.986602630] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.986646293] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000125 -0.000327 -0.000637 [component_container_isolated-3] 0.000125 1.000000 -0.000208 -0.000729 [component_container_isolated-3] 0.000327 0.000208 1.000000 -0.000991 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.986670770] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.055} {0.126,-0.654,-0.077} [component_container_isolated-3] [DEBUG] [1762964988.986719493] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.986761613] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.986796921] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982755 -0.000092 0.184912 -0.007271 [component_container_isolated-3] 0.000018 1.000000 0.000404 0.059699 [component_container_isolated-3] -0.184912 -0.000393 0.982755 0.017131 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.986820656] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.023,10.656,0.001} [component_container_isolated-3] [DEBUG] [1762964988.986851505] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.001,0.055} {-0.134,11.311,0.078} [component_container_isolated-3] [DEBUG] [1762964988.986906350] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964988.997856632] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964988.997917879] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964988.997981751] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964988.998025865] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000094 -0.000187 0.000134 [component_container_isolated-3] -0.000094 1.000000 -0.000086 -0.000068 [component_container_isolated-3] 0.000187 0.000086 1.000000 -0.000743 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964988.998051013] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.012} {0.060,-0.240,-0.260} [component_container_isolated-3] [DEBUG] [1762964988.998099275] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964988.998143329] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964988.998183616] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 0.000217 0.191247 -0.006759 [component_container_isolated-3] -0.001937 0.999959 0.008809 0.060871 [component_container_isolated-3] -0.191238 -0.009017 0.981502 0.017617 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964988.998207592] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.526,11.025,-0.113} [component_container_isolated-3] [DEBUG] [1762964988.998238742] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.013} {-0.535,11.267,0.149} [component_container_isolated-3] [DEBUG] [1762964988.998288637] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.004447689] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.004509688] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.004550425] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.004595381] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000036 -0.000013 -0.000103 [component_container_isolated-3] 0.000036 1.000000 0.000050 -0.000080 [component_container_isolated-3] 0.000013 -0.000050 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] [1762964989.004621241] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.221,0.005,-0.219} [component_container_isolated-3] [DEBUG] [1762964989.004670515] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.004714879] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.004753333] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879459 0.000025 0.475975 -0.001239 [component_container_isolated-3] -0.004716 0.999951 0.008662 0.060218 [component_container_isolated-3] -0.475952 -0.009862 0.879416 0.018180 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.004777509] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.643,28.421,-0.307} [component_container_isolated-3] [DEBUG] [1762964989.004808779] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.303,28.418,-0.058} [component_container_isolated-3] [DEBUG] [1762964989.004858113] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.020877737] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.020987226] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.021029587] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.021077859] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000397 -0.000007 0.001616 [component_container_isolated-3] -0.000397 1.000000 0.000279 0.002424 [component_container_isolated-3] 0.000007 -0.000279 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] [1762964989.021103648] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.004,-0.055} {0.111,-0.655,-0.099} [component_container_isolated-3] [DEBUG] [1762964989.021154455] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.021202136] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.021241511] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982756 0.000246 0.184905 -0.006815 [component_container_isolated-3] -0.000379 1.000000 0.000683 0.060664 [component_container_isolated-3] -0.184905 -0.000741 0.982756 0.016889 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.021264295] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.001} {-0.043,10.656,-0.022} [component_container_isolated-3] [DEBUG] [1762964989.021295234] [zed_multi.front]: +++ Diff [map -> odom] - {0.005,-0.003,0.055} {-0.134,11.311,0.078} [component_container_isolated-3] [DEBUG] [1762964989.021346061] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.026745603] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.026808192] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.026846105] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.026888255] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000094 -0.000187 0.000134 [component_container_isolated-3] -0.000094 1.000000 -0.000086 -0.000068 [component_container_isolated-3] 0.000187 0.000086 1.000000 -0.000743 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.026912672] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.013} {0.065,-0.250,-0.265} [component_container_isolated-3] [DEBUG] [1762964989.026997534] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.027043121] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.027083168] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 0.000217 0.191247 -0.006759 [component_container_isolated-3] -0.001937 0.999959 0.008809 0.060871 [component_container_isolated-3] -0.191238 -0.009017 0.981502 0.017617 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.027108055] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.526,11.025,-0.113} [component_container_isolated-3] [DEBUG] [1762964989.027141779] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.014} {-0.539,11.278,0.155} [component_container_isolated-3] [DEBUG] [1762964989.027191374] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.033641853] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.033708570] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.033693792] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.033802480] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.033755320] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.033840282] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.033913261] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000027 0.000025 -0.000000 [component_container_isolated-3] -0.000027 1.000000 -0.000061 0.000006 [component_container_isolated-3] -0.000025 0.000061 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] [1762964989.033970431] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.218,0.006,-0.220} [component_container_isolated-3] [DEBUG] [1762964989.033948098] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000015 0.000031 0.000112 [component_container_isolated-3] 0.000015 1.000000 -0.000010 -0.000068 [component_container_isolated-3] -0.000031 0.000010 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] [1762964989.034048730] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.016,0.003} {0.073,0.109,0.197} [component_container_isolated-3] [DEBUG] [1762964989.034038501] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.034109386] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.034152789] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.034176133] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.034185501] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879447 0.000078 0.475997 -0.001235 [component_container_isolated-3] -0.004744 0.999952 0.008601 0.060225 [component_container_isolated-3] -0.475973 -0.009822 0.879405 0.018186 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.034227271] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.640,28.423,-0.309} [component_container_isolated-3] [DEBUG] [1762964989.034252800] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.303,28.418,-0.058} [component_container_isolated-3] [DEBUG] [1762964989.034209567] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979081 0.000082 0.203472 -0.007080 [component_container_isolated-3] 0.002332 0.999930 -0.011625 0.059779 [component_container_isolated-3] -0.203458 0.011856 0.979012 0.019196 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.034321301] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.694,11.739,0.136} [component_container_isolated-3] [DEBUG] [1762964989.034346769] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.016,-0.002} {0.580,11.633,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.034298637] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.034392697] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.048870606] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.048966249] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.049008449] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.049055028] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000201 0.000231 -0.000861 [component_container_isolated-3] 0.000201 1.000000 -0.000084 -0.001523 [component_container_isolated-3] -0.000231 0.000084 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] [1762964989.049080838] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.115,-0.641,-0.088} [component_container_isolated-3] [DEBUG] [1762964989.049129420] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.049171090] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.049208311] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000064 0.185132 -0.006813 [component_container_isolated-3] -0.000178 1.000000 0.000599 0.060526 [component_container_isolated-3] -0.185132 -0.000621 0.982714 0.017028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.049231295] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.001} {-0.036,10.669,-0.010} [component_container_isolated-3] [DEBUG] [1762964989.049262935] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.001,0.054} {-0.134,11.311,0.078} [component_container_isolated-3] [DEBUG] [1762964989.049313372] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.065223096] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.065285334] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.065323708] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.065365397] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000094 -0.000187 0.000134 [component_container_isolated-3] -0.000094 1.000000 -0.000086 -0.000068 [component_container_isolated-3] 0.000187 0.000086 1.000000 -0.000743 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.065389553] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.014} {0.070,-0.261,-0.270} [component_container_isolated-3] [DEBUG] [1762964989.065436012] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.065479115] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.065519091] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 0.000217 0.191247 -0.006759 [component_container_isolated-3] -0.001937 0.999959 0.008809 0.060871 [component_container_isolated-3] -0.191238 -0.009017 0.981502 0.017617 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.065543207] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.526,11.025,-0.113} [component_container_isolated-3] [DEBUG] [1762964989.065577553] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.015} {-0.543,11.289,0.160} [component_container_isolated-3] [DEBUG] [1762964989.065627508] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.069696288] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.069755511] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.069795548] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.069840323] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000035 0.000074 -0.000273 [component_container_isolated-3] 0.000035 1.000000 0.000060 0.000201 [component_container_isolated-3] -0.000074 -0.000060 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] [1762964989.069866423] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.003} {0.070,0.113,0.199} [component_container_isolated-3] [DEBUG] [1762964989.069915697] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.070002213] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.070043341] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979066 0.000036 0.203544 -0.007091 [component_container_isolated-3] 0.002367 0.999930 -0.011565 0.059781 [component_container_isolated-3] -0.203531 0.011805 0.978997 0.019176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.070067938] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.691,11.743,0.139} [component_container_isolated-3] [DEBUG] [1762964989.070104849] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.002} {0.580,11.633,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.070171566] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.071576098] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.071627106] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.071665248] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.071708010] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000201 0.000231 -0.000861 [component_container_isolated-3] 0.000201 1.000000 -0.000084 -0.001523 [component_container_isolated-3] -0.000231 0.000084 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] [1762964989.071732437] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.053} {0.120,-0.628,-0.076} [component_container_isolated-3] [DEBUG] [1762964989.071779056] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.071823841] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.071862836] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000064 0.185132 -0.006813 [component_container_isolated-3] -0.000178 1.000000 0.000599 0.060526 [component_container_isolated-3] -0.185132 -0.000621 0.982714 0.017028 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.071886251] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.001} {-0.036,10.669,-0.010} [component_container_isolated-3] [DEBUG] [1762964989.071954701] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,0.000,0.053} {-0.141,11.297,0.066} [component_container_isolated-3] [DEBUG] [1762964989.072009165] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.072150225] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.072200190] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.072239665] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.072282888] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000045 0.000099 -0.000071 [component_container_isolated-3] 0.000045 1.000000 0.000161 -0.000015 [component_container_isolated-3] -0.000099 -0.000161 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] [1762964989.072308878] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.227,0.012,-0.218} [component_container_isolated-3] [DEBUG] [1762964989.072357781] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.072403999] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.072442573] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879400 -0.000039 0.476084 -0.001244 [component_container_isolated-3] -0.004699 0.999951 0.008761 0.060233 [component_container_isolated-3] -0.476061 -0.009942 0.879356 0.018193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.072465747] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.648,28.428,-0.306} [component_container_isolated-3] [DEBUG] [1762964989.072496045] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.303,28.418,-0.058} [component_container_isolated-3] [DEBUG] [1762964989.072546101] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.099233658] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.099299724] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.099339400] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.099383394] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000094 -0.000187 0.000134 [component_container_isolated-3] -0.000094 1.000000 -0.000086 -0.000068 [component_container_isolated-3] 0.000187 0.000086 1.000000 -0.000743 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.099408241] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.014} {0.075,-0.272,-0.276} [component_container_isolated-3] [DEBUG] [1762964989.099455822] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.099498634] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.099534091] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 0.000217 0.191247 -0.006759 [component_container_isolated-3] -0.001937 0.999959 0.008809 0.060871 [component_container_isolated-3] -0.191238 -0.009017 0.981502 0.017617 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.099559340] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.526,11.025,-0.113} [component_container_isolated-3] [DEBUG] [1762964989.099594056] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.016} {-0.547,11.299,0.165} [component_container_isolated-3] [DEBUG] [1762964989.099646456] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.104509193] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.104576301] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.104617770] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.104663227] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000103 -0.000007 0.000046 [component_container_isolated-3] -0.000103 1.000000 -0.000013 0.000332 [component_container_isolated-3] 0.000007 0.000013 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] [1762964989.104689036] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.003} {0.071,0.112,0.193} [component_container_isolated-3] [DEBUG] [1762964989.104737438] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.104780831] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.104820427] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 0.000140 0.203538 -0.007086 [component_container_isolated-3] 0.002264 0.999930 -0.011578 0.059844 [component_container_isolated-3] -0.203525 0.011796 0.978999 0.019168 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.104844753] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.690,11.743,0.133} [component_container_isolated-3] [DEBUG] [1762964989.104875262] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.002} {0.580,11.633,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.104960174] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.106635433] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.106688775] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.106730615] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.106774649] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000088 -0.000076 -0.000025 [component_container_isolated-3] -0.000088 1.000000 -0.000148 -0.000056 [component_container_isolated-3] 0.000076 0.000148 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] [1762964989.106800488] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.218,0.007,-0.223} [component_container_isolated-3] [DEBUG] [1762964989.106849893] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.106893276] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.106968169] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879436 0.000109 0.476017 -0.001247 [component_container_isolated-3] -0.004786 0.999951 0.008613 0.060231 [component_container_isolated-3] -0.475993 -0.009853 0.879394 0.018200 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.106994639] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.642,28.424,-0.312} [component_container_isolated-3] [DEBUG] [1762964989.107026540] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.303,28.418,-0.058} [component_container_isolated-3] [DEBUG] [1762964989.107079351] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.121801256] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.121866531] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.121911857] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.122010165] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000035 -0.000004 0.000050 [component_container_isolated-3] -0.000035 1.000000 -0.000007 0.000394 [component_container_isolated-3] 0.000004 0.000007 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] [1762964989.122039822] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.053} {0.120,-0.628,-0.078} [component_container_isolated-3] [DEBUG] [1762964989.122084357] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.122123832] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.122151796] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000100 0.185128 -0.006801 [component_container_isolated-3] -0.000213 1.000000 0.000592 0.060545 [component_container_isolated-3] -0.185128 -0.000621 0.982714 0.017084 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.122169169] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.001,-0.000} {-0.036,10.669,-0.012} [component_container_isolated-3] [DEBUG] [1762964989.122191652] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.000,0.053} {-0.141,11.297,0.066} [component_container_isolated-3] [DEBUG] [1762964989.122230175] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.132044889] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.132107509] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.132151683] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.132198102] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000040 0.000012 0.000030 [component_container_isolated-3] 0.000040 1.000000 0.000053 -0.000013 [component_container_isolated-3] -0.000012 -0.000053 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] [1762964989.132224753] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.221,0.008,-0.220} [component_container_isolated-3] [DEBUG] [1762964989.132274287] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.132316398] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.132352406] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879430 0.000049 0.476028 -0.001256 [component_container_isolated-3] -0.004746 0.999951 0.008666 0.060230 [component_container_isolated-3] -0.476004 -0.009881 0.879387 0.018203 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.132375991] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.644,28.425,-0.309} [component_container_isolated-3] [DEBUG] [1762964989.132409145] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.303,28.418,-0.058} [component_container_isolated-3] [DEBUG] [1762964989.132461344] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.133574891] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.133629896] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.133671806] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.133717313] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000009 -0.000123 0.000303 [component_container_isolated-3] 0.000009 1.000000 0.000077 -0.000320 [component_container_isolated-3] 0.000123 -0.000077 1.000000 -0.000266 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.133743884] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.003} {0.066,0.105,0.194} [component_container_isolated-3] [DEBUG] [1762964989.133792977] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.133835388] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.133870706] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 0.000115 0.203417 -0.007047 [component_container_isolated-3] 0.002272 0.999931 -0.011501 0.059838 [component_container_isolated-3] -0.203405 0.011722 0.979025 0.019102 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.133894972] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.686,11.736,0.133} [component_container_isolated-3] [DEBUG] [1762964989.133954496] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.002} {0.580,11.633,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.134009451] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.143088199] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.143144026] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.143185896] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.143231342] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000006 0.000108 0.000416 [component_container_isolated-3] 0.000006 1.000000 0.000072 -0.000038 [component_container_isolated-3] -0.000108 -0.000072 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] [1762964989.143258544] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.029,-0.015} {0.071,-0.265,-0.275} [component_container_isolated-3] [DEBUG] [1762964989.143308830] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.143354518] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.143394694] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981521 0.000197 0.191354 -0.006693 [component_container_isolated-3] -0.001932 0.999959 0.008880 0.060912 [component_container_isolated-3] -0.191344 -0.009086 0.981481 0.017515 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.143419903] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.530,11.031,-0.113} [component_container_isolated-3] [DEBUG] [1762964989.143454078] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.016} {-0.547,11.299,0.165} [component_container_isolated-3] [DEBUG] [1762964989.143505666] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.146674057] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.146742418] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.146784929] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.146829915] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000075 0.000043 -0.000264 [component_container_isolated-3] 0.000075 1.000000 -0.000028 -0.000602 [component_container_isolated-3] -0.000043 0.000028 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] [1762964989.146855965] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.053} {0.122,-0.626,-0.074} [component_container_isolated-3] [DEBUG] [1762964989.146910018] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.146984721] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.147026370] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000031 0.185170 -0.006835 [component_container_isolated-3] -0.000138 1.000000 0.000564 0.060432 [component_container_isolated-3] -0.185170 -0.000580 0.982706 0.017150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.147049234] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.034,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964989.147079602] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,0.000,0.053} {-0.141,11.297,0.066} [component_container_isolated-3] [DEBUG] [1762964989.147130228] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.147608011] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.147658357] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.147698133] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.147741937] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000040 0.000012 0.000030 [component_container_isolated-3] 0.000040 1.000000 0.000053 -0.000013 [component_container_isolated-3] -0.000012 -0.000053 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] [1762964989.147766684] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.224,0.009,-0.218} [component_container_isolated-3] [DEBUG] [1762964989.147813153] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.147855093] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.147891492] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879430 0.000049 0.476028 -0.001256 [component_container_isolated-3] -0.004746 0.999951 0.008666 0.060230 [component_container_isolated-3] -0.476004 -0.009881 0.879387 0.018203 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.147915708] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.644,28.425,-0.309} [component_container_isolated-3] [DEBUG] [1762964989.147986293] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.301,28.417,-0.061} [component_container_isolated-3] [DEBUG] [1762964989.148039866] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.156558975] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.156624139] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.156664987] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.156710534] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000058 -0.000056 0.000133 [component_container_isolated-3] 0.000058 1.000000 -0.000026 -0.000046 [component_container_isolated-3] 0.000056 0.000026 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] [1762964989.156736564] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.003} {0.068,0.102,0.197} [component_container_isolated-3] [DEBUG] [1762964989.156788934] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.156835032] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.156874928] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979104 0.000063 0.203362 -0.007009 [component_container_isolated-3] 0.002330 0.999931 -0.011526 0.059829 [component_container_isolated-3] -0.203349 0.011759 0.979036 0.019031 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.156899215] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.688,11.733,0.136} [component_container_isolated-3] [DEBUG] [1762964989.156970341] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.015,-0.002} {0.580,11.633,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.157027089] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.158947997] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.159002662] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.159040093] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.159083005] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000075 0.000043 -0.000264 [component_container_isolated-3] 0.000075 1.000000 -0.000028 -0.000602 [component_container_isolated-3] -0.000043 0.000028 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] [1762964989.159107302] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.000,-0.053} {0.123,-0.624,-0.070} [component_container_isolated-3] [DEBUG] [1762964989.159155704] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.159199137] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.159239675] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000031 0.185170 -0.006835 [component_container_isolated-3] -0.000138 1.000000 0.000564 0.060432 [component_container_isolated-3] -0.185170 -0.000580 0.982706 0.017150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.159264121] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.034,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964989.159297485] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,0.001,0.052} {-0.144,11.295,0.061} [component_container_isolated-3] [DEBUG] [1762964989.159356508] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.169104674] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.169165210] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.169206369] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.169251365] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000145 -0.000053 0.000118 [component_container_isolated-3] 0.000145 1.000000 -0.000052 -0.000644 [component_container_isolated-3] 0.000053 0.000052 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] [1762964989.169276843] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.028,-0.015} {0.074,-0.268,-0.267} [component_container_isolated-3] [DEBUG] [1762964989.169325967] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.169369811] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.169406010] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981531 0.000064 0.191302 -0.006650 [component_container_isolated-3] -0.001786 0.999959 0.008829 0.060839 [component_container_isolated-3] -0.191293 -0.009007 0.981492 0.017441 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.169429966] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.526,11.028,-0.104} [component_container_isolated-3] [DEBUG] [1762964989.169469892] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.027,0.016} {-0.547,11.299,0.165} [component_container_isolated-3] [DEBUG] [1762964989.169532531] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.200200480] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.200265364] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.200306773] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.200350456] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000055 0.000106 0.000009 [component_container_isolated-3] -0.000055 1.000000 -0.000014 -0.000068 [component_container_isolated-3] -0.000106 0.000014 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] [1762964989.200376205] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.003} {0.069,0.108,0.194} [component_container_isolated-3] [DEBUG] [1762964989.200424548] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.200468441] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.200503699] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000120 0.203466 -0.006976 [component_container_isolated-3] 0.002276 0.999931 -0.011540 0.059813 [component_container_isolated-3] -0.203454 0.011762 0.979014 0.018993 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.200525480] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.688,11.739,0.133} [component_container_isolated-3] [DEBUG] [1762964989.200557852] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.016,-0.002} {0.580,11.633,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.200610072] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.203108373] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.203168909] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.203213955] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.203260163] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000044 -0.000043 0.000237 [component_container_isolated-3] 0.000044 1.000000 -0.000239 -0.000106 [component_container_isolated-3] 0.000043 0.000239 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] [1762964989.203286062] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.002} {-0.211,0.006,-0.216} [component_container_isolated-3] [DEBUG] [1762964989.203335988] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.203438213] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.203483620] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879451 0.000124 0.475990 -0.001236 [component_container_isolated-3] -0.004702 0.999953 0.008427 0.060212 [component_container_isolated-3] -0.475967 -0.009649 0.879410 0.018186 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.203619970] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.629,28.422,-0.306} [component_container_isolated-3] [DEBUG] [1762964989.203650539] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.301,28.417,-0.061} [component_container_isolated-3] [DEBUG] [1762964989.203701636] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.215979223] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.216043626] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.216083743] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.216126224] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000045 0.000091 -0.000466 [component_container_isolated-3] 0.000045 1.000000 0.000002 -0.000300 [component_container_isolated-3] -0.000091 -0.000002 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] [1762964989.216151282] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.028,-0.015} {0.074,-0.263,-0.265} [component_container_isolated-3] [DEBUG] [1762964989.216199805] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.216242847] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.216279687] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981514 0.000020 0.191391 -0.006667 [component_container_isolated-3] -0.001742 0.999960 0.008831 0.060740 [component_container_isolated-3] -0.191383 -0.009001 0.981474 0.017425 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.216305396] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.525,11.034,-0.102} [component_container_isolated-3] [DEBUG] [1762964989.216339652] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.027,0.016} {-0.547,11.299,0.165} [component_container_isolated-3] [DEBUG] [1762964989.216391491] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.220968872] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.221032774] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.221073973] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.221118147] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000034 -0.000012 0.000119 [component_container_isolated-3] 0.000034 1.000000 -0.000099 0.000001 [component_container_isolated-3] 0.000012 0.000099 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] [1762964989.221143746] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,-0.000,-0.053} {0.129,-0.624,-0.068} [component_container_isolated-3] [DEBUG] [1762964989.221193051] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.221236584] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.221273815] [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 -0.006841 [component_container_isolated-3] -0.000103 1.000000 0.000465 0.060386 [component_container_isolated-3] -0.185158 -0.000476 0.982709 0.017192 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.221295867] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.028,10.670,-0.006} [component_container_isolated-3] [DEBUG] [1762964989.221327297] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,0.001,0.052} {-0.144,11.295,0.061} [component_container_isolated-3] [DEBUG] [1762964989.221378174] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.221948263] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.222002406] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.222042703] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.222088130] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000044 -0.000043 0.000237 [component_container_isolated-3] 0.000044 1.000000 -0.000239 -0.000106 [component_container_isolated-3] 0.000043 0.000239 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] [1762964989.222114971] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.002} {-0.197,0.004,-0.213} [component_container_isolated-3] [DEBUG] [1762964989.222165337] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.222210894] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.222248687] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879451 0.000124 0.475990 -0.001236 [component_container_isolated-3] -0.004702 0.999953 0.008427 0.060212 [component_container_isolated-3] -0.475967 -0.009649 0.879410 0.018186 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.222271991] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.629,28.422,-0.306} [component_container_isolated-3] [DEBUG] [1762964989.222302770] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.316,28.420,-0.064} [component_container_isolated-3] [DEBUG] [1762964989.222352545] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.227983889] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.228063081] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.228112034] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.228163122] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000016 0.000067 -0.000101 [component_container_isolated-3] -0.000016 1.000000 -0.000119 0.000086 [component_container_isolated-3] -0.000067 0.000119 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] [1762964989.228190454] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.003} {0.075,0.112,0.193} [component_container_isolated-3] [DEBUG] [1762964989.228241391] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.228286598] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.228327385] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979068 0.000159 0.203531 -0.006955 [component_container_isolated-3] 0.002261 0.999929 -0.011659 0.059808 [component_container_isolated-3] -0.203519 0.011875 0.978999 0.018961 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.228352093] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.695,11.743,0.132} [component_container_isolated-3] [DEBUG] [1762964989.228401036] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.002} {0.580,11.633,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.228510164] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.247575685] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.247634177] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.247674514] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.247718989] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000115 0.000003 -0.000039 [component_container_isolated-3] -0.000115 1.000000 0.000092 0.000747 [component_container_isolated-3] -0.000003 -0.000092 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] [1762964989.247744217] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.053} {0.124,-0.624,-0.074} [component_container_isolated-3] [DEBUG] [1762964989.247793210] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.247836633] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.247877311] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 0.000111 0.185161 -0.006838 [component_container_isolated-3] -0.000218 1.000000 0.000557 0.060493 [component_container_isolated-3] -0.185161 -0.000588 0.982708 0.017242 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.247901678] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.034,10.671,-0.013} [component_container_isolated-3] [DEBUG] [1762964989.247977502] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,0.000,0.052} {-0.144,11.295,0.061} [component_container_isolated-3] [DEBUG] [1762964989.248032167] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.254130343] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.254194595] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.254234341] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.254278115] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000061 -0.000235 0.000270 [component_container_isolated-3] 0.000061 1.000000 -0.000027 -0.000260 [component_container_isolated-3] 0.000235 0.000027 1.000000 -0.000862 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.254303794] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.028,-0.016} {0.075,-0.277,-0.261} [component_container_isolated-3] [DEBUG] [1762964989.254352046] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.254399266] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.254440154] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981559 -0.000035 0.191161 -0.006692 [component_container_isolated-3] -0.001679 0.999960 0.008805 0.060620 [component_container_isolated-3] -0.191154 -0.008963 0.981519 0.017161 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.254464220] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.523,11.020,-0.098} [component_container_isolated-3] [DEBUG] [1762964989.254497053] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.027,0.016} {-0.547,11.299,0.165} [component_container_isolated-3] [DEBUG] [1762964989.254546417] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.261339260] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.261408612] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.261453498] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.261501670] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000003 -0.000009 -0.000084 [component_container_isolated-3] 0.000003 1.000000 0.000029 -0.000079 [component_container_isolated-3] 0.000009 -0.000029 1.000000 0.000140 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.261528451] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.003} {0.074,0.112,0.193} [component_container_isolated-3] [DEBUG] [1762964989.261578697] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.261620938] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.261657307] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979070 0.000150 0.203523 -0.006948 [component_container_isolated-3] 0.002264 0.999930 -0.011630 0.059796 [component_container_isolated-3] -0.203510 0.011847 0.979001 0.018936 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.261681424] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.693,11.742,0.132} [component_container_isolated-3] [DEBUG] [1762964989.261715208] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.002} {0.580,11.633,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.261764532] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.271564838] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.271630043] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.271672254] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.271718492] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000015 -0.000020 -0.000275 [component_container_isolated-3] -0.000015 1.000000 0.000091 0.000192 [component_container_isolated-3] 0.000020 -0.000091 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] [1762964989.271746335] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.202,0.003,-0.214} [component_container_isolated-3] [DEBUG] [1762964989.271801781] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.271850123] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.271891202] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 0.000094 0.475972 -0.001258 [component_container_isolated-3] -0.004717 0.999953 0.008518 0.060226 [component_container_isolated-3] -0.475949 -0.009737 0.879419 0.018183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.271916169] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.634,28.421,-0.307} [component_container_isolated-3] [DEBUG] [1762964989.271979891] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.316,28.420,-0.064} [component_container_isolated-3] [DEBUG] [1762964989.272035397] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.283460306] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.283527554] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.283568172] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.283611465] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000043 0.000356 -0.000477 [component_container_isolated-3] -0.000043 1.000000 0.000021 0.000146 [component_container_isolated-3] -0.000356 -0.000021 1.000000 0.001226 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.283635601] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.028,-0.014} {0.074,-0.256,-0.264} [component_container_isolated-3] [DEBUG] [1762964989.283683492] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.283997702] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.284069429] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981490 0.000003 0.191511 -0.006710 [component_container_isolated-3] -0.001725 0.999959 0.008825 0.060571 [component_container_isolated-3] -0.191503 -0.008992 0.981451 0.017333 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.284104175] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.525,11.041,-0.101} [component_container_isolated-3] [DEBUG] [1762964989.284145334] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.027,0.015} {-0.547,11.299,0.165} [component_container_isolated-3] [DEBUG] [1762964989.284216510] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.286965410] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.287026266] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.287065912] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.287109675] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000015 -0.000020 -0.000275 [component_container_isolated-3] -0.000015 1.000000 0.000091 0.000192 [component_container_isolated-3] 0.000020 -0.000091 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] [1762964989.287134874] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.207,0.002,-0.215} [component_container_isolated-3] [DEBUG] [1762964989.287182805] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.287225426] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.287261746] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 0.000094 0.475972 -0.001258 [component_container_isolated-3] -0.004717 0.999953 0.008518 0.060226 [component_container_isolated-3] -0.475949 -0.009737 0.879419 0.018183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.287286122] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.634,28.421,-0.307} [component_container_isolated-3] [DEBUG] [1762964989.287319206] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.311,28.421,-0.063} [component_container_isolated-3] [DEBUG] [1762964989.287375343] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.290677389] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.290738826] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.290781327] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.290828868] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000175 -0.000299 -0.000677 [component_container_isolated-3] 0.000175 1.000000 -0.000118 -0.001381 [component_container_isolated-3] 0.000299 0.000118 1.000000 -0.000988 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.290854086] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.054} {0.131,-0.641,-0.064} [component_container_isolated-3] [DEBUG] [1762964989.290903591] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.290974987] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.291016296] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982764 -0.000039 0.184867 -0.007072 [component_container_isolated-3] -0.000043 1.000000 0.000439 0.060121 [component_container_isolated-3] -0.184867 -0.000440 0.982764 0.017107 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.291039831] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.026,10.653,-0.002} [component_container_isolated-3] [DEBUG] [1762964989.291071061] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.053} {-0.144,11.295,0.061} [component_container_isolated-3] [DEBUG] [1762964989.291123390] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.298902066] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.298989353] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.299031934] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.299081138] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000094 -0.000002 -0.000095 [component_container_isolated-3] 0.000094 1.000000 0.000135 0.000034 [component_container_isolated-3] 0.000002 -0.000135 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] [1762964989.299108891] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.003} {0.066,0.111,0.199} [component_container_isolated-3] [DEBUG] [1762964989.299161642] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.299207750] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.299247576] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 0.000031 0.203521 -0.006957 [component_container_isolated-3] 0.002358 0.999931 -0.011495 0.059790 [component_container_isolated-3] -0.203508 0.011735 0.979003 0.018919 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.299270039] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.687,11.742,0.138} [component_container_isolated-3] [DEBUG] [1762964989.299300888] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.002} {0.580,11.633,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.299360692] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.302123909] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.302176700] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.302217427] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.302262203] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000040 -0.000178 0.000886 [component_container_isolated-3] -0.000040 1.000000 0.000010 -0.000142 [component_container_isolated-3] 0.000178 -0.000010 1.000000 -0.000854 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.302288694] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.028,-0.015} {0.074,-0.266,-0.266} [component_container_isolated-3] [DEBUG] [1762964989.302336084] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.302382322] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.302422770] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 0.000041 0.191336 -0.006561 [component_container_isolated-3] -0.001764 0.999959 0.008835 0.060505 [component_container_isolated-3] -0.191328 -0.009010 0.981485 0.017175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.302446214] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.526,11.030,-0.103} [component_container_isolated-3] [DEBUG] [1762964989.302477624] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.027,0.016} {-0.547,11.299,0.165} [component_container_isolated-3] [DEBUG] [1762964989.302527700] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.316672944] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.316744401] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.316804415] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.316873447] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000104 0.000320 0.000615 [component_container_isolated-3] -0.000104 1.000000 0.000078 0.000648 [component_container_isolated-3] -0.000320 -0.000079 1.000000 0.000914 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.316911600] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.000,-0.053} {0.126,-0.623,-0.070} [component_container_isolated-3] [DEBUG] [1762964989.317029966] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.317096333] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.317148422] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 0.000048 0.185181 -0.007035 [component_container_isolated-3] -0.000147 1.000000 0.000518 0.060111 [component_container_isolated-3] -0.185181 -0.000536 0.982704 0.017230 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.317177678] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.031,10.672,-0.009} [component_container_isolated-3] [DEBUG] [1762964989.317216853] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,0.000,0.052} {-0.144,11.295,0.061} [component_container_isolated-3] [DEBUG] [1762964989.317288349] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.319658776] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.319725494] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.319764739] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.319808693] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000015 -0.000020 -0.000275 [component_container_isolated-3] -0.000015 1.000000 0.000091 0.000192 [component_container_isolated-3] 0.000020 -0.000091 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] [1762964989.319834001] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.213,0.000,-0.216} [component_container_isolated-3] [DEBUG] [1762964989.319883395] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.319957777] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.320000459] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 0.000094 0.475972 -0.001258 [component_container_isolated-3] -0.004717 0.999953 0.008518 0.060226 [component_container_isolated-3] -0.475949 -0.009737 0.879419 0.018183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.320023984] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.634,28.421,-0.307} [component_container_isolated-3] [DEBUG] [1762964989.320055143] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.305,28.422,-0.062} [component_container_isolated-3] [DEBUG] [1762964989.320108074] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.331615831] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.331685675] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.331726693] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.331773973] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000027 -0.000015 0.000207 [component_container_isolated-3] 0.000027 1.000000 -0.000003 -0.000060 [component_container_isolated-3] 0.000015 0.000003 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] [1762964989.331801827] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.003} {0.066,0.111,0.200} [component_container_isolated-3] [DEBUG] [1762964989.331850530] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.331893592] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.331958396] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979074 0.000006 0.203507 -0.006938 [component_container_isolated-3] 0.002384 0.999931 -0.011499 0.059778 [component_container_isolated-3] -0.203493 0.011743 0.979006 0.018876 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.331984586] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.687,11.741,0.140} [component_container_isolated-3] [DEBUG] [1762964989.332016597] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.016,-0.002} {0.580,11.633,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.332070089] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.343006044] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.343086728] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.343129329] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.343176079] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000051 0.000121 -0.000251 [component_container_isolated-3] 0.000051 1.000000 0.000009 0.000453 [component_container_isolated-3] -0.000121 -0.000009 1.000000 0.000785 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.343202910] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.028,-0.014} {0.073,-0.260,-0.263} [component_container_isolated-3] [DEBUG] [1762964989.343252124] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.343296448] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.343337838] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981502 -0.000011 0.191454 -0.006513 [component_container_isolated-3] -0.001714 0.999959 0.008844 0.060507 [component_container_isolated-3] -0.191447 -0.009009 0.981462 0.017270 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.343362595] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.526,11.037,-0.100} [component_container_isolated-3] [DEBUG] [1762964989.343393864] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.015} {-0.547,11.299,0.165} [component_container_isolated-3] [DEBUG] [1762964989.343444511] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.346590349] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.346654772] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.346695320] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.346741728] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000080 -0.000085 -0.000026 [component_container_isolated-3] 0.000080 1.000000 -0.000044 -0.000136 [component_container_isolated-3] 0.000085 0.000044 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] [1762964989.346767227] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.000,-0.053} {0.129,-0.628,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.346818635] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.346865244] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.346905261] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982720 -0.000022 0.185097 -0.007040 [component_container_isolated-3] -0.000067 1.000000 0.000474 0.060088 [component_container_isolated-3] -0.185097 -0.000478 0.982720 0.017242 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.346965836] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.028,10.667,-0.004} [component_container_isolated-3] [DEBUG] [1762964989.346998388] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,0.001,0.053} {-0.144,11.295,0.061} [component_container_isolated-3] [DEBUG] [1762964989.347057962] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.364875840] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.364960973] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.365002191] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.365048029] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000051 0.000121 -0.000251 [component_container_isolated-3] 0.000051 1.000000 0.000009 0.000453 [component_container_isolated-3] -0.000121 -0.000009 1.000000 0.000785 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.365073227] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.028,-0.014} {0.072,-0.253,-0.260} [component_container_isolated-3] [DEBUG] [1762964989.365120798] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.365169150] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.365208676] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981502 -0.000011 0.191454 -0.006513 [component_container_isolated-3] -0.001714 0.999959 0.008844 0.060507 [component_container_isolated-3] -0.191447 -0.009009 0.981462 0.017270 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.365233393] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.526,11.037,-0.100} [component_container_isolated-3] [DEBUG] [1762964989.365266807] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.015} {-0.547,11.292,0.162} [component_container_isolated-3] [DEBUG] [1762964989.365319808] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.373083244] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.373147146] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.373188605] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.373234713] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000011 0.000076 -0.000020 [component_container_isolated-3] -0.000011 1.000000 0.000111 -0.000039 [component_container_isolated-3] -0.000076 -0.000111 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] [1762964989.373262937] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.219,0.005,-0.216} [component_container_isolated-3] [DEBUG] [1762964989.373313283] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.373356776] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.373393426] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879424 0.000051 0.476040 -0.001271 [component_container_isolated-3] -0.004728 0.999952 0.008629 0.060231 [component_container_isolated-3] -0.476016 -0.009839 0.879382 0.018183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.373418895] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.641,28.426,-0.308} [component_container_isolated-3] [DEBUG] [1762964989.373451367] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.305,28.422,-0.062} [component_container_isolated-3] [DEBUG] [1762964989.373503036] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.374190479] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.374256695] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.374301791] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.374350685] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000049 -0.000032 -0.000028 [component_container_isolated-3] -0.000049 1.000000 0.000119 -0.000138 [component_container_isolated-3] 0.000032 -0.000119 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] [1762964989.374377376] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.016,0.003} {0.059,0.109,0.198} [component_container_isolated-3] [DEBUG] [1762964989.374426369] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.374468630] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.374508736] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 0.000029 0.203476 -0.006927 [component_container_isolated-3] 0.002335 0.999933 -0.011380 0.059748 [component_container_isolated-3] -0.203462 0.011617 0.979014 0.018849 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.374533975] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.680,11.739,0.137} [component_container_isolated-3] [DEBUG] [1762964989.374568991] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.016,-0.002} {0.580,11.633,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.374619247] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.386195095] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.386251773] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.386290978] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.386335533] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000011 0.000076 -0.000020 [component_container_isolated-3] -0.000011 1.000000 0.000111 -0.000039 [component_container_isolated-3] -0.000076 -0.000111 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] [1762964989.386360911] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.225,0.009,-0.217} [component_container_isolated-3] [DEBUG] [1762964989.386407500] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.386449711] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.386488054] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879424 0.000051 0.476040 -0.001271 [component_container_isolated-3] -0.004728 0.999952 0.008629 0.060231 [component_container_isolated-3] -0.476016 -0.009839 0.879382 0.018183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.386513272] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.641,28.426,-0.308} [component_container_isolated-3] [DEBUG] [1762964989.386550453] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.298,28.418,-0.061} [component_container_isolated-3] [DEBUG] [1762964989.386601861] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.388605818] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.388661645] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.388702503] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.388751917] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000102 -0.000009 0.000166 [component_container_isolated-3] -0.000102 1.000000 0.000029 0.000628 [component_container_isolated-3] 0.000009 -0.000029 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] [1762964989.388778488] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.053} {0.127,-0.628,-0.072} [component_container_isolated-3] [DEBUG] [1762964989.388829165] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.388873860] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.388910631] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982722 0.000073 0.185089 -0.007008 [component_container_isolated-3] -0.000169 1.000000 0.000503 0.060198 [component_container_isolated-3] -0.185088 -0.000526 0.982722 0.017266 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.388972288] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.031,10.666,-0.010} [component_container_isolated-3] [DEBUG] [1762964989.389005602] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,0.000,0.053} {-0.144,11.295,0.061} [component_container_isolated-3] [DEBUG] [1762964989.389061068] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.399234086] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.399292728] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.399331442] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.399374694] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000102 -0.000009 0.000166 [component_container_isolated-3] -0.000102 1.000000 0.000029 0.000628 [component_container_isolated-3] 0.000009 -0.000029 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] [1762964989.399398941] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.053} {0.125,-0.629,-0.077} [component_container_isolated-3] [DEBUG] [1762964989.399446221] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.399489043] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.399524921] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982722 0.000073 0.185089 -0.007008 [component_container_isolated-3] -0.000169 1.000000 0.000503 0.060198 [component_container_isolated-3] -0.185088 -0.000526 0.982722 0.017266 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.399549067] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.031,10.666,-0.010} [component_container_isolated-3] [DEBUG] [1762964989.399582551] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.001,0.052} {-0.141,11.295,0.067} [component_container_isolated-3] [DEBUG] [1762964989.399634811] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.406506855] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.406584754] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.406632615] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.406680988] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000009 -0.000191 0.000346 [component_container_isolated-3] -0.000009 1.000000 -0.000144 0.000155 [component_container_isolated-3] 0.000191 0.000144 1.000000 -0.000271 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.406709953] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.002} {0.068,0.098,0.197} [component_container_isolated-3] [DEBUG] [1762964989.406764808] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.406811046] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.406849760] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979119 0.000068 0.203288 -0.006857 [component_container_isolated-3] 0.002324 0.999931 -0.011525 0.059739 [component_container_isolated-3] -0.203275 0.011756 0.979051 0.018775 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.406872513] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.729,0.136} [component_container_isolated-3] [DEBUG] [1762964989.406903563] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.015,-0.002} {0.580,11.633,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.406989978] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.408719741] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.408774386] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.408816226] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.408862354] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000035 -0.000130 -0.000084 [component_container_isolated-3] 0.000035 1.000000 -0.000090 -0.000293 [component_container_isolated-3] 0.000130 0.000090 1.000000 -0.000693 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.408888453] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.028,-0.014} {0.078,-0.260,-0.258} [component_container_isolated-3] [DEBUG] [1762964989.408966342] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.409019894] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.409062396] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981526 -0.000028 0.191327 -0.006520 [component_container_isolated-3] -0.001678 0.999960 0.008754 0.060460 [component_container_isolated-3] -0.191320 -0.008914 0.981487 0.017184 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.409088556] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.520,11.030,-0.098} [component_container_isolated-3] [DEBUG] [1762964989.409120727] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.015} {-0.547,11.292,0.162} [component_container_isolated-3] [DEBUG] [1762964989.409171494] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.413206981] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.413264160] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.413303495] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.413352238] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000009 -0.000191 0.000346 [component_container_isolated-3] -0.000009 1.000000 -0.000144 0.000155 [component_container_isolated-3] 0.000191 0.000144 1.000000 -0.000271 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.413379660] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.015,0.002} {0.076,0.087,0.196} [component_container_isolated-3] [DEBUG] [1762964989.413431149] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.413475223] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.413515149] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979119 0.000068 0.203288 -0.006857 [component_container_isolated-3] 0.002324 0.999931 -0.011525 0.059739 [component_container_isolated-3] -0.203275 0.011756 0.979051 0.018775 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.413538955] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.729,0.136} [component_container_isolated-3] [DEBUG] [1762964989.413569934] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.015,-0.002} {0.571,11.644,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.413617996] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.419283134] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.419345173] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.419389287] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.419435926] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000011 0.000076 -0.000020 [component_container_isolated-3] -0.000011 1.000000 0.000111 -0.000039 [component_container_isolated-3] -0.000076 -0.000111 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] [1762964989.419462307] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.232,0.013,-0.218} [component_container_isolated-3] [DEBUG] [1762964989.419509557] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.419551777] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.419587796] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879424 0.000051 0.476040 -0.001271 [component_container_isolated-3] -0.004728 0.999952 0.008629 0.060231 [component_container_isolated-3] -0.476016 -0.009839 0.879382 0.018183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.419610470] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.641,28.426,-0.308} [component_container_isolated-3] [DEBUG] [1762964989.419643112] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.292,28.413,-0.061} [component_container_isolated-3] [DEBUG] [1762964989.419692707] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.424755115] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.424814929] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.424851870] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.424893259] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000035 -0.000130 -0.000084 [component_container_isolated-3] 0.000035 1.000000 -0.000090 -0.000293 [component_container_isolated-3] 0.000130 0.000090 1.000000 -0.000693 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.424917214] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.028,-0.015} {0.083,-0.268,-0.256} [component_container_isolated-3] [DEBUG] [1762964989.424993480] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.425036382] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.425071719] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981526 -0.000028 0.191327 -0.006520 [component_container_isolated-3] -0.001678 0.999960 0.008754 0.060460 [component_container_isolated-3] -0.191320 -0.008914 0.981487 0.017184 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.425094924] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.520,11.030,-0.098} [component_container_isolated-3] [DEBUG] [1762964989.425127646] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.027,0.016} {-0.552,11.300,0.160} [component_container_isolated-3] [DEBUG] [1762964989.425180758] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.430120261] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.430177139] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.430214992] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.430258976] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000102 -0.000009 0.000166 [component_container_isolated-3] -0.000102 1.000000 0.000029 0.000628 [component_container_isolated-3] 0.000009 -0.000029 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] [1762964989.430283252] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.053} {0.124,-0.629,-0.083} [component_container_isolated-3] [DEBUG] [1762964989.430331083] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.430374176] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.430409623] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982722 0.000073 0.185089 -0.007008 [component_container_isolated-3] -0.000169 1.000000 0.000503 0.060198 [component_container_isolated-3] -0.185088 -0.000526 0.982722 0.017266 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.430433900] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.031,10.666,-0.010} [component_container_isolated-3] [DEBUG] [1762964989.430466422] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.001,0.052} {-0.138,11.296,0.073} [component_container_isolated-3] [DEBUG] [1762964989.430517259] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.463237417] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.463308843] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.463350412] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.463400328] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000065 0.000104 -0.000483 [component_container_isolated-3] 0.000065 1.000000 -0.000009 -0.000003 [component_container_isolated-3] -0.000104 0.000009 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] [1762964989.463427219] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.002} {0.076,0.093,0.200} [component_container_isolated-3] [DEBUG] [1762964989.463478858] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.463522240] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.463559602] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 0.000005 0.203390 -0.006876 [component_container_isolated-3] 0.002390 0.999931 -0.011533 0.059733 [component_container_isolated-3] -0.203376 0.011779 0.979030 0.018779 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.463586533] [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] [1762964989.463618574] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.015,-0.002} {0.571,11.644,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.463630678] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.463746679] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.463794971] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.463853042] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000102 -0.000009 0.000166 [component_container_isolated-3] -0.000102 1.000000 0.000029 0.000628 [component_container_isolated-3] 0.000009 -0.000029 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] [1762964989.463878721] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.053} {0.122,-0.630,-0.089} [component_container_isolated-3] [DEBUG] [1762964989.463683108] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.463971468] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.464109342] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.464150240] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982722 0.000073 0.185089 -0.007008 [component_container_isolated-3] -0.000169 1.000000 0.000503 0.060198 [component_container_isolated-3] -0.185088 -0.000526 0.982722 0.017266 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.464172843] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.031,10.666,-0.010} [component_container_isolated-3] [DEBUG] [1762964989.464203772] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.052} {-0.135,11.296,0.079} [component_container_isolated-3] [DEBUG] [1762964989.464254689] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.464681845] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.464736650] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.464777227] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.464822985] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000007 0.000022 0.000005 [component_container_isolated-3] -0.000007 1.000000 0.000035 0.000019 [component_container_isolated-3] -0.000022 -0.000035 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] [1762964989.464848143] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.234,0.015,-0.218} [component_container_isolated-3] [DEBUG] [1762964989.464906153] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.464973572] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.465004712] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879413 0.000040 0.476059 -0.001278 [component_container_isolated-3] -0.004736 0.999951 0.008664 0.060237 [component_container_isolated-3] -0.476036 -0.009874 0.879371 0.018189 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.465023097] [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] [1762964989.465045159] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.004} {-0.292,28.413,-0.061} [component_container_isolated-3] [DEBUG] [1762964989.465083833] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.474252823] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.474318178] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.474360008] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.474404553] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000099 0.000109 -0.000402 [component_container_isolated-3] -0.000099 1.000000 0.000171 0.000347 [component_container_isolated-3] -0.000109 -0.000171 1.000000 0.001046 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.474430082] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.028,-0.014} {0.073,-0.261,-0.262} [component_container_isolated-3] [DEBUG] [1762964989.474478324] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.474521927] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.474558407] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981506 0.000037 0.191434 -0.006530 [component_container_isolated-3] -0.001778 0.999959 0.008925 0.060483 [component_container_isolated-3] -0.191426 -0.009101 0.981465 0.017404 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.474582323] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.531,11.036,-0.104} [component_container_isolated-3] [DEBUG] [1762964989.474616207] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.028,0.015} {-0.552,11.300,0.160} [component_container_isolated-3] [DEBUG] [1762964989.474669259] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.487853247] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.487937217] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.487981642] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.488030906] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000045 0.000058 -0.000104 [component_container_isolated-3] -0.000045 1.000000 0.000076 0.000044 [component_container_isolated-3] -0.000058 -0.000076 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] [1762964989.488057747] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.002} {0.072,0.096,0.198} [component_container_isolated-3] [DEBUG] [1762964989.488108134] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.488153110] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.488192785] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 0.000034 0.203447 -0.006896 [component_container_isolated-3] 0.002346 0.999932 -0.011458 0.059734 [component_container_isolated-3] -0.203434 0.011695 0.979019 0.018783 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.488216581] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.684,11.738,0.137} [component_container_isolated-3] [DEBUG] [1762964989.488246879] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.002} {0.571,11.644,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.488294880] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.491203094] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.491260374] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.491298617] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.491341539] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000099 0.000109 -0.000402 [component_container_isolated-3] -0.000099 1.000000 0.000171 0.000347 [component_container_isolated-3] -0.000109 -0.000171 1.000000 0.001046 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.491365915] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.029,-0.013} {0.063,-0.255,-0.267} [component_container_isolated-3] [DEBUG] [1762964989.491412745] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.491455166] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.491490132] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981506 0.000037 0.191434 -0.006530 [component_container_isolated-3] -0.001778 0.999959 0.008925 0.060483 [component_container_isolated-3] -0.191426 -0.009101 0.981465 0.017404 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.491514319] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.531,11.036,-0.104} [component_container_isolated-3] [DEBUG] [1762964989.491546711] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.028,0.014} {-0.542,11.294,0.166} [component_container_isolated-3] [DEBUG] [1762964989.491597788] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.497112840] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.497183606] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.497228241] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.497275160] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000042 -0.000025 0.000188 [component_container_isolated-3] -0.000042 1.000000 0.000095 0.000062 [component_container_isolated-3] 0.000025 -0.000095 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] [1762964989.497301601] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.239,0.013,-0.220} [component_container_isolated-3] [DEBUG] [1762964989.497353630] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.497396703] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.497432511] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879425 0.000031 0.476037 -0.001268 [component_container_isolated-3] -0.004777 0.999950 0.008759 0.060250 [component_container_isolated-3] -0.476013 -0.009977 0.879381 0.018176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.497454773] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.650,28.425,-0.311} [component_container_isolated-3] [DEBUG] [1762964989.497484140] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.292,28.413,-0.061} [component_container_isolated-3] [DEBUG] [1762964989.497532933] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.497686676] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.497734347] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.497772370] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.497819320] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000102 -0.000009 0.000166 [component_container_isolated-3] -0.000102 1.000000 0.000029 0.000628 [component_container_isolated-3] 0.000009 -0.000029 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] [1762964989.497845660] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.003,-0.053} {0.121,-0.630,-0.095} [component_container_isolated-3] [DEBUG] [1762964989.497896567] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.497971671] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.498013811] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982722 0.000073 0.185089 -0.007008 [component_container_isolated-3] -0.000169 1.000000 0.000503 0.060198 [component_container_isolated-3] -0.185088 -0.000526 0.982722 0.017266 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.498036585] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.031,10.666,-0.010} [component_container_isolated-3] [DEBUG] [1762964989.498067904] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.052} {-0.133,11.297,0.085} [component_container_isolated-3] [DEBUG] [1762964989.498118371] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.529254253] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.529305350] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.529352851] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.529397967] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000030 -0.000060 -0.000086 [component_container_isolated-3] -0.000030 1.000000 -0.000142 -0.000035 [component_container_isolated-3] 0.000060 0.000142 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] [1762964989.529423346] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.002} {0.080,0.093,0.196} [component_container_isolated-3] [DEBUG] [1762964989.529471748] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.529513338] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.529548565] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 0.000092 0.203389 -0.006923 [component_container_isolated-3] 0.002315 0.999930 -0.011600 0.059728 [component_container_isolated-3] -0.203376 0.011828 0.979029 0.018796 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.529571298] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.734,0.135} [component_container_isolated-3] [DEBUG] [1762964989.529602227] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.002} {0.571,11.644,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.529655990] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.532326470] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.532379772] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.532421531] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.532467489] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000056 -0.000005 0.000080 [component_container_isolated-3] 0.000056 1.000000 -0.000196 -0.000147 [component_container_isolated-3] 0.000005 0.000196 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] [1762964989.532492497] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.228,0.013,-0.217} [component_container_isolated-3] [DEBUG] [1762964989.532542332] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.532584493] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.532620051] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879427 0.000075 0.476033 -0.001248 [component_container_isolated-3] -0.004721 0.999952 0.008563 0.060240 [component_container_isolated-3] -0.476010 -0.009778 0.879386 0.018179 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.532642303] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.637,28.425,-0.308} [component_container_isolated-3] [DEBUG] [1762964989.532673332] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.292,28.413,-0.061} [component_container_isolated-3] [DEBUG] [1762964989.532726885] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.534898271] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.534980398] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.535021377] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.535066262] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000102 -0.000009 0.000166 [component_container_isolated-3] -0.000102 1.000000 0.000029 0.000628 [component_container_isolated-3] 0.000009 -0.000029 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] [1762964989.535090468] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.003,-0.052} {0.119,-0.631,-0.101} [component_container_isolated-3] [DEBUG] [1762964989.535138721] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.535180901] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.535216319] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982722 0.000073 0.185089 -0.007008 [component_container_isolated-3] -0.000169 1.000000 0.000503 0.060198 [component_container_isolated-3] -0.185088 -0.000526 0.982722 0.017266 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.535237559] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.031,10.666,-0.010} [component_container_isolated-3] [DEBUG] [1762964989.535268519] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.003,0.052} {-0.130,11.297,0.091} [component_container_isolated-3] [DEBUG] [1762964989.535321520] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.542791105] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.542854356] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.542890465] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.542960428] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000051 -0.000103 -0.000054 [component_container_isolated-3] 0.000051 1.000000 -0.000170 -0.000441 [component_container_isolated-3] 0.000103 0.000170 1.000000 -0.000765 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.542986147] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.028,-0.014} {0.073,-0.261,-0.264} [component_container_isolated-3] [DEBUG] [1762964989.543036333] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.543081169] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.543120524] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 0.000019 0.191333 -0.006580 [component_container_isolated-3] -0.001726 0.999960 0.008755 0.060413 [component_container_isolated-3] -0.191325 -0.008924 0.981486 0.017365 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.543145251] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.521,11.030,-0.101} [component_container_isolated-3] [DEBUG] [1762964989.543175850] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.028,0.015} {-0.542,11.294,0.166} [component_container_isolated-3] [DEBUG] [1762964989.543224092] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.576176663] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.576243000] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.576282235] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.576326309] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000029 0.000007 0.000062 [component_container_isolated-3] 0.000029 1.000000 -0.000043 -0.000022 [component_container_isolated-3] -0.000007 0.000043 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] [1762964989.576351116] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.002} {0.083,0.093,0.198} [component_container_isolated-3] [DEBUG] [1762964989.576398958] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.576439656] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.576477879] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 0.000073 0.203395 -0.006940 [component_container_isolated-3] 0.002345 0.999929 -0.011643 0.059722 [component_container_isolated-3] -0.203382 0.011877 0.979028 0.018797 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.576501363] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.735,0.137} [component_container_isolated-3] [DEBUG] [1762964989.576534036] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.002} {0.571,11.644,-0.066} [component_container_isolated-3] [DEBUG] [1762964989.576584162] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.578258148] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.578324144] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.578365042] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.578408445] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000033 -0.000001 -0.000050 [component_container_isolated-3] 0.000033 1.000000 -0.000036 -0.000016 [component_container_isolated-3] 0.000001 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] [1762964989.578433102] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.226,0.013,-0.215} [component_container_isolated-3] [DEBUG] [1762964989.578481886] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.578523806] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.578560997] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879428 0.000064 0.476032 -0.001240 [component_container_isolated-3] -0.004688 0.999953 0.008527 0.060233 [component_container_isolated-3] -0.476009 -0.009730 0.879387 0.018178 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.578584742] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.634,28.425,-0.305} [component_container_isolated-3] [DEBUG] [1762964989.578618116] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.292,28.413,-0.061} [component_container_isolated-3] [DEBUG] [1762964989.578670836] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.591181810] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.591243557] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.591280237] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.591321316] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000029 0.000007 0.000062 [component_container_isolated-3] 0.000029 1.000000 -0.000043 -0.000022 [component_container_isolated-3] -0.000007 0.000043 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] [1762964989.591344841] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.002} {0.085,0.093,0.199} [component_container_isolated-3] [DEBUG] [1762964989.591390358] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.591430575] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.591469138] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 0.000073 0.203395 -0.006940 [component_container_isolated-3] 0.002345 0.999929 -0.011643 0.059722 [component_container_isolated-3] -0.203382 0.011877 0.979028 0.018797 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.591491922] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.735,0.137} [component_container_isolated-3] [DEBUG] [1762964989.591524805] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.015,-0.002} {0.569,11.643,-0.067} [component_container_isolated-3] [DEBUG] [1762964989.591576403] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.600316725] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.600381268] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.600415814] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.600468234] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000076 0.000141 -0.000213 [component_container_isolated-3] 0.000076 1.000000 0.000047 -0.000521 [component_container_isolated-3] -0.000141 -0.000047 1.000000 0.000202 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.600496709] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.003,-0.052} {0.116,-0.623,-0.097} [component_container_isolated-3] [DEBUG] [1762964989.600548187] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.600593333] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.600629622] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 -0.000010 0.185227 -0.007010 [component_container_isolated-3] -0.000094 1.000000 0.000550 0.060165 [component_container_isolated-3] -0.185227 -0.000558 0.982696 0.017327 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.600651945] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.033,10.674,-0.005} [component_container_isolated-3] [DEBUG] [1762964989.600683485] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.003,0.052} {-0.130,11.297,0.091} [component_container_isolated-3] [DEBUG] [1762964989.600734633] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.611153641] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.611216100] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.611259212] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.611305641] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000017 -0.000006 0.000161 [component_container_isolated-3] 0.000017 1.000000 0.000001 0.000029 [component_container_isolated-3] 0.000006 -0.000001 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] [1762964989.611332162] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.226,0.013,-0.214} [component_container_isolated-3] [DEBUG] [1762964989.611380294] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.611426592] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.611465306] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 0.000048 0.476027 -0.001213 [component_container_isolated-3] -0.004671 0.999953 0.008528 0.060231 [component_container_isolated-3] -0.476004 -0.009723 0.879390 0.018160 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.611487989] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.633,28.425,-0.304} [component_container_isolated-3] [DEBUG] [1762964989.611518227] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.292,28.413,-0.061} [component_container_isolated-3] [DEBUG] [1762964989.611567331] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.615507345] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.615564204] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.615605823] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.615652332] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000084 -0.000046 -0.000004 [component_container_isolated-3] -0.000084 1.000000 0.000188 0.000705 [component_container_isolated-3] 0.000046 -0.000188 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] [1762964989.615678592] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.029,-0.014} {0.062,-0.264,-0.269} [component_container_isolated-3] [DEBUG] [1762964989.615738236] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.615795656] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.615844439] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 0.000065 0.191288 -0.006611 [component_container_isolated-3] -0.001810 0.999958 0.008944 0.060515 [component_container_isolated-3] -0.191280 -0.009125 0.981493 0.017324 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.615873384] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.533,11.027,-0.106} [component_container_isolated-3] [DEBUG] [1762964989.615906087] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.028,0.015} {-0.542,11.294,0.166} [component_container_isolated-3] [DEBUG] [1762964989.616014333] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.621855749] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.621909302] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.621966751] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.622012559] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000029 0.000007 0.000062 [component_container_isolated-3] 0.000029 1.000000 -0.000043 -0.000022 [component_container_isolated-3] -0.000007 0.000043 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] [1762964989.622038168] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.002} {0.088,0.094,0.201} [component_container_isolated-3] [DEBUG] [1762964989.622091519] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.622137177] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.622176832] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979097 0.000073 0.203395 -0.006940 [component_container_isolated-3] 0.002345 0.999929 -0.011643 0.059722 [component_container_isolated-3] -0.203382 0.011877 0.979028 0.018797 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.622201309] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.735,0.137} [component_container_isolated-3] [DEBUG] [1762964989.622234893] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.015,-0.002} {0.566,11.643,-0.069} [component_container_isolated-3] [DEBUG] [1762964989.622286602] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.623716403] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.623765727] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.623803339] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.623846681] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000084 -0.000046 -0.000004 [component_container_isolated-3] -0.000084 1.000000 0.000188 0.000705 [component_container_isolated-3] 0.000046 -0.000188 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] [1762964989.623871569] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.030,-0.014} {0.051,-0.266,-0.274} [component_container_isolated-3] [DEBUG] [1762964989.623947304] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.623996588] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.624033849] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 0.000065 0.191288 -0.006611 [component_container_isolated-3] -0.001810 0.999958 0.008944 0.060515 [component_container_isolated-3] -0.191280 -0.009125 0.981493 0.017324 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.624057234] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.533,11.027,-0.106} [component_container_isolated-3] [DEBUG] [1762964989.624087371] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.029,0.015} {-0.530,11.296,0.171} [component_container_isolated-3] [DEBUG] [1762964989.624134712] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.624264149] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.624315076] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.624354060] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.624398716] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000066 -0.000382 -0.000594 [component_container_isolated-3] 0.000066 1.000000 -0.000018 -0.000581 [component_container_isolated-3] 0.000382 0.000018 1.000000 -0.001054 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.624424204] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.053} {0.117,-0.645,-0.093} [component_container_isolated-3] [DEBUG] [1762964989.624471445] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.624513325] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.624550145] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982766 -0.000071 0.184852 -0.007209 [component_container_isolated-3] -0.000028 1.000000 0.000533 0.059994 [component_container_isolated-3] -0.184852 -0.000529 0.982766 0.017144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.624577407] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.652,-0.002} [component_container_isolated-3] [DEBUG] [1762964989.624610941] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.052} {-0.130,11.297,0.091} [component_container_isolated-3] [DEBUG] [1762964989.624663742] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.629164417] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.629215815] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.629252916] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.629295107] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000084 -0.000046 -0.000004 [component_container_isolated-3] -0.000084 1.000000 0.000188 0.000705 [component_container_isolated-3] 0.000046 -0.000188 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] [1762964989.629319403] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.030,-0.014} {0.041,-0.269,-0.279} [component_container_isolated-3] [DEBUG] [1762964989.629368707] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.629415306] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.629454771] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 0.000065 0.191288 -0.006611 [component_container_isolated-3] -0.001810 0.999958 0.008944 0.060515 [component_container_isolated-3] -0.191280 -0.009125 0.981493 0.017324 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.629478857] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.533,11.027,-0.106} [component_container_isolated-3] [DEBUG] [1762964989.629511500] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.030,0.015} {-0.518,11.299,0.176} [component_container_isolated-3] [DEBUG] [1762964989.629560403] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.638265608] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.638325322] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.638367593] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.638413571] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000017 -0.000006 0.000161 [component_container_isolated-3] 0.000017 1.000000 0.000001 0.000029 [component_container_isolated-3] 0.000006 -0.000001 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] [1762964989.638440302] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.226,0.012,-0.213} [component_container_isolated-3] [DEBUG] [1762964989.638490087] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.638536465] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.638577213] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 0.000048 0.476027 -0.001213 [component_container_isolated-3] -0.004671 0.999953 0.008528 0.060231 [component_container_isolated-3] -0.476004 -0.009723 0.879390 0.018160 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.638602712] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.633,28.425,-0.304} [component_container_isolated-3] [DEBUG] [1762964989.638634533] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.292,28.414,-0.062} [component_container_isolated-3] [DEBUG] [1762964989.638688957] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.649397507] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.649463373] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.649503560] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.649546472] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000205 0.000387 0.001172 [component_container_isolated-3] -0.000205 1.000000 -0.000005 0.000441 [component_container_isolated-3] -0.000387 0.000005 1.000000 0.000893 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.649570838] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.003,-0.052} {0.118,-0.623,-0.105} [component_container_isolated-3] [DEBUG] [1762964989.649618139] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.649659838] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.649695036] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 0.000007 0.185180 -0.007094 [component_container_isolated-3] -0.000125 1.000000 0.000631 0.060008 [component_container_isolated-3] -0.185180 -0.000643 0.982704 0.017254 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.649716967] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.672,-0.007} [component_container_isolated-3] [DEBUG] [1762964989.649748327] [zed_multi.front]: +++ Diff [map -> odom] - {0.005,-0.003,0.052} {-0.135,11.294,0.098} [component_container_isolated-3] [DEBUG] [1762964989.649803533] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.667860898] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.667958695] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.667961480] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.668059117] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.668005274] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.668148768] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000084 -0.000046 -0.000004 [component_container_isolated-3] -0.000084 1.000000 0.000188 0.000705 [component_container_isolated-3] 0.000046 -0.000188 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] [1762964989.668184746] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.031,-0.014} {0.030,-0.271,-0.284} [component_container_isolated-3] [DEBUG] [1762964989.668103832] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.668246244] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.668294777] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000029 0.000115 -0.000245 [component_container_isolated-3] -0.000029 1.000000 0.000077 0.000176 [component_container_isolated-3] -0.000115 -0.000077 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] [1762964989.668396932] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.002} {0.083,0.100,0.199} [component_container_isolated-3] [DEBUG] [1762964989.668347056] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.668472706] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.668492153] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 0.000065 0.191288 -0.006611 [component_container_isolated-3] -0.001810 0.999958 0.008944 0.060515 [component_container_isolated-3] -0.191280 -0.009125 0.981493 0.017324 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.668518173] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.533,11.027,-0.106} [component_container_isolated-3] [DEBUG] [1762964989.668552559] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.030,0.015} {-0.506,11.301,0.181} [component_container_isolated-3] [DEBUG] [1762964989.668520688] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.668646799] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000085 0.203507 -0.006990 [component_container_isolated-3] 0.002317 0.999930 -0.011566 0.059741 [component_container_isolated-3] -0.203494 0.011795 0.979005 0.018825 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.668673109] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.741,0.136} [component_container_isolated-3] [DEBUG] [1762964989.668707004] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.002} {0.566,11.643,-0.069} [component_container_isolated-3] [DEBUG] [1762964989.668607684] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.668763031] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.669023849] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.669065458] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.669101627] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.669144429] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000122 0.000053 -0.000271 [component_container_isolated-3] -0.000122 1.000000 0.000078 0.000156 [component_container_isolated-3] -0.000053 -0.000078 1.000000 0.000140 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.669168705] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.230,0.015,-0.220} [component_container_isolated-3] [DEBUG] [1762964989.669214874] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.669256122] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.669293844] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879406 0.000118 0.476073 -0.001210 [component_container_isolated-3] -0.004794 0.999952 0.008606 0.060251 [component_container_isolated-3] -0.476049 -0.009850 0.879364 0.018170 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.669317349] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.642,28.428,-0.312} [component_container_isolated-3] [DEBUG] [1762964989.669348900] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.292,28.414,-0.062} [component_container_isolated-3] [DEBUG] [1762964989.669398044] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.678418601] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.678483645] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.678527479] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.678576001] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000061 -0.000267 0.000442 [component_container_isolated-3] -0.000061 1.000000 -0.000008 0.000028 [component_container_isolated-3] 0.000267 0.000008 1.000000 -0.001400 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.678602412] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.003,-0.054} {0.118,-0.638,-0.108} [component_container_isolated-3] [DEBUG] [1762964989.678652467] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.678696972] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.678733642] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982754 0.000068 0.184918 -0.007015 [component_container_isolated-3] -0.000186 1.000000 0.000623 0.060016 [component_container_isolated-3] -0.184918 -0.000646 0.982754 0.016871 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.678757217] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.001} {-0.038,10.656,-0.011} [component_container_isolated-3] [DEBUG] [1762964989.678788116] [zed_multi.front]: +++ Diff [map -> odom] - {0.005,-0.003,0.053} {-0.135,11.294,0.098} [component_container_isolated-3] [DEBUG] [1762964989.678839264] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.690981032] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.691056255] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.691099478] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.691146338] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000029 0.000115 -0.000245 [component_container_isolated-3] -0.000029 1.000000 0.000077 0.000176 [component_container_isolated-3] -0.000115 -0.000077 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] [1762964989.691172598] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.003} {0.079,0.107,0.198} [component_container_isolated-3] [DEBUG] [1762964989.691221742] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.691268371] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.691308527] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000085 0.203507 -0.006990 [component_container_isolated-3] 0.002317 0.999930 -0.011566 0.059741 [component_container_isolated-3] -0.203494 0.011795 0.979005 0.018825 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.691333485] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.741,0.136} [component_container_isolated-3] [DEBUG] [1762964989.691363723] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.015,-0.002} {0.571,11.636,-0.067} [component_container_isolated-3] [DEBUG] [1762964989.691412826] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.702967062] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.703033760] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.703072864] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.703116087] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000217 0.000090 -0.000011 [component_container_isolated-3] 0.000217 1.000000 -0.000066 -0.000555 [component_container_isolated-3] -0.000090 0.000066 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] [1762964989.703141275] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.227,0.021,-0.208} [component_container_isolated-3] [DEBUG] [1762964989.703189938] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.703230876] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.703267566] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879363 -0.000041 0.476152 -0.001211 [component_container_isolated-3] -0.004577 0.999953 0.008540 0.060153 [component_container_isolated-3] -0.476130 -0.009689 0.879321 0.018206 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.703293125] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.631,28.433,-0.298} [component_container_isolated-3] [DEBUG] [1762964989.703322922] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.292,28.414,-0.062} [component_container_isolated-3] [DEBUG] [1762964989.703374921] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.715091347] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.715149377] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.715188522] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.715232115] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000071 0.000154 0.000015 [component_container_isolated-3] -0.000071 1.000000 -0.000049 0.000134 [component_container_isolated-3] -0.000154 0.000049 1.000000 0.000954 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.715257294] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.031,-0.013} {0.033,-0.263,-0.288} [component_container_isolated-3] [DEBUG] [1762964989.715306578] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.715352806] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.715389546] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981504 0.000144 0.191439 -0.006585 [component_container_isolated-3] -0.001882 0.999959 0.008894 0.060585 [component_container_isolated-3] -0.191430 -0.009090 0.981464 0.017538 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.715412149] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.000,0.000} {-0.531,11.036,-0.110} [component_container_isolated-3] [DEBUG] [1762964989.715443399] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.031,0.014} {-0.506,11.301,0.181} [component_container_isolated-3] [DEBUG] [1762964989.715492152] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.717637349] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.717698726] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.717739444] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.717786033] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000070 0.000314 -0.000530 [component_container_isolated-3] 0.000070 1.000000 0.000033 -0.000465 [component_container_isolated-3] -0.000314 -0.000033 1.000000 0.001651 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.717812003] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.052} {0.116,-0.620,-0.104} [component_container_isolated-3] [DEBUG] [1762964989.717860335] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.717903978] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.717972850] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 -0.000007 0.185227 -0.006949 [component_container_isolated-3] -0.000116 1.000000 0.000656 0.059934 [component_container_isolated-3] -0.185227 -0.000666 0.982696 0.017220 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.717999601] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.674,-0.007} [component_container_isolated-3] [DEBUG] [1762964989.718032113] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.052} {-0.135,11.294,0.098} [component_container_isolated-3] [DEBUG] [1762964989.718099702] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.721447545] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.721498954] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.721637839] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.721680520] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000217 0.000090 -0.000011 [component_container_isolated-3] 0.000217 1.000000 -0.000066 -0.000555 [component_container_isolated-3] -0.000090 0.000066 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] [1762964989.721705147] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.223,0.026,-0.196} [component_container_isolated-3] [DEBUG] [1762964989.721753299] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.721798586] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.721838252] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879363 -0.000041 0.476152 -0.001211 [component_container_isolated-3] -0.004577 0.999953 0.008540 0.060153 [component_container_isolated-3] -0.476130 -0.009689 0.879321 0.018206 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.721863760] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.631,28.433,-0.298} [component_container_isolated-3] [DEBUG] [1762964989.721895721] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.303,28.408,-0.076} [component_container_isolated-3] [DEBUG] [1762964989.721974331] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.731431302] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.731507417] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.731553766] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.731603351] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000016 -0.000100 0.000630 [component_container_isolated-3] 0.000016 1.000000 0.000042 -0.000049 [component_container_isolated-3] 0.000100 -0.000042 1.000000 -0.000295 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.731630703] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.002} {0.076,0.101,0.198} [component_container_isolated-3] [DEBUG] [1762964989.731679997] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.731725684] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.731765991] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979094 0.000062 0.203409 -0.006929 [component_container_isolated-3] 0.002331 0.999931 -0.011524 0.059748 [component_container_isolated-3] -0.203396 0.011757 0.979026 0.018781 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.731789937] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.736,0.136} [component_container_isolated-3] [DEBUG] [1762964989.731820706] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.015,-0.002} {0.571,11.636,-0.067} [component_container_isolated-3] [DEBUG] [1762964989.731871082] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.739359944] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.739426190] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.739464273] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.739506624] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000016 -0.000100 0.000630 [component_container_isolated-3] 0.000016 1.000000 0.000042 -0.000049 [component_container_isolated-3] 0.000100 -0.000042 1.000000 -0.000295 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.739531221] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.015,0.002} {0.074,0.095,0.199} [component_container_isolated-3] [DEBUG] [1762964989.739577099] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.739617205] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.739651501] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979094 0.000062 0.203409 -0.006929 [component_container_isolated-3] 0.002331 0.999931 -0.011524 0.059748 [component_container_isolated-3] -0.203396 0.011757 0.979026 0.018781 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.739674835] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.736,0.136} [component_container_isolated-3] [DEBUG] [1762964989.739704482] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.015,-0.002} {0.573,11.642,-0.068} [component_container_isolated-3] [DEBUG] [1762964989.739756301] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.745216248] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.745276172] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.745315107] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.745358920] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000008 0.000018 0.000336 [component_container_isolated-3] 0.000008 1.000000 0.000011 0.000171 [component_container_isolated-3] -0.000018 -0.000011 1.000000 -0.000440 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.745383898] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.031,-0.013} {0.032,-0.262,-0.287} [component_container_isolated-3] [DEBUG] [1762964989.745432210] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.745475373] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.745511051] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981501 0.000134 0.191456 -0.006561 [component_container_isolated-3] -0.001874 0.999959 0.008905 0.060665 [component_container_isolated-3] -0.191447 -0.009100 0.981461 0.017546 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.745536500] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.531,11.037,-0.109} [component_container_isolated-3] [DEBUG] [1762964989.745570184] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.031,0.015} {-0.506,11.301,0.181} [component_container_isolated-3] [DEBUG] [1762964989.745621282] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.751785764] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.751855998] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.751897598] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.751970677] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000075 -0.000121 0.000226 [component_container_isolated-3] -0.000075 1.000000 0.000037 0.000324 [component_container_isolated-3] 0.000121 -0.000037 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] [1762964989.751998581] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.003,-0.052} {0.114,-0.627,-0.108} [component_container_isolated-3] [DEBUG] [1762964989.752049788] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.752096848] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.752136805] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 0.000060 0.185108 -0.006910 [component_container_isolated-3] -0.000192 1.000000 0.000692 0.059935 [component_container_isolated-3] -0.185108 -0.000716 0.982718 0.017248 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.752160370] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.042,10.667,-0.011} [component_container_isolated-3] [DEBUG] [1762964989.752191729] [zed_multi.front]: +++ Diff [map -> odom] - {0.005,-0.003,0.052} {-0.135,11.294,0.098} [component_container_isolated-3] [DEBUG] [1762964989.752241665] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.757914479] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.757993309] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.758031742] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.758074043] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000008 0.000018 0.000336 [component_container_isolated-3] 0.000008 1.000000 0.000011 0.000171 [component_container_isolated-3] -0.000018 -0.000011 1.000000 -0.000440 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.758098129] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.031,-0.014} {0.031,-0.261,-0.287} [component_container_isolated-3] [DEBUG] [1762964989.758145159] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.758188392] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.758224030] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981501 0.000134 0.191456 -0.006561 [component_container_isolated-3] -0.001874 0.999959 0.008905 0.060665 [component_container_isolated-3] -0.191447 -0.009100 0.981461 0.017546 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.758247154] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,0.001,0.000} {-0.531,11.037,-0.109} [component_container_isolated-3] [DEBUG] [1762964989.758279626] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.031,0.015} {-0.506,11.300,0.181} [component_container_isolated-3] [DEBUG] [1762964989.758332757] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.763470780] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.763538599] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.763576412] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.763619073] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000075 -0.000121 0.000226 [component_container_isolated-3] -0.000075 1.000000 0.000037 0.000324 [component_container_isolated-3] 0.000121 -0.000037 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] [1762964989.763643730] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.003,-0.053} {0.112,-0.634,-0.113} [component_container_isolated-3] [DEBUG] [1762964989.763691331] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.763732961] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.763770472] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 0.000060 0.185108 -0.006910 [component_container_isolated-3] -0.000192 1.000000 0.000692 0.059935 [component_container_isolated-3] -0.185108 -0.000716 0.982718 0.017248 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.763793506] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.042,10.667,-0.011} [component_container_isolated-3] [DEBUG] [1762964989.763824355] [zed_multi.front]: +++ Diff [map -> odom] - {0.005,-0.003,0.052} {-0.132,11.301,0.102} [component_container_isolated-3] [DEBUG] [1762964989.763876445] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.764832641] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.764885862] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.764963130] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.765014127] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000197 -0.000133 -0.000009 [component_container_isolated-3] -0.000197 1.000000 0.000272 0.000445 [component_container_isolated-3] 0.000133 -0.000272 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] [1762964989.765040237] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.006,0.003} {-0.238,0.018,-0.207} [component_container_isolated-3] [DEBUG] [1762964989.765091415] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.765133996] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.765171047] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 0.000002 0.476035 -0.001213 [component_container_isolated-3] -0.004773 0.999950 0.008812 0.060177 [component_container_isolated-3] -0.476011 -0.010022 0.879382 0.018197 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.765195674] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.653,28.425,-0.311} [component_container_isolated-3] [DEBUG] [1762964989.765227905] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.303,28.408,-0.076} [component_container_isolated-3] [DEBUG] [1762964989.765278462] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.785904563] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.785988653] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.786028119] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.786071862] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000197 -0.000133 -0.000009 [component_container_isolated-3] -0.000197 1.000000 0.000272 0.000445 [component_container_isolated-3] 0.000133 -0.000272 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] [1762964989.786097291] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.003} {-0.254,0.010,-0.218} [component_container_isolated-3] [DEBUG] [1762964989.786146164] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.786199787] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.786240544] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 0.000002 0.476035 -0.001213 [component_container_isolated-3] -0.004773 0.999950 0.008812 0.060177 [component_container_isolated-3] -0.476011 -0.010022 0.879382 0.018197 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.786264931] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.653,28.425,-0.311} [component_container_isolated-3] [DEBUG] [1762964989.786297463] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.281,28.416,-0.063} [component_container_isolated-3] [DEBUG] [1762964989.786357808] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.786867211] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.786959808] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.787002550] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.787051854] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000016 -0.000073 0.000200 [component_container_isolated-3] 0.000016 1.000000 -0.000124 -0.000062 [component_container_isolated-3] 0.000073 0.000124 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] [1762964989.787078876] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.015,0.002} {0.081,0.091,0.200} [component_container_isolated-3] [DEBUG] [1762964989.787131646] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.787174869] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.787210757] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979109 0.000071 0.203338 -0.006868 [component_container_isolated-3] 0.002346 0.999929 -0.011648 0.059745 [component_container_isolated-3] -0.203325 0.011881 0.979039 0.018724 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.787232389] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.731,0.137} [component_container_isolated-3] [DEBUG] [1762964989.787262276] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.015,-0.001} {0.573,11.642,-0.068} [component_container_isolated-3] [DEBUG] [1762964989.787311961] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.807617640] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.807684107] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.807724203] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.807768137] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000015 -0.000042 -0.000978 [component_container_isolated-3] -0.000015 1.000000 -0.000135 -0.000233 [component_container_isolated-3] 0.000042 0.000135 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] [1762964989.807792995] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.031,-0.014} {0.039,-0.263,-0.288} [component_container_isolated-3] [DEBUG] [1762964989.807841076] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.807884018] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.807946939] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981509 0.000175 0.191416 -0.006803 [component_container_isolated-3] -0.001889 0.999960 0.008771 0.060699 [component_container_isolated-3] -0.191406 -0.008970 0.981470 0.017627 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.807971275] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.001} {-0.524,11.035,-0.110} [component_container_isolated-3] [DEBUG] [1762964989.808004528] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.031,0.015} {-0.506,11.300,0.181} [component_container_isolated-3] [DEBUG] [1762964989.808057850] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.824840641] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.824914472] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.824989005] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.825035714] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000097 0.000105 -0.000303 [component_container_isolated-3] -0.000097 1.000000 -0.000062 0.000101 [component_container_isolated-3] -0.000105 0.000062 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] [1762964989.825062355] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.015,0.002} {0.085,0.097,0.195} [component_container_isolated-3] [DEBUG] [1762964989.825113072] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.825156334] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.825197082] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 0.000179 0.203441 -0.006853 [component_container_isolated-3] 0.002250 0.999929 -0.011709 0.059757 [component_container_isolated-3] -0.203428 0.011922 0.979017 0.018715 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.825220827] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.738,0.132} [component_container_isolated-3] [DEBUG] [1762964989.825251626] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.015,-0.002} {0.573,11.642,-0.068} [component_container_isolated-3] [DEBUG] [1762964989.825301592] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.835170038] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.835252305] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.835296209] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.835345473] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000000 -0.000034 -0.000033 [component_container_isolated-3] 0.000000 1.000000 -0.000231 0.000188 [component_container_isolated-3] 0.000034 0.000231 1.000000 -0.000364 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.835372585] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.003,-0.053} {0.125,-0.636,-0.113} [component_container_isolated-3] [DEBUG] [1762964989.835426057] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.835476083] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.835516430] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982724 0.000103 0.185075 -0.006895 [component_container_isolated-3] -0.000192 1.000000 0.000462 0.059960 [component_container_isolated-3] -0.185075 -0.000489 0.982724 0.017250 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.835543552] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.665,-0.011} [component_container_isolated-3] [DEBUG] [1762964989.835574871] [zed_multi.front]: +++ Diff [map -> odom] - {0.005,-0.003,0.053} {-0.132,11.301,0.102} [component_container_isolated-3] [DEBUG] [1762964989.835625478] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.839675443] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.839742481] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.839781756] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.839826421] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000009 0.000023 -0.000048 [component_container_isolated-3] -0.000009 1.000000 -0.000174 0.000053 [component_container_isolated-3] -0.000023 0.000174 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] [1762964989.839852230] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.244,0.012,-0.219} [component_container_isolated-3] [DEBUG] [1762964989.839899841] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.839986246] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.840027815] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879416 0.000093 0.476055 -0.001216 [component_container_isolated-3] -0.004782 0.999951 0.008639 0.060191 [component_container_isolated-3] -0.476031 -0.009874 0.879373 0.018215 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.840050749] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.643,28.426,-0.312} [component_container_isolated-3] [DEBUG] [1762964989.840080526] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.281,28.416,-0.063} [component_container_isolated-3] [DEBUG] [1762964989.840129920] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.851722820] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.851779849] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.851819775] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.851863258] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000187 -0.000211 0.000149 [component_container_isolated-3] 0.000187 1.000000 0.000029 -0.000638 [component_container_isolated-3] 0.000211 -0.000029 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] [1762964989.851888406] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.031,-0.014} {0.037,-0.275,-0.277} [component_container_isolated-3] [DEBUG] [1762964989.851972016] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.852019176] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.852055646] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981550 -0.000014 0.191209 -0.006884 [component_container_isolated-3] -0.001700 0.999960 0.008800 0.060592 [component_container_isolated-3] -0.191201 -0.008963 0.981510 0.017539 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.852077698] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.523,11.023,-0.099} [component_container_isolated-3] [DEBUG] [1762964989.852110931] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.030,0.015} {-0.506,11.300,0.181} [component_container_isolated-3] [DEBUG] [1762964989.852162069] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.855984619] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.856055635] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.856097395] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.856144705] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000083 0.000108 -0.000210 [component_container_isolated-3] 0.000083 1.000000 0.000141 -0.000090 [component_container_isolated-3] -0.000108 -0.000141 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] [1762964989.856171526] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.015,0.002} {0.077,0.103,0.199} [component_container_isolated-3] [DEBUG] [1762964989.856252771] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.856303568] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.856343224] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979065 0.000069 0.203546 -0.006879 [component_container_isolated-3] 0.002334 0.999930 -0.011568 0.059757 [component_container_isolated-3] -0.203533 0.011801 0.978997 0.018728 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.856365987] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.744,0.137} [component_container_isolated-3] [DEBUG] [1762964989.856396115] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.015,-0.002} {0.573,11.642,-0.068} [component_container_isolated-3] [DEBUG] [1762964989.856445379] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.860910797] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.860996951] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.861034814] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.861077275] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000009 0.000023 -0.000048 [component_container_isolated-3] -0.000009 1.000000 -0.000174 0.000053 [component_container_isolated-3] -0.000023 0.000174 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] [1762964989.861101150] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.234,0.013,-0.219} [component_container_isolated-3] [DEBUG] [1762964989.861148892] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.861192555] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.861232481] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879416 0.000093 0.476055 -0.001216 [component_container_isolated-3] -0.004782 0.999951 0.008639 0.060191 [component_container_isolated-3] -0.476031 -0.009874 0.879373 0.018215 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.861256207] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.643,28.426,-0.312} [component_container_isolated-3] [DEBUG] [1762964989.861289470] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.291,28.415,-0.062} [component_container_isolated-3] [DEBUG] [1762964989.861344836] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.863170172] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.863231890] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.863276415] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.863322252] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000030 0.000062 -0.000164 [component_container_isolated-3] 0.000030 1.000000 0.000079 -0.000084 [component_container_isolated-3] -0.000062 -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] [1762964989.863348673] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.003,-0.053} {0.121,-0.632,-0.111} [component_container_isolated-3] [DEBUG] [1762964989.863399540] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.863444345] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.863481136] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 0.000059 0.185136 -0.006893 [component_container_isolated-3] -0.000162 1.000000 0.000541 0.059970 [component_container_isolated-3] -0.185135 -0.000561 0.982713 0.017276 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.863506835] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.669,-0.009} [component_container_isolated-3] [DEBUG] [1762964989.863541461] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.003,0.052} {-0.132,11.301,0.102} [component_container_isolated-3] [DEBUG] [1762964989.863592378] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.888506939] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.888567344] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.888606279] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.888649812] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000183 0.000313 0.000314 [component_container_isolated-3] -0.000183 1.000000 0.000294 0.000577 [component_container_isolated-3] -0.000313 -0.000294 1.000000 0.000902 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.888674920] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.031,-0.013} {0.021,-0.257,-0.287} [component_container_isolated-3] [DEBUG] [1762964989.888722370] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.888769310] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.888808765] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981490 0.000108 0.191516 -0.006859 [component_container_isolated-3] -0.001885 0.999957 0.009094 0.060651 [component_container_isolated-3] -0.191506 -0.009286 0.981447 0.017682 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.888832661] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.001} {-0.542,11.041,-0.110} [component_container_isolated-3] [DEBUG] [1762964989.888866315] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.031,0.015} {-0.506,11.300,0.181} [component_container_isolated-3] [DEBUG] [1762964989.888916671] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.893165846] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.893236381] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.893279153] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.893328547] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000057 0.000073 -0.000078 [component_container_isolated-3] -0.000057 1.000000 0.000005 0.000057 [component_container_isolated-3] -0.000073 -0.000005 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] [1762964989.893355689] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.003,-0.053} {0.121,-0.628,-0.114} [component_container_isolated-3] [DEBUG] [1762964989.893407939] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.893454307] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.893496377] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982700 0.000114 0.185207 -0.006893 [component_container_isolated-3] -0.000219 1.000000 0.000546 0.059984 [component_container_isolated-3] -0.185207 -0.000577 0.982699 0.017320 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.893519492] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.673,-0.013} [component_container_isolated-3] [DEBUG] [1762964989.893551192] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.003,0.052} {-0.132,11.301,0.102} [component_container_isolated-3] [DEBUG] [1762964989.893601548] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.896857977] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.896961635] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.897009988] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.897066225] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000105 -0.000065 0.000604 [component_container_isolated-3] 0.000105 1.000000 -0.000097 -0.000166 [component_container_isolated-3] 0.000065 0.000097 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] [1762964989.897100029] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.015,0.002} {0.082,0.100,0.205} [component_container_isolated-3] [DEBUG] [1762964989.897164683] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.897225559] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.897274483] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 -0.000014 0.203482 -0.006791 [component_container_isolated-3] 0.002438 0.999929 -0.011665 0.059731 [component_container_isolated-3] -0.203468 0.011917 0.979009 0.018654 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.897302496] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.697,11.740,0.143} [component_container_isolated-3] [DEBUG] [1762964989.897340559] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.015,-0.001} {0.573,11.642,-0.068} [component_container_isolated-3] [DEBUG] [1762964989.897410663] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.899203326] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.899255175] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.899294571] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.899339516] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000081 -0.000041 0.000084 [component_container_isolated-3] 0.000081 1.000000 -0.000085 -0.000074 [component_container_isolated-3] 0.000041 0.000085 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] [1762964989.899365175] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.229,0.011,-0.215} [component_container_isolated-3] [DEBUG] [1762964989.899412706] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.899455889] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.899497178] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879435 0.000063 0.476019 -0.001221 [component_container_isolated-3] -0.004701 0.999952 0.008554 0.060194 [component_container_isolated-3] -0.475996 -0.009760 0.879393 0.018220 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.899521203] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.636,28.424,-0.306} [component_container_isolated-3] [DEBUG] [1762964989.899551822] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.291,28.415,-0.062} [component_container_isolated-3] [DEBUG] [1762964989.899601467] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.913991378] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.914045461] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.914082562] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.914126676] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000252 0.000021 0.000091 [component_container_isolated-3] 0.000252 1.000000 -0.000246 -0.000759 [component_container_isolated-3] -0.000021 0.000246 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] [1762964989.914150893] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.030,-0.014} {0.035,-0.256,-0.273} [component_container_isolated-3] [DEBUG] [1762964989.914201499] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.914243650] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.914280210] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981486 -0.000092 0.191536 -0.006866 [component_container_isolated-3] -0.001633 0.999960 0.008847 0.060506 [component_container_isolated-3] -0.191529 -0.008996 0.981446 0.017718 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.914302693] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.001} {-0.525,11.042,-0.095} [component_container_isolated-3] [DEBUG] [1762964989.914339713] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.030,0.015} {-0.506,11.300,0.181} [component_container_isolated-3] [DEBUG] [1762964989.914393646] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.921157954] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.921224031] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.921271842] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.921329542] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000253 -0.000269 -0.000222 [component_container_isolated-3] 0.000253 1.000000 -0.000034 -0.001107 [component_container_isolated-3] 0.000269 0.000034 1.000000 -0.001075 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.921363377] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.122,-0.643,-0.100} [component_container_isolated-3] [DEBUG] [1762964989.921421738] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.921473868] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.921520276] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982749 -0.000128 0.184943 -0.007000 [component_container_isolated-3] 0.000034 1.000000 0.000512 0.059667 [component_container_isolated-3] -0.184943 -0.000497 0.982749 0.017087 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.921551376] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.658,0.002} [component_container_isolated-3] [DEBUG] [1762964989.921590681] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.132,11.301,0.102} [component_container_isolated-3] [DEBUG] [1762964989.921659963] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.925526116] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.925604145] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.925646617] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.925695620] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000018 -0.000012 -0.000044 [component_container_isolated-3] 0.000018 1.000000 -0.000015 0.000041 [component_container_isolated-3] 0.000012 0.000015 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] [1762964989.925722331] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.015,0.002} {0.083,0.099,0.206} [component_container_isolated-3] [DEBUG] [1762964989.925773238] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.925819928] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.925859313] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979081 -0.000028 0.203470 -0.006766 [component_container_isolated-3] 0.002456 0.999929 -0.011680 0.059721 [component_container_isolated-3] -0.203455 0.011935 0.979011 0.018614 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.925882617] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.739,0.144} [component_container_isolated-3] [DEBUG] [1762964989.925913847] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.015,-0.001} {0.573,11.642,-0.068} [component_container_isolated-3] [DEBUG] [1762964989.925998118] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.933590037] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.933652045] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.933699506] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.933756334] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000004 0.000037 -0.000102 [component_container_isolated-3] -0.000004 1.000000 0.000041 0.000017 [component_container_isolated-3] -0.000037 -0.000041 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] [1762964989.933791532] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.232,0.013,-0.215} [component_container_isolated-3] [DEBUG] [1762964989.933857938] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.933946267] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.933998928] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879417 0.000046 0.476051 -0.001230 [component_container_isolated-3] -0.004705 0.999952 0.008595 0.060200 [component_container_isolated-3] -0.476028 -0.009798 0.879376 0.018228 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.934028174] [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] [1762964989.934174633] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.291,28.415,-0.062} [component_container_isolated-3] [DEBUG] [1762964989.934246480] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.945080761] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.945130366] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.945162367] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.945196783] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000107 -0.000032 -0.000117 [component_container_isolated-3] -0.000107 1.000000 0.000112 0.000190 [component_container_isolated-3] 0.000032 -0.000112 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] [1762964989.945216180] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.031,-0.014} {0.028,-0.258,-0.279} [component_container_isolated-3] [DEBUG] [1762964989.945254503] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.945288929] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.945315520] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981492 -0.000008 0.191505 -0.006871 [component_container_isolated-3] -0.001740 0.999958 0.008960 0.060481 [component_container_isolated-3] -0.191497 -0.009127 0.981451 0.017729 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.945332432] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.001} {-0.533,11.040,-0.102} [component_container_isolated-3] [DEBUG] [1762964989.945354334] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.030,0.015} {-0.506,11.300,0.181} [component_container_isolated-3] [DEBUG] [1762964989.945426291] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.949653795] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.949724169] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.949775187] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.949832807] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000182 0.000143 0.000451 [component_container_isolated-3] -0.000182 1.000000 0.000167 0.000986 [component_container_isolated-3] -0.000143 -0.000167 1.000000 0.000946 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964989.949865118] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.003,-0.053} {0.113,-0.635,-0.110} [component_container_isolated-3] [DEBUG] [1762964989.949869597] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.950004995] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.949968215] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.950064158] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.950139933] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.950158869] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000018 -0.000012 -0.000044 [component_container_isolated-3] 0.000018 1.000000 -0.000015 0.000041 [component_container_isolated-3] 0.000012 0.000015 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] [1762964989.950243010] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.015,0.002} {0.084,0.098,0.208} [component_container_isolated-3] [DEBUG] [1762964989.950212341] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982723 0.000019 0.185084 -0.006933 [component_container_isolated-3] -0.000148 1.000000 0.000679 0.059754 [component_container_isolated-3] -0.185084 -0.000695 0.982723 0.017175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.950335527] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.041,10.666,-0.009} [component_container_isolated-3] [DEBUG] [1762964989.950388618] [zed_multi.front]: +++ Diff [map -> odom] - {0.005,-0.003,0.052} {-0.132,11.301,0.102} [component_container_isolated-3] [DEBUG] [1762964989.950291713] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.950477057] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.950494550] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.950575755] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979081 -0.000028 0.203470 -0.006766 [component_container_isolated-3] 0.002456 0.999929 -0.011680 0.059721 [component_container_isolated-3] -0.203455 0.011935 0.979011 0.018614 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.950594932] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.739,0.144} [component_container_isolated-3] [DEBUG] [1762964989.950617395] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.015,-0.001} {0.572,11.643,-0.069} [component_container_isolated-3] [DEBUG] [1762964989.950659556] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.959576254] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.959642300] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.959681876] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.959727633] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000107 -0.000032 -0.000117 [component_container_isolated-3] -0.000107 1.000000 0.000112 0.000190 [component_container_isolated-3] 0.000032 -0.000112 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] [1762964989.959754284] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.031,-0.014} {0.022,-0.260,-0.285} [component_container_isolated-3] [DEBUG] [1762964989.959805442] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.959852161] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.959889102] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981492 -0.000008 0.191505 -0.006871 [component_container_isolated-3] -0.001740 0.999958 0.008960 0.060481 [component_container_isolated-3] -0.191497 -0.009127 0.981451 0.017729 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.959911805] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.001} {-0.533,11.040,-0.102} [component_container_isolated-3] [DEBUG] [1762964989.959966089] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.030,0.015} {-0.498,11.302,0.187} [component_container_isolated-3] [DEBUG] [1762964989.960017547] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.965104402] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.965149368] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.965185637] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.965228208] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000004 -0.000005 0.000044 [component_container_isolated-3] 0.000004 1.000000 -0.000006 -0.000037 [component_container_isolated-3] 0.000005 0.000006 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] [1762964989.965252495] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.231,0.012,-0.215} [component_container_isolated-3] [DEBUG] [1762964989.965298753] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.965340923] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.965379437] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 0.000046 0.476047 -0.001235 [component_container_isolated-3] -0.004702 0.999952 0.008589 0.060202 [component_container_isolated-3] -0.476023 -0.009791 0.879378 0.018232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.965402942] [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] [1762964989.965436416] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.291,28.415,-0.062} [component_container_isolated-3] [DEBUG] [1762964989.965488886] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.981059763] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.981126670] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.981167288] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.981212234] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000184 -0.000067 -0.000451 [component_container_isolated-3] 0.000184 1.000000 -0.000148 -0.001055 [component_container_isolated-3] 0.000067 0.000148 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] [1762964989.981237843] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.121,-0.639,-0.100} [component_container_isolated-3] [DEBUG] [1762964989.981288509] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.981339136] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.981379994] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982735 -0.000134 0.185018 -0.007031 [component_container_isolated-3] 0.000037 1.000000 0.000531 0.059508 [component_container_isolated-3] -0.185018 -0.000515 0.982735 0.017006 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.981405062] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.030,10.662,0.002} [component_container_isolated-3] [DEBUG] [1762964989.981438967] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.132,11.301,0.102} [component_container_isolated-3] [DEBUG] [1762964989.981490225] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.992543043] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.992612836] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.992653303] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.992697398] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000089 -0.000002 -0.000391 [component_container_isolated-3] -0.000089 1.000000 0.000180 0.000115 [component_container_isolated-3] 0.000002 -0.000180 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] [1762964989.992723608] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.015,0.002} {0.073,0.098,0.202} [component_container_isolated-3] [DEBUG] [1762964989.992772681] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.992815403] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.992854387] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000022 0.203469 -0.006777 [component_container_isolated-3] 0.002367 0.999931 -0.011500 0.059727 [component_container_isolated-3] -0.203455 0.011741 0.979014 0.018628 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.992879235] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.687,11.739,0.139} [component_container_isolated-3] [DEBUG] [1762964989.992912128] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.015,-0.002} {0.572,11.643,-0.069} [component_container_isolated-3] [DEBUG] [1762964989.993001879] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.994006478] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.994058297] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.994097421] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.994141135] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000184 -0.000067 -0.000451 [component_container_isolated-3] 0.000184 1.000000 -0.000148 -0.001055 [component_container_isolated-3] 0.000067 0.000148 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] [1762964989.994166443] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.055} {0.130,-0.643,-0.089} [component_container_isolated-3] [DEBUG] [1762964989.994215166] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.994262727] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.994302914] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982735 -0.000134 0.185018 -0.007031 [component_container_isolated-3] 0.000037 1.000000 0.000531 0.059508 [component_container_isolated-3] -0.185018 -0.000515 0.982735 0.017006 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.994327140] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.030,10.662,0.002} [component_container_isolated-3] [DEBUG] [1762964989.994360544] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.001,0.054} {-0.142,11.305,0.091} [component_container_isolated-3] [DEBUG] [1762964989.994411712] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964989.996532041] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964989.996587437] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964989.996632112] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964989.996679042] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000043 -0.000044 -0.000074 [component_container_isolated-3] -0.000043 1.000000 0.000065 0.000030 [component_container_isolated-3] 0.000044 -0.000065 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] [1762964989.996705873] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.235,0.010,-0.217} [component_container_isolated-3] [DEBUG] [1762964989.996756189] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964989.996800303] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964989.996838125] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879441 0.000053 0.476008 -0.001249 [component_container_isolated-3] -0.004744 0.999951 0.008654 0.060208 [component_container_isolated-3] -0.475985 -0.009868 0.879398 0.018231 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964989.996863784] [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] [1762964989.996897068] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.291,28.415,-0.062} [component_container_isolated-3] [DEBUG] [1762964989.996976119] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.008721500] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.008779090] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.008818625] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.008862118] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000024 -0.000013 0.000184 [component_container_isolated-3] -0.000024 1.000000 -0.000001 -0.000085 [component_container_isolated-3] 0.000013 0.000001 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] [1762964990.008886775] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.031,-0.014} {0.022,-0.260,-0.287} [component_container_isolated-3] [DEBUG] [1762964990.008965706] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.009020601] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.009062341] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981494 0.000015 0.191493 -0.006859 [component_container_isolated-3] -0.001763 0.999958 0.008958 0.060449 [component_container_isolated-3] -0.191485 -0.009130 0.981453 0.017724 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.009087719] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.001} {-0.533,11.039,-0.103} [component_container_isolated-3] [DEBUG] [1762964990.009121614] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.030,0.015} {-0.498,11.302,0.187} [component_container_isolated-3] [DEBUG] [1762964990.009171930] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.035478038] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.035529286] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.035568351] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.035611263] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000053 0.000090 0.000033 [component_container_isolated-3] 0.000053 1.000000 0.000007 -0.000046 [component_container_isolated-3] -0.000090 -0.000007 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] [1762964990.035635870] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.235,0.015,-0.214} [component_container_isolated-3] [DEBUG] [1762964990.035683180] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.035726824] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.035765748] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879398 0.000003 0.476087 -0.001255 [component_container_isolated-3] -0.004692 0.999951 0.008660 0.060206 [component_container_isolated-3] -0.476064 -0.009849 0.879355 0.018239 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.035789042] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.642,28.429,-0.306} [component_container_isolated-3] [DEBUG] [1762964990.035822256] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.291,28.415,-0.062} [component_container_isolated-3] [DEBUG] [1762964990.035872251] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.036517443] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.036587708] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.036627484] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.036672239] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000031 0.000044 -0.000309 [component_container_isolated-3] -0.000031 1.000000 -0.000017 -0.000049 [component_container_isolated-3] -0.000044 0.000017 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] [1762964990.036698158] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.002} {0.074,0.101,0.201} [component_container_isolated-3] [DEBUG] [1762964990.036747483] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.036791256] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.036831132] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979072 0.000056 0.203512 -0.006835 [component_container_isolated-3] 0.002337 0.999931 -0.011516 0.059722 [component_container_isolated-3] -0.203498 0.011751 0.979005 0.018695 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.036855529] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.742,0.137} [component_container_isolated-3] [DEBUG] [1762964990.036887490] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.015,-0.002} {0.572,11.643,-0.069} [component_container_isolated-3] [DEBUG] [1762964990.036971551] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.045951550] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.046000554] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.046038005] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.046080306] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000041 0.000035 -0.000496 [component_container_isolated-3] -0.000041 1.000000 -0.000080 0.000251 [component_container_isolated-3] -0.000035 0.000080 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] [1762964990.046104392] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.031,-0.014} {0.027,-0.258,-0.289} [component_container_isolated-3] [DEBUG] [1762964990.046151081] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.046196137] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.046235242] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981487 0.000071 0.191527 -0.006941 [component_container_isolated-3] -0.001805 0.999959 0.008878 0.060447 [component_container_isolated-3] -0.191519 -0.009059 0.981447 0.017748 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.046258907] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.001} {-0.529,11.041,-0.105} [component_container_isolated-3] [DEBUG] [1762964990.046292181] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.031,0.015} {-0.498,11.302,0.187} [component_container_isolated-3] [DEBUG] [1762964990.046343719] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.051561454] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.051633211] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.051674951] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.051720057] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000159 0.000155 0.000364 [component_container_isolated-3] -0.000159 1.000000 0.000227 0.001100 [component_container_isolated-3] -0.000155 -0.000227 1.000000 0.001075 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.051745455] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.117,-0.634,-0.098} [component_container_isolated-3] [DEBUG] [1762964990.051795351] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.051839635] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.051876025] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982707 -0.000020 0.185170 -0.006969 [component_container_isolated-3] -0.000122 1.000000 0.000758 0.059663 [component_container_isolated-3] -0.185170 -0.000768 0.982706 0.017160 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.051899169] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.045,10.671,-0.007} [component_container_isolated-3] [DEBUG] [1762964990.051973721] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.142,11.305,0.091} [component_container_isolated-3] [DEBUG] [1762964990.052031241] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.065842116] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.065894757] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.065973588] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.066021078] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000019 -0.000040 -0.000055 [component_container_isolated-3] 0.000019 1.000000 -0.000065 0.000022 [component_container_isolated-3] 0.000040 0.000065 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] [1762964990.066047519] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.232,0.013,-0.213} [component_container_isolated-3] [DEBUG] [1762964990.066098145] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.066140997] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.066178198] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879417 0.000018 0.476052 -0.001263 [component_container_isolated-3] -0.004673 0.999952 0.008595 0.060207 [component_container_isolated-3] -0.476029 -0.009783 0.879375 0.018256 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.066200862] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.637,28.426,-0.304} [component_container_isolated-3] [DEBUG] [1762964990.066230899] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.291,28.415,-0.062} [component_container_isolated-3] [DEBUG] [1762964990.066280113] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.066592159] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.066643196] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.066683193] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.066729040] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000032 -0.000000 0.000587 [component_container_isolated-3] 0.000032 1.000000 -0.000075 -0.000130 [component_container_isolated-3] 0.000000 0.000075 1.000000 -0.000496 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.066755581] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.015,0.002} {0.079,0.101,0.203} [component_container_isolated-3] [DEBUG] [1762964990.066805596] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.066847546] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.066884126] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000039 0.203511 -0.006788 [component_container_isolated-3] 0.002369 0.999930 -0.011591 0.059701 [component_container_isolated-3] -0.203498 0.011830 0.979004 0.018642 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.066907070] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.742,0.139} [component_container_isolated-3] [DEBUG] [1762964990.066963107] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.015,-0.001} {0.572,11.643,-0.069} [component_container_isolated-3] [DEBUG] [1762964990.067030215] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.077454022] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.077508025] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.077548663] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.077593529] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000115 -0.000003 0.000493 [component_container_isolated-3] 0.000115 1.000000 0.000104 -0.000271 [component_container_isolated-3] 0.000003 -0.000104 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] [1762964990.077618346] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.031,-0.014} {0.021,-0.258,-0.282} [component_container_isolated-3] [DEBUG] [1762964990.077669824] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.077722174] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.077763243] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981488 -0.000062 0.191524 -0.006917 [component_container_isolated-3] -0.001690 0.999958 0.008982 0.060405 [component_container_isolated-3] -0.191517 -0.009139 0.981447 0.017746 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.077787569] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.001} {-0.534,11.041,-0.099} [component_container_isolated-3] [DEBUG] [1762964990.077820312] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.030,0.015} {-0.498,11.302,0.187} [component_container_isolated-3] [DEBUG] [1762964990.077870387] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.082687657] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.082755226] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.082796245] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.082842052] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000010 -0.000042 0.000056 [component_container_isolated-3] -0.000010 1.000000 -0.000166 -0.000010 [component_container_isolated-3] 0.000042 0.000166 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] [1762964990.082867381] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.126,-0.636,-0.099} [component_container_isolated-3] [DEBUG] [1762964990.082917115] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.083008560] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.083050140] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000020 0.185129 -0.006944 [component_container_isolated-3] -0.000132 1.000000 0.000592 0.059704 [component_container_isolated-3] -0.185129 -0.000606 0.982714 0.017193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.083074436] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.035,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964990.083107549] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.142,11.305,0.091} [component_container_isolated-3] [DEBUG] [1762964990.083158697] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.089503514] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.089570271] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.089611971] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.089657859] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000032 -0.000000 0.000587 [component_container_isolated-3] 0.000032 1.000000 -0.000075 -0.000130 [component_container_isolated-3] 0.000000 0.000075 1.000000 -0.000496 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.089683668] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.015,0.001} {0.083,0.101,0.204} [component_container_isolated-3] [DEBUG] [1762964990.089733413] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.089775674] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.089810791] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000039 0.203511 -0.006788 [component_container_isolated-3] 0.002369 0.999930 -0.011591 0.059701 [component_container_isolated-3] -0.203498 0.011830 0.979004 0.018642 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.089832873] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.742,0.139} [component_container_isolated-3] [DEBUG] [1762964990.089869162] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.015,-0.001} {0.567,11.643,-0.071} [component_container_isolated-3] [DEBUG] [1762964990.089954585] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.095840206] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.095903957] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.095966106] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.096012996] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000071 0.000002 -0.000032 [component_container_isolated-3] -0.000071 1.000000 0.000085 0.000047 [component_container_isolated-3] -0.000002 -0.000085 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] [1762964990.096039386] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.237,0.013,-0.217} [component_container_isolated-3] [DEBUG] [1762964990.096089973] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.096134878] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.096175566] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879416 0.000039 0.476054 -0.001276 [component_container_isolated-3] -0.004743 0.999951 0.008680 0.060215 [component_container_isolated-3] -0.476031 -0.009891 0.879373 0.018256 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.096200113] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.644,28.426,-0.309} [component_container_isolated-3] [DEBUG] [1762964990.096232314] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.291,28.415,-0.062} [component_container_isolated-3] [DEBUG] [1762964990.096282761] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.102622077] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.102688173] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.102727138] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.102770871] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000010 -0.000042 0.000056 [component_container_isolated-3] -0.000010 1.000000 -0.000166 -0.000010 [component_container_isolated-3] 0.000042 0.000166 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] [1762964990.102795208] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.136,-0.639,-0.099} [component_container_isolated-3] [DEBUG] [1762964990.102844081] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.102886843] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.102947148] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000020 0.185129 -0.006944 [component_container_isolated-3] -0.000132 1.000000 0.000592 0.059704 [component_container_isolated-3] -0.185129 -0.000606 0.982714 0.017193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.102974170] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.035,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964990.103007834] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.152,11.308,0.092} [component_container_isolated-3] [DEBUG] [1762964990.103065504] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.107391816] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.107447603] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.107484974] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.107527375] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000032 -0.000000 0.000587 [component_container_isolated-3] 0.000032 1.000000 -0.000075 -0.000130 [component_container_isolated-3] 0.000000 0.000075 1.000000 -0.000496 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.107551521] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.016,0.001} {0.087,0.101,0.206} [component_container_isolated-3] [DEBUG] [1762964990.107597579] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.107637766] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.107672142] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000039 0.203511 -0.006788 [component_container_isolated-3] 0.002369 0.999930 -0.011591 0.059701 [component_container_isolated-3] -0.203498 0.011830 0.979004 0.018642 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.107695376] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.742,0.139} [component_container_isolated-3] [DEBUG] [1762964990.107727577] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.015,-0.000} {0.562,11.643,-0.073} [component_container_isolated-3] [DEBUG] [1762964990.107780489] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.116375052] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.116438523] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.116478179] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.116521171] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000142 0.000020 -0.000434 [component_container_isolated-3] -0.000142 1.000000 -0.000182 0.000531 [component_container_isolated-3] -0.000020 0.000182 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] [1762964990.116545948] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.003,0.031,-0.014} {0.031,-0.257,-0.291} [component_container_isolated-3] [DEBUG] [1762964990.116593890] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.116637333] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.116673081] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981484 0.000113 0.191544 -0.006959 [component_container_isolated-3] -0.001832 0.999960 0.008800 0.060466 [component_container_isolated-3] -0.191535 -0.008988 0.981445 0.017788 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.116697708] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.001} {-0.525,11.042,-0.107} [component_container_isolated-3] [DEBUG] [1762964990.116731673] [zed_multi.right]: +++ Diff [map -> odom] - {-0.000,-0.031,0.015} {-0.498,11.302,0.187} [component_container_isolated-3] [DEBUG] [1762964990.116783292] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.132943915] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.132998078] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.133036572] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.133080986] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000010 -0.000042 0.000056 [component_container_isolated-3] -0.000010 1.000000 -0.000166 -0.000010 [component_container_isolated-3] 0.000042 0.000166 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] [1762964990.133106665] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.145,-0.641,-0.100} [component_container_isolated-3] [DEBUG] [1762964990.133155188] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.133198471] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.133235522] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000020 0.185129 -0.006944 [component_container_isolated-3] -0.000132 1.000000 0.000592 0.059704 [component_container_isolated-3] -0.185129 -0.000606 0.982714 0.017193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.133258355] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.035,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964990.133289364] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.161,11.310,0.092} [component_container_isolated-3] [DEBUG] [1762964990.133340773] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.140095452] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.140149936] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.140188861] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.140232765] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000044 -0.000041 -0.000009 [component_container_isolated-3] -0.000044 1.000000 -0.000136 -0.000028 [component_container_isolated-3] 0.000041 0.000136 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] [1762964990.140258333] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.229,0.011,-0.219} [component_container_isolated-3] [DEBUG] [1762964990.140307016] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.140348385] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.140384875] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879435 0.000143 0.476018 -0.001282 [component_container_isolated-3] -0.004787 0.999952 0.008544 0.060216 [component_container_isolated-3] -0.475994 -0.009793 0.879394 0.018270 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.140409452] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.638,28.424,-0.312} [component_container_isolated-3] [DEBUG] [1762964990.140443297] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.291,28.415,-0.062} [component_container_isolated-3] [DEBUG] [1762964990.140495877] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.141774800] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.141822230] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.141861455] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.141904177] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000018 -0.000203 0.000679 [component_container_isolated-3] -0.000018 1.000000 0.000054 0.000419 [component_container_isolated-3] 0.000203 -0.000054 1.000000 -0.001102 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.141963390] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.032,-0.015} {0.028,-0.269,-0.292} [component_container_isolated-3] [DEBUG] [1762964990.142013946] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.142060595] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.142102435] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981523 0.000119 0.191345 -0.006920 [component_container_isolated-3] -0.001848 0.999959 0.008854 0.060601 [component_container_isolated-3] -0.191336 -0.009044 0.981483 0.017474 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.142127633] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.528,11.031,-0.108} [component_container_isolated-3] [DEBUG] [1762964990.142160095] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.031,0.016} {-0.498,11.302,0.187} [component_container_isolated-3] [DEBUG] [1762964990.142208788] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.158638675] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.158691627] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.158731663] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.158777310] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000032 -0.000000 0.000587 [component_container_isolated-3] 0.000032 1.000000 -0.000075 -0.000130 [component_container_isolated-3] 0.000000 0.000075 1.000000 -0.000496 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.158801366] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.002,-0.016,0.000} {0.092,0.101,0.208} [component_container_isolated-3] [DEBUG] [1762964990.158847905] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.158887120] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.158945672] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000039 0.203511 -0.006788 [component_container_isolated-3] 0.002369 0.999930 -0.011591 0.059701 [component_container_isolated-3] -0.203498 0.011830 0.979004 0.018642 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.158969066] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.742,0.139} [component_container_isolated-3] [DEBUG] [1762964990.159002400] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.016,0.000} {0.558,11.643,-0.075} [component_container_isolated-3] [DEBUG] [1762964990.159059279] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.176964403] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.177018126] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.177073431] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.177127374] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000094 -0.000005 0.000014 [component_container_isolated-3] 0.000094 1.000000 0.000046 -0.000027 [component_container_isolated-3] 0.000005 -0.000046 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] [1762964990.177159746] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.231,0.010,-0.214} [component_container_isolated-3] [DEBUG] [1762964990.177220402] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.177273463] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.177318770] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879438 0.000039 0.476014 -0.001298 [component_container_isolated-3] -0.004693 0.999952 0.008590 0.060216 [component_container_isolated-3] -0.475991 -0.009788 0.879396 0.018274 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.177344840] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.638,28.424,-0.306} [component_container_isolated-3] [DEBUG] [1762964990.177377412] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.291,28.415,-0.062} [component_container_isolated-3] [DEBUG] [1762964990.177434511] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.181967488] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.182021461] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.182059614] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.182102576] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000018 -0.000203 0.000679 [component_container_isolated-3] -0.000018 1.000000 0.000054 0.000419 [component_container_isolated-3] 0.000203 -0.000054 1.000000 -0.001102 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.182128465] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.032,-0.016} {0.025,-0.281,-0.293} [component_container_isolated-3] [DEBUG] [1762964990.182178611] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.182223827] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.182262832] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981523 0.000119 0.191345 -0.006920 [component_container_isolated-3] -0.001848 0.999959 0.008854 0.060601 [component_container_isolated-3] -0.191336 -0.009044 0.981483 0.017474 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.182285886] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.528,11.031,-0.108} [component_container_isolated-3] [DEBUG] [1762964990.182318719] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.031,0.017} {-0.495,11.314,0.188} [component_container_isolated-3] [DEBUG] [1762964990.182367612] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.184014958] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.184060916] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.184097506] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.184139856] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000032 -0.000000 0.000587 [component_container_isolated-3] 0.000032 1.000000 -0.000075 -0.000130 [component_container_isolated-3] 0.000000 0.000075 1.000000 -0.000496 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.184163922] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.002,-0.016,-0.000} {0.096,0.101,0.210} [component_container_isolated-3] [DEBUG] [1762964990.184208488] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.184251400] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.184290324] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000039 0.203511 -0.006788 [component_container_isolated-3] 0.002369 0.999930 -0.011591 0.059701 [component_container_isolated-3] -0.203498 0.011830 0.979004 0.018642 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.184312877] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.742,0.139} [component_container_isolated-3] [DEBUG] [1762964990.184344788] [zed_multi.left]: +++ Diff [map -> odom] - {-0.003,0.016,0.001} {0.553,11.643,-0.077} [component_container_isolated-3] [DEBUG] [1762964990.184394974] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.189109407] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.189175072] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.189214598] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.189257991] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000055 0.000097 -0.000069 [component_container_isolated-3] 0.000055 1.000000 0.000025 -0.000046 [component_container_isolated-3] -0.000097 -0.000025 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] [1762964990.189282077] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.144,-0.636,-0.097} [component_container_isolated-3] [DEBUG] [1762964990.189330860] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.189377790] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.189417505] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 -0.000038 0.185224 -0.006928 [component_container_isolated-3] -0.000078 1.000000 0.000618 0.059731 [component_container_isolated-3] -0.185224 -0.000621 0.982696 0.017244 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.189440449] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.674,-0.005} [component_container_isolated-3] [DEBUG] [1762964990.189473853] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.161,11.310,0.092} [component_container_isolated-3] [DEBUG] [1762964990.189526764] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.204172604] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.204227840] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.204265702] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.204309125] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000021 0.000015 0.000136 [component_container_isolated-3] -0.000021 1.000000 -0.000051 -0.000011 [component_container_isolated-3] -0.000015 0.000051 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] [1762964990.204334263] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.003,0.007,0.002} {-0.228,0.011,-0.215} [component_container_isolated-3] [DEBUG] [1762964990.204380992] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.204425487] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.204466355] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 0.000081 0.476027 -0.001292 [component_container_isolated-3] -0.004714 0.999952 0.008539 0.060214 [component_container_isolated-3] -0.476004 -0.009753 0.879389 0.018272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.204490070] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.635,28.425,-0.307} [component_container_isolated-3] [DEBUG] [1762964990.204522603] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.291,28.415,-0.062} [component_container_isolated-3] [DEBUG] [1762964990.204573580] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.214946179] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.215001885] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.215040459] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.215082860] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000039 0.000035 -0.000337 [component_container_isolated-3] -0.000039 1.000000 -0.000010 0.000149 [component_container_isolated-3] -0.000035 0.000010 1.000000 0.000785 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.215106796] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.032,-0.015} {0.025,-0.279,-0.295} [component_container_isolated-3] [DEBUG] [1762964990.215154757] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.215202338] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.215241243] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981516 0.000159 0.191379 -0.006913 [component_container_isolated-3] -0.001887 0.999959 0.008844 0.060700 [component_container_isolated-3] -0.191370 -0.009041 0.981476 0.017507 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.215265008] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.000} {-0.528,11.033,-0.110} [component_container_isolated-3] [DEBUG] [1762964990.215298031] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.032,0.016} {-0.495,11.314,0.188} [component_container_isolated-3] [DEBUG] [1762964990.215349449] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.226849321] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.226903855] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.226973949] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.227020047] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000021 0.000015 0.000136 [component_container_isolated-3] -0.000021 1.000000 -0.000051 -0.000011 [component_container_isolated-3] -0.000015 0.000051 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] [1762964990.227047199] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.226,0.012,-0.216} [component_container_isolated-3] [DEBUG] [1762964990.227099439] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.227145727] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.227185593] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 0.000081 0.476027 -0.001292 [component_container_isolated-3] -0.004714 0.999952 0.008539 0.060214 [component_container_isolated-3] -0.476004 -0.009753 0.879389 0.018272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.227209579] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.635,28.425,-0.307} [component_container_isolated-3] [DEBUG] [1762964990.227242532] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.293,28.414,-0.061} [component_container_isolated-3] [DEBUG] [1762964990.227294822] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.231614041] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.231681740] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.231721376] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.231766281] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000010 -0.000192 0.000103 [component_container_isolated-3] -0.000010 1.000000 -0.000013 0.000102 [component_container_isolated-3] 0.000192 0.000013 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] [1762964990.231790959] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.145,-0.647,-0.097} [component_container_isolated-3] [DEBUG] [1762964990.231841225] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.231887393] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.231957787] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982732 -0.000026 0.185035 -0.006906 [component_container_isolated-3] -0.000087 1.000000 0.000604 0.059771 [component_container_isolated-3] -0.185035 -0.000610 0.982732 0.017268 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.231985290] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.663,-0.005} [component_container_isolated-3] [DEBUG] [1762964990.232019054] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.161,11.310,0.092} [component_container_isolated-3] [DEBUG] [1762964990.232078107] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.239274621] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.239333393] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.239378018] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.239423425] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000010 -0.000192 0.000103 [component_container_isolated-3] -0.000010 1.000000 -0.000013 0.000102 [component_container_isolated-3] 0.000192 0.000013 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] [1762964990.239448493] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.145,-0.658,-0.098} [component_container_isolated-3] [DEBUG] [1762964990.239502225] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.239549576] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.239589923] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982732 -0.000026 0.185035 -0.006906 [component_container_isolated-3] -0.000087 1.000000 0.000604 0.059771 [component_container_isolated-3] -0.185035 -0.000610 0.982732 0.017268 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.239613989] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.663,-0.005} [component_container_isolated-3] [DEBUG] [1762964990.239647312] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.054} {-0.162,11.321,0.093} [component_container_isolated-3] [DEBUG] [1762964990.239698209] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.240348562] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.240396553] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.240434245] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.240477528] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000031 0.000083 -0.000442 [component_container_isolated-3] -0.000031 1.000000 -0.000070 0.000031 [component_container_isolated-3] -0.000083 0.000070 1.000000 0.000340 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.240500712] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.002,-0.016,0.000} {0.100,0.105,0.208} [component_container_isolated-3] [DEBUG] [1762964990.240547802] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.240587939] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.240626573] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979056 0.000084 0.203593 -0.006822 [component_container_isolated-3] 0.002339 0.999929 -0.011661 0.059689 [component_container_isolated-3] -0.203579 0.011892 0.978986 0.018679 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.240649867] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.696,11.746,0.137} [component_container_isolated-3] [DEBUG] [1762964990.240681928] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.016,0.001} {0.553,11.643,-0.077} [component_container_isolated-3] [DEBUG] [1762964990.240731122] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.250331867] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.250393665] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.250435335] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.250479629] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000033 -0.000131 0.000372 [component_container_isolated-3] 0.000033 1.000000 0.000044 -0.000319 [component_container_isolated-3] 0.000131 -0.000044 1.000000 -0.001012 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.250504497] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.032,-0.016} {0.023,-0.286,-0.293} [component_container_isolated-3] [DEBUG] [1762964990.250554132] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.250598587] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.250636860] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 0.000119 0.191250 -0.006904 [component_container_isolated-3] -0.001853 0.999959 0.008888 0.060739 [component_container_isolated-3] -0.191241 -0.009078 0.981501 0.017236 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.250660585] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.000} {-0.530,11.025,-0.108} [component_container_isolated-3] [DEBUG] [1762964990.250691183] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.031,0.017} {-0.495,11.314,0.188} [component_container_isolated-3] [DEBUG] [1762964990.250741960] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.252206167] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.252253627] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.252291810] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.252334221] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000021 0.000015 0.000136 [component_container_isolated-3] -0.000021 1.000000 -0.000051 -0.000011 [component_container_isolated-3] -0.000015 0.000051 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] [1762964990.252359189] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.223,0.013,-0.218} [component_container_isolated-3] [DEBUG] [1762964990.252406630] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.252450964] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.252490299] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 0.000081 0.476027 -0.001292 [component_container_isolated-3] -0.004714 0.999952 0.008539 0.060214 [component_container_isolated-3] -0.476004 -0.009753 0.879389 0.018272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.252514415] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.635,28.425,-0.307} [component_container_isolated-3] [DEBUG] [1762964990.252546947] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.295,28.413,-0.060} [component_container_isolated-3] [DEBUG] [1762964990.252599187] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.263778718] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.263836678] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.263879410] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.263956507] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000066 -0.000137 0.000470 [component_container_isolated-3] 0.000067 1.000000 0.000095 -0.000199 [component_container_isolated-3] 0.000137 -0.000095 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] [1762964990.263986424] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.002,-0.016,-0.000} {0.094,0.098,0.212} [component_container_isolated-3] [DEBUG] [1762964990.264039345] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.264086495] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.264123897] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 0.000000 0.203459 -0.006781 [component_container_isolated-3] 0.002403 0.999930 -0.011566 0.059647 [component_container_isolated-3] -0.203444 0.011813 0.979015 0.018633 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.264145478] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.738,0.141} [component_container_isolated-3] [DEBUG] [1762964990.264175575] [zed_multi.left]: +++ Diff [map -> odom] - {-0.003,0.016,0.001} {0.553,11.643,-0.077} [component_container_isolated-3] [DEBUG] [1762964990.264224699] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.273496827] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.273557763] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.273596126] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.273639078] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000029 0.000037 -0.000454 [component_container_isolated-3] 0.000029 1.000000 0.000022 0.000032 [component_container_isolated-3] -0.000037 -0.000022 1.000000 0.000397 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.273663605] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.032,-0.016} {0.022,-0.284,-0.291} [component_container_isolated-3] [DEBUG] [1762964990.273710495] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.273756753] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.273796619] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 0.000086 0.191286 -0.006941 [component_container_isolated-3] -0.001824 0.999959 0.008910 0.060762 [component_container_isolated-3] -0.191278 -0.009094 0.981494 0.017202 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.273821316] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.000} {-0.531,11.027,-0.106} [component_container_isolated-3] [DEBUG] [1762964990.273854560] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.031,0.016} {-0.495,11.314,0.188} [component_container_isolated-3] [DEBUG] [1762964990.273905297] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.279913691] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.280017640] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.280059680] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.280105277] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000047 0.000128 -0.000235 [component_container_isolated-3] -0.000047 1.000000 0.000045 0.000021 [component_container_isolated-3] -0.000128 -0.000045 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] [1762964990.280130666] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.143,-0.650,-0.101} [component_container_isolated-3] [DEBUG] [1762964990.280181853] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.280226849] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.280267607] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 0.000012 0.185160 -0.006910 [component_container_isolated-3] -0.000135 1.000000 0.000650 0.059805 [component_container_isolated-3] -0.185160 -0.000663 0.982708 0.017296 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.280292936] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.670,-0.008} [component_container_isolated-3] [DEBUG] [1762964990.280325909] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.054} {-0.162,11.321,0.093} [component_container_isolated-3] [DEBUG] [1762964990.280377156] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.285234904] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.285298225] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.285336227] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.285378959] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000021 0.000015 0.000136 [component_container_isolated-3] -0.000021 1.000000 -0.000051 -0.000011 [component_container_isolated-3] -0.000015 0.000051 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] [1762964990.285403445] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.220,0.014,-0.219} [component_container_isolated-3] [DEBUG] [1762964990.285450726] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.285493628] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.285534556] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 0.000081 0.476027 -0.001292 [component_container_isolated-3] -0.004714 0.999952 0.008539 0.060214 [component_container_isolated-3] -0.476004 -0.009753 0.879389 0.018272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.285558171] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.635,28.425,-0.307} [component_container_isolated-3] [DEBUG] [1762964990.285589471] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.297,28.412,-0.058} [component_container_isolated-3] [DEBUG] [1762964990.285639606] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.289384358] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.289439784] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.289477326] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.289520688] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000125 0.000083 -0.000471 [component_container_isolated-3] -0.000125 1.000000 0.000008 0.000446 [component_container_isolated-3] -0.000083 -0.000008 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] [1762964990.289545095] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.002,-0.016,0.000} {0.094,0.102,0.205} [component_container_isolated-3] [DEBUG] [1762964990.289593477] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.289639335] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.289678350] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 0.000121 0.203540 -0.006816 [component_container_isolated-3] 0.002279 0.999931 -0.011557 0.059685 [component_container_isolated-3] -0.203527 0.011779 0.978998 0.018662 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.289702025] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.743,0.133} [component_container_isolated-3] [DEBUG] [1762964990.289734527] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.015,0.001} {0.553,11.643,-0.077} [component_container_isolated-3] [DEBUG] [1762964990.289790975] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.307900379] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.307988778] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.308031339] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.308075884] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000069 0.000038 0.000079 [component_container_isolated-3] 0.000069 1.000000 -0.000052 -0.000564 [component_container_isolated-3] -0.000038 0.000052 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] [1762964990.308101463] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.031,-0.016} {0.025,-0.282,-0.287} [component_container_isolated-3] [DEBUG] [1762964990.308151038] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.308203819] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.308244226] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981527 0.000028 0.191324 -0.006952 [component_container_isolated-3] -0.001756 0.999959 0.008858 0.060683 [component_container_isolated-3] -0.191316 -0.009030 0.981487 0.017188 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.308269344] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.000} {-0.527,11.030,-0.102} [component_container_isolated-3] [DEBUG] [1762964990.308303639] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.031,0.016} {-0.495,11.314,0.188} [component_container_isolated-3] [DEBUG] [1762964990.308354156] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.313157138] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.313220930] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.313261698] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.313306995] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000028 -0.000045 0.000008 [component_container_isolated-3] 0.000028 1.000000 -0.000033 0.000000 [component_container_isolated-3] 0.000045 0.000033 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] [1762964990.313331962] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.145,-0.653,-0.099} [component_container_isolated-3] [DEBUG] [1762964990.313381727] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.313429438] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.313469886] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 -0.000009 0.185116 -0.006913 [component_container_isolated-3] -0.000107 1.000000 0.000617 0.059831 [component_container_isolated-3] -0.185116 -0.000626 0.982717 0.017328 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.313495094] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.668,-0.006} [component_container_isolated-3] [DEBUG] [1762964990.313529249] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.054} {-0.162,11.321,0.093} [component_container_isolated-3] [DEBUG] [1762964990.313580938] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.323976551] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.324037688] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.324081281] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.324132128] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000108 -0.000085 0.000463 [component_container_isolated-3] 0.000108 1.000000 -0.000022 -0.000092 [component_container_isolated-3] 0.000085 0.000022 1.000000 -0.000420 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.324164350] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.002,-0.016,-0.000} {0.095,0.097,0.211} [component_container_isolated-3] [DEBUG] [1762964990.324216890] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.324251817] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.324279329] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 0.000020 0.203457 -0.006785 [component_container_isolated-3] 0.002386 0.999930 -0.011579 0.059691 [component_container_isolated-3] -0.203443 0.011823 0.979015 0.018598 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.324296983] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.738,0.140} [component_container_isolated-3] [DEBUG] [1762964990.324332050] [zed_multi.left]: +++ Diff [map -> odom] - {-0.003,0.016,0.001} {0.553,11.643,-0.077} [component_container_isolated-3] [DEBUG] [1762964990.324388147] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.324793461] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.324828167] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.324861280] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.324901046] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000021 0.000015 0.000136 [component_container_isolated-3] -0.000021 1.000000 -0.000051 -0.000011 [component_container_isolated-3] -0.000015 0.000051 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] [1762964990.324961051] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.217,0.015,-0.220} [component_container_isolated-3] [DEBUG] [1762964990.325015946] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.325059739] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.325095247] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 0.000081 0.476027 -0.001292 [component_container_isolated-3] -0.004714 0.999952 0.008539 0.060214 [component_container_isolated-3] -0.476004 -0.009753 0.879389 0.018272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.325118221] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.635,28.425,-0.307} [component_container_isolated-3] [DEBUG] [1762964990.325149190] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.300,28.412,-0.057} [component_container_isolated-3] [DEBUG] [1762964990.325197703] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.335617432] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.335659863] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.335694449] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.335746959] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000116 0.000016 0.000094 [component_container_isolated-3] -0.000116 1.000000 0.000054 0.000717 [component_container_isolated-3] -0.000016 -0.000054 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] [1762964990.335770665] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.032,-0.015} {0.022,-0.281,-0.294} [component_container_isolated-3] [DEBUG] [1762964990.335816402] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.335861869] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.335900302] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 0.000132 0.191340 -0.006935 [component_container_isolated-3] -0.001872 0.999959 0.008913 0.060792 [component_container_isolated-3] -0.191331 -0.009106 0.981484 0.017209 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.335947342] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.000} {-0.532,11.030,-0.109} [component_container_isolated-3] [DEBUG] [1762964990.335982169] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.031,0.016} {-0.495,11.314,0.188} [component_container_isolated-3] [DEBUG] [1762964990.336034448] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.342791833] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.342855926] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.342894700] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.342968341] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000028 -0.000045 0.000008 [component_container_isolated-3] 0.000028 1.000000 -0.000033 0.000000 [component_container_isolated-3] 0.000045 0.000033 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] [1762964990.342995723] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.146,-0.656,-0.098} [component_container_isolated-3] [DEBUG] [1762964990.343046600] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.343094251] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.343135169] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 -0.000009 0.185116 -0.006913 [component_container_isolated-3] -0.000107 1.000000 0.000617 0.059831 [component_container_isolated-3] -0.185116 -0.000626 0.982717 0.017328 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.343160167] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.668,-0.006} [component_container_isolated-3] [DEBUG] [1762964990.343193741] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.054} {-0.164,11.324,0.091} [component_container_isolated-3] [DEBUG] [1762964990.343244137] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.359911668] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.360001460] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.360040023] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.360083486] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000028 -0.000045 0.000008 [component_container_isolated-3] 0.000028 1.000000 -0.000033 0.000000 [component_container_isolated-3] 0.000045 0.000033 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] [1762964990.360107482] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.148,-0.658,-0.096} [component_container_isolated-3] [DEBUG] [1762964990.360156466] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.360199798] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.360237781] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 -0.000009 0.185116 -0.006913 [component_container_isolated-3] -0.000107 1.000000 0.000617 0.059831 [component_container_isolated-3] -0.185116 -0.000626 0.982717 0.017328 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.360262328] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.668,-0.006} [component_container_isolated-3] [DEBUG] [1762964990.360295231] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.166,11.326,0.089} [component_container_isolated-3] [DEBUG] [1762964990.360346569] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.364257478] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.364335296] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.364378289] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.364425819] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000034 -0.000078 0.000097 [component_container_isolated-3] -0.000034 1.000000 -0.000055 0.000069 [component_container_isolated-3] 0.000078 0.000055 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] [1762964990.364453041] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.003,-0.016,-0.000} {0.098,0.093,0.209} [component_container_isolated-3] [DEBUG] [1762964990.364503928] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.364549706] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.364588380] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979100 0.000064 0.203381 -0.006747 [component_container_isolated-3] 0.002351 0.999930 -0.011635 0.059705 [component_container_isolated-3] -0.203367 0.011870 0.979031 0.018571 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.364612997] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.734,0.138} [component_container_isolated-3] [DEBUG] [1762964990.364643475] [zed_multi.left]: +++ Diff [map -> odom] - {-0.003,0.015,0.001} {0.553,11.643,-0.077} [component_container_isolated-3] [DEBUG] [1762964990.364693270] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.366459543] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.366510130] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.366549796] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.366593178] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000021 0.000015 0.000136 [component_container_isolated-3] -0.000021 1.000000 -0.000051 -0.000011 [component_container_isolated-3] -0.000015 0.000051 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] [1762964990.366618557] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.214,0.015,-0.221} [component_container_isolated-3] [DEBUG] [1762964990.366671508] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.366717185] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.366757111] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 0.000081 0.476027 -0.001292 [component_container_isolated-3] -0.004714 0.999952 0.008539 0.060214 [component_container_isolated-3] -0.476004 -0.009753 0.879389 0.018272 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.366780907] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.635,28.425,-0.307} [component_container_isolated-3] [DEBUG] [1762964990.366811255] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.007,-0.003} {-0.302,28.411,-0.056} [component_container_isolated-3] [DEBUG] [1762964990.366871199] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.371819379] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.371870487] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.371908990] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.371986548] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000115 0.000171 -0.000046 [component_container_isolated-3] 0.000115 1.000000 -0.000027 -0.000647 [component_container_isolated-3] -0.000171 0.000027 1.000000 0.000568 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.372012378] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.031,-0.015} {0.023,-0.271,-0.287} [component_container_isolated-3] [DEBUG] [1762964990.372059828] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.372103662] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.372138839] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981491 0.000024 0.191508 -0.006907 [component_container_isolated-3] -0.001759 0.999959 0.008885 0.060723 [component_container_isolated-3] -0.191500 -0.009058 0.981451 0.017372 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.372161022] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.001,0.000} {-0.529,11.040,-0.103} [component_container_isolated-3] [DEBUG] [1762964990.372191991] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.031,0.016} {-0.495,11.314,0.188} [component_container_isolated-3] [DEBUG] [1762964990.372245052] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.372803839] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.372872881] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.372915322] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.372998271] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000034 -0.000078 0.000097 [component_container_isolated-3] -0.000034 1.000000 -0.000055 0.000069 [component_container_isolated-3] 0.000078 0.000055 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] [1762964990.373027767] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.003,-0.015,-0.000} {0.101,0.089,0.207} [component_container_isolated-3] [DEBUG] [1762964990.373082602] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.373128369] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.373165660] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979100 0.000064 0.203381 -0.006747 [component_container_isolated-3] 0.002351 0.999930 -0.011635 0.059705 [component_container_isolated-3] -0.203367 0.011870 0.979031 0.018571 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.373187873] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.734,0.138} [component_container_isolated-3] [DEBUG] [1762964990.373219463] [zed_multi.left]: +++ Diff [map -> odom] - {-0.003,0.015,0.001} {0.550,11.647,-0.075} [component_container_isolated-3] [DEBUG] [1762964990.373267415] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.396302636] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.396362921] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.396406585] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.396457442] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000018 0.000097 -0.000016 [component_container_isolated-3] -0.000018 1.000000 0.000021 0.000001 [component_container_isolated-3] -0.000097 -0.000021 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] [1762964990.396486948] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.215,0.021,-0.222} [component_container_isolated-3] [DEBUG] [1762964990.396541152] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.396587811] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.396626645] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879384 0.000087 0.476112 -0.001286 [component_container_isolated-3] -0.004733 0.999952 0.008560 0.060213 [component_container_isolated-3] -0.476089 -0.009781 0.879343 0.018274 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.396650651] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.637,28.430,-0.308} [component_container_isolated-3] [DEBUG] [1762964990.396681009] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.007,-0.003} {-0.302,28.411,-0.056} [component_container_isolated-3] [DEBUG] [1762964990.396730253] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.397648336] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.397696238] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.397728189] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.397776231] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000028 -0.000045 0.000008 [component_container_isolated-3] 0.000028 1.000000 -0.000033 0.000000 [component_container_isolated-3] 0.000045 0.000033 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] [1762964990.397803773] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.150,-0.661,-0.094} [component_container_isolated-3] [DEBUG] [1762964990.397854220] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.397900308] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.397975571] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982717 -0.000009 0.185116 -0.006913 [component_container_isolated-3] -0.000107 1.000000 0.000617 0.059831 [component_container_isolated-3] -0.185116 -0.000626 0.982717 0.017328 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.398000238] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.668,-0.006} [component_container_isolated-3] [DEBUG] [1762964990.398031167] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.168,11.329,0.088} [component_container_isolated-3] [DEBUG] [1762964990.398087946] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.403163749] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.403236078] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.403276094] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.403321791] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000034 -0.000078 0.000097 [component_container_isolated-3] -0.000034 1.000000 -0.000055 0.000069 [component_container_isolated-3] 0.000078 0.000055 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] [1762964990.403349063] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.003,-0.015,-0.000} {0.105,0.084,0.205} [component_container_isolated-3] [DEBUG] [1762964990.403402686] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.403448854] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.403488770] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979100 0.000064 0.203381 -0.006747 [component_container_isolated-3] 0.002351 0.999930 -0.011635 0.059705 [component_container_isolated-3] -0.203367 0.011870 0.979031 0.018571 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.403511894] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.734,0.138} [component_container_isolated-3] [DEBUG] [1762964990.403543515] [zed_multi.left]: +++ Diff [map -> odom] - {-0.003,0.015,0.001} {0.548,11.652,-0.073} [component_container_isolated-3] [DEBUG] [1762964990.403592498] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.412488898] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.412541769] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.412584020] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.412631561] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000006 -0.000084 0.000321 [component_container_isolated-3] 0.000006 1.000000 0.000017 -0.000431 [component_container_isolated-3] 0.000084 -0.000017 1.000000 -0.000632 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.412657600] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.004,0.031,-0.015} {0.022,-0.276,-0.287} [component_container_isolated-3] [DEBUG] [1762964990.412708047] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.412752341] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.412787869] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981507 0.000015 0.191426 -0.006858 [component_container_isolated-3] -0.001751 0.999959 0.008903 0.060581 [component_container_isolated-3] -0.191418 -0.009073 0.981467 0.017340 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.412810142] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.530,11.036,-0.102} [component_container_isolated-3] [DEBUG] [1762964990.412840810] [zed_multi.right]: +++ Diff [map -> odom] - {-0.001,-0.030,0.016} {-0.495,11.314,0.188} [component_container_isolated-3] [DEBUG] [1762964990.412893892] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.433401626] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.433456311] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.433494854] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.433540522] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000034 -0.000078 0.000097 [component_container_isolated-3] -0.000034 1.000000 -0.000055 0.000069 [component_container_isolated-3] 0.000078 0.000055 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] [1762964990.433566111] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.003,-0.015,-0.000} {0.108,0.080,0.203} [component_container_isolated-3] [DEBUG] [1762964990.433614944] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.433661663] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.433700016] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979100 0.000064 0.203381 -0.006747 [component_container_isolated-3] 0.002351 0.999930 -0.011635 0.059705 [component_container_isolated-3] -0.203367 0.011870 0.979031 0.018571 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.433722349] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.734,0.138} [component_container_isolated-3] [DEBUG] [1762964990.433753258] [zed_multi.left]: +++ Diff [map -> odom] - {-0.003,0.015,0.001} {0.545,11.656,-0.071} [component_container_isolated-3] [DEBUG] [1762964990.433802372] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.439720714] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.439779577] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.439819473] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.439863687] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 -0.000107 0.000064 [component_container_isolated-3] -0.000037 1.000000 -0.000189 0.000029 [component_container_isolated-3] 0.000107 0.000189 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] [1762964990.439889346] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.204,0.015,-0.224} [component_container_isolated-3] [DEBUG] [1762964990.439975882] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.440025897] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.440066435] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879436 0.000209 0.476018 -0.001280 [component_container_isolated-3] -0.004769 0.999954 0.008371 0.060213 [component_container_isolated-3] -0.475994 -0.009632 0.879396 0.018268 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.440090571] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.628,28.424,-0.311} [component_container_isolated-3] [DEBUG] [1762964990.440122121] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.007,-0.003} {-0.302,28.411,-0.056} [component_container_isolated-3] [DEBUG] [1762964990.440172147] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.461658701] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.461716070] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.461755886] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.461797766] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000296 -0.000212 0.001064 [component_container_isolated-3] 0.000296 1.000000 -0.000168 -0.001599 [component_container_isolated-3] 0.000212 0.000168 1.000000 -0.001020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.461827122] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.005,0.029,-0.016} {0.032,-0.288,-0.270} [component_container_isolated-3] [DEBUG] [1762964990.461882869] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.462069205] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.462108580] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981523 -0.000049 0.191342 -0.006833 [component_container_isolated-3] -0.001669 0.999960 0.008816 0.060198 [component_container_isolated-3] -0.191335 -0.008972 0.981484 0.017362 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.462133046] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.524,11.031,-0.097} [component_container_isolated-3] [DEBUG] [1762964990.462169726] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.029,0.018} {-0.502,11.321,0.175} [component_container_isolated-3] [DEBUG] [1762964990.462221726] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.462837572] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.462894771] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.462979423] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.463027264] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000047 0.000087 0.000023 [component_container_isolated-3] -0.000047 1.000000 0.000004 -0.000075 [component_container_isolated-3] -0.000087 -0.000004 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] [1762964990.463053023] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.150,-0.656,-0.097} [component_container_isolated-3] [DEBUG] [1762964990.463209292] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.463251122] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.463287391] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000036 0.185201 -0.006908 [component_container_isolated-3] -0.000154 1.000000 0.000621 0.059853 [component_container_isolated-3] -0.185201 -0.000639 0.982700 0.017354 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.463309413] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.673,-0.009} [component_container_isolated-3] [DEBUG] [1762964990.463340092] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.168,11.329,0.088} [component_container_isolated-3] [DEBUG] [1762964990.463389486] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.473155246] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.473208508] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.473247643] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.473291396] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000296 -0.000212 0.001064 [component_container_isolated-3] 0.000296 1.000000 -0.000168 -0.001599 [component_container_isolated-3] 0.000212 0.000168 1.000000 -0.001020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.473316013] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.028,-0.017} {0.041,-0.300,-0.253} [component_container_isolated-3] [DEBUG] [1762964990.473362392] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.473404853] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.473439349] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981523 -0.000049 0.191342 -0.006833 [component_container_isolated-3] -0.001669 0.999960 0.008816 0.060198 [component_container_isolated-3] -0.191335 -0.008972 0.981484 0.017362 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.473461541] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.524,11.031,-0.097} [component_container_isolated-3] [DEBUG] [1762964990.473491388] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.028,0.019} {-0.515,11.333,0.158} [component_container_isolated-3] [DEBUG] [1762964990.473542887] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.474483052] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.474532116] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.474570900] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.474613822] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000047 0.000087 0.000023 [component_container_isolated-3] -0.000047 1.000000 0.000004 -0.000075 [component_container_isolated-3] -0.000087 -0.000004 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] [1762964990.474638138] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.150,-0.651,-0.100} [component_container_isolated-3] [DEBUG] [1762964990.474684397] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.474726607] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.474762776] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000036 0.185201 -0.006908 [component_container_isolated-3] -0.000154 1.000000 0.000621 0.059853 [component_container_isolated-3] -0.185201 -0.000639 0.982700 0.017354 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.474784878] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.673,-0.009} [component_container_isolated-3] [DEBUG] [1762964990.474817651] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.167,11.324,0.091} [component_container_isolated-3] [DEBUG] [1762964990.474869109] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.476330470] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.476385565] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.476425802] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.476477230] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000008 0.000002 -0.000041 [component_container_isolated-3] 0.000008 1.000000 0.000254 0.000068 [component_container_isolated-3] -0.000002 -0.000254 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] [1762964990.476503891] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.219,0.015,-0.224} [component_container_isolated-3] [DEBUG] [1762964990.476553847] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.476596669] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.476638108] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879435 0.000082 0.476020 -0.001287 [component_container_isolated-3] -0.004761 0.999952 0.008625 0.060226 [component_container_isolated-3] -0.475996 -0.009851 0.879393 0.018249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.476662344] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.642,28.424,-0.310} [component_container_isolated-3] [DEBUG] [1762964990.476684626] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.302,28.411,-0.056} [component_container_isolated-3] [DEBUG] [1762964990.476726186] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.493039921] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.493103873] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.493145934] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.493191040] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000296 -0.000212 0.001064 [component_container_isolated-3] 0.000296 1.000000 -0.000168 -0.001599 [component_container_isolated-3] 0.000212 0.000168 1.000000 -0.001020 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.493216288] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.008,0.026,-0.018} {0.051,-0.312,-0.236} [component_container_isolated-3] [DEBUG] [1762964990.493264300] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.493308464] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.493346677] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981523 -0.000049 0.191342 -0.006833 [component_container_isolated-3] -0.001669 0.999960 0.008816 0.060198 [component_container_isolated-3] -0.191335 -0.008972 0.981484 0.017362 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.493371514] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,0.000,0.000} {-0.524,11.031,-0.097} [component_container_isolated-3] [DEBUG] [1762964990.493405489] [zed_multi.right]: +++ Diff [map -> odom] - {-0.004,-0.026,0.020} {-0.528,11.345,0.140} [component_container_isolated-3] [DEBUG] [1762964990.493456687] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.498358889] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.498419946] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.498461174] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.498505800] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000026 -0.000019 0.000151 [component_container_isolated-3] -0.000026 1.000000 0.000040 -0.000075 [component_container_isolated-3] 0.000019 -0.000040 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] [1762964990.498531248] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.003,-0.015,-0.000} {0.105,0.079,0.202} [component_container_isolated-3] [DEBUG] [1762964990.498579130] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.498621270] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.498657169] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979104 0.000081 0.203363 -0.006699 [component_container_isolated-3] 0.002326 0.999930 -0.011595 0.059710 [component_container_isolated-3] -0.203349 0.011825 0.979035 0.018513 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.498678119] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.733,0.136} [component_container_isolated-3] [DEBUG] [1762964990.498708467] [zed_multi.left]: +++ Diff [map -> odom] - {-0.003,0.015,0.001} {0.545,11.656,-0.071} [component_container_isolated-3] [DEBUG] [1762964990.498757280] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.499104082] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.499150280] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.499183624] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.499219412] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000047 0.000087 0.000023 [component_container_isolated-3] -0.000047 1.000000 0.000004 -0.000075 [component_container_isolated-3] -0.000087 -0.000004 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] [1762964990.499239571] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.150,-0.646,-0.102} [component_container_isolated-3] [DEBUG] [1762964990.499279016] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.499342367] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.499374268] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000036 0.185201 -0.006908 [component_container_isolated-3] -0.000154 1.000000 0.000621 0.059853 [component_container_isolated-3] -0.185201 -0.000639 0.982700 0.017354 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.499392172] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.673,-0.009} [component_container_isolated-3] [DEBUG] [1762964990.499414415] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.167,11.319,0.093} [component_container_isolated-3] [DEBUG] [1762964990.499454051] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.501246724] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.501297521] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.501337407] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.501381261] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000034 0.000035 0.000063 [component_container_isolated-3] 0.000034 1.000000 0.000056 -0.000018 [component_container_isolated-3] -0.000035 -0.000056 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] [1762964990.501406630] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.222,0.017,-0.222} [component_container_isolated-3] [DEBUG] [1762964990.501455503] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.501503475] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.501539103] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879418 0.000025 0.476051 -0.001280 [component_container_isolated-3] -0.004727 0.999951 0.008680 0.060232 [component_container_isolated-3] -0.476027 -0.009884 0.879375 0.018245 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.501562307] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.644,28.426,-0.308} [component_container_isolated-3] [DEBUG] [1762964990.501596061] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.007,-0.003} {-0.302,28.411,-0.056} [component_container_isolated-3] [DEBUG] [1762964990.501646878] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.503822724] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.503871327] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.503912225] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.503989362] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000026 -0.000019 0.000151 [component_container_isolated-3] -0.000026 1.000000 0.000040 -0.000075 [component_container_isolated-3] 0.000019 -0.000040 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] [1762964990.504014059] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.003,-0.016,-0.000} {0.103,0.078,0.200} [component_container_isolated-3] [DEBUG] [1762964990.504062602] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.504104352] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.504139248] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979104 0.000081 0.203363 -0.006699 [component_container_isolated-3] 0.002326 0.999930 -0.011595 0.059710 [component_container_isolated-3] -0.203349 0.011825 0.979035 0.018513 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.504160609] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.733,0.136} [component_container_isolated-3] [DEBUG] [1762964990.504191478] [zed_multi.left]: +++ Diff [map -> odom] - {-0.003,0.015,0.001} {0.547,11.657,-0.069} [component_container_isolated-3] [DEBUG] [1762964990.504243437] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.514689136] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.514743760] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.514782925] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.514826288] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000034 0.000035 0.000063 [component_container_isolated-3] 0.000034 1.000000 0.000056 -0.000018 [component_container_isolated-3] -0.000035 -0.000056 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] [1762964990.514850684] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.225,0.019,-0.220} [component_container_isolated-3] [DEBUG] [1762964990.514898816] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.514979560] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.515017924] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879418 0.000025 0.476051 -0.001280 [component_container_isolated-3] -0.004727 0.999951 0.008680 0.060232 [component_container_isolated-3] -0.476027 -0.009884 0.879375 0.018245 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.515042411] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,0.000} {-0.644,28.426,-0.308} [component_container_isolated-3] [DEBUG] [1762964990.515075854] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.007,-0.003} {-0.300,28.409,-0.058} [component_container_isolated-3] [DEBUG] [1762964990.515129767] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.537001507] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.537067573] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.537112209] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.537158176] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000095 -0.000004 -0.000451 [component_container_isolated-3] 0.000095 1.000000 0.000039 0.000241 [component_container_isolated-3] 0.000004 -0.000039 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] [1762964990.537183996] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.026,-0.018} {0.048,-0.313,-0.231} [component_container_isolated-3] [DEBUG] [1762964990.537234692] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.537330886] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.537373417] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 -0.000150 0.191338 -0.006876 [component_container_isolated-3] -0.001573 0.999960 0.008855 0.060107 [component_container_isolated-3] -0.191331 -0.008992 0.981484 0.017389 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.537396131] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.525,11.030,-0.092} [component_container_isolated-3] [DEBUG] [1762964990.537426699] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.026,0.020} {-0.528,11.345,0.140} [component_container_isolated-3] [DEBUG] [1762964990.537477176] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.542082110] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.542145271] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.542185097] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.542228730] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000020 -0.000038 0.000033 [component_container_isolated-3] 0.000020 1.000000 0.000114 0.000069 [component_container_isolated-3] 0.000038 -0.000114 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] [1762964990.542253086] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.143,-0.648,-0.101} [component_container_isolated-3] [DEBUG] [1762964990.542301809] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.542349631] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.542390258] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 -0.000004 0.185163 -0.006906 [component_container_isolated-3] -0.000134 1.000000 0.000735 0.059879 [component_container_isolated-3] -0.185163 -0.000748 0.982708 0.017373 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.542414304] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.044,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964990.542447418] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.167,11.319,0.093} [component_container_isolated-3] [DEBUG] [1762964990.542497183] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.551525274] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.551584677] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.551625716] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.551670622] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000018 0.000121 -0.000940 [component_container_isolated-3] -0.000018 1.000000 0.000141 -0.000062 [component_container_isolated-3] -0.000121 -0.000141 1.000000 0.000767 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.551696411] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.002,-0.016,0.000} {0.095,0.084,0.199} [component_container_isolated-3] [DEBUG] [1762964990.551744783] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.551787284] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.551822592] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 0.000070 0.203481 -0.006835 [component_container_isolated-3] 0.002309 0.999932 -0.011453 0.059707 [component_container_isolated-3] -0.203468 0.011683 0.979012 0.018663 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.551844684] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.684,11.740,0.135} [component_container_isolated-3] [DEBUG] [1762964990.551877366] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.015,0.000} {0.547,11.657,-0.069} [component_container_isolated-3] [DEBUG] [1762964990.551961507] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.553277931] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.553330892] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.553371199] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.553415253] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000095 -0.000004 -0.000451 [component_container_isolated-3] 0.000095 1.000000 0.000039 0.000241 [component_container_isolated-3] 0.000004 -0.000039 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] [1762964990.553440812] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.027,-0.018} {0.046,-0.313,-0.225} [component_container_isolated-3] [DEBUG] [1762964990.553490106] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.553534992] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.553572834] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 -0.000150 0.191338 -0.006876 [component_container_isolated-3] -0.001573 0.999960 0.008855 0.060107 [component_container_isolated-3] -0.191331 -0.008992 0.981484 0.017389 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.553597501] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.525,11.030,-0.092} [component_container_isolated-3] [DEBUG] [1762964990.553631957] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.027,0.020} {-0.527,11.345,0.135} [component_container_isolated-3] [DEBUG] [1762964990.553684207] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.559827329] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.559892443] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.559957768] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.560002954] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000135 -0.000001 0.000240 [component_container_isolated-3] -0.000135 1.000000 0.000081 0.000252 [component_container_isolated-3] 0.000001 -0.000081 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] [1762964990.560028213] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.230,0.019,-0.228} [component_container_isolated-3] [DEBUG] [1762964990.560077006] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.560120930] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.560156087] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879464 0.000042 0.475966 -0.001259 [component_container_isolated-3] -0.004667 0.999953 0.008536 0.060201 [component_container_isolated-3] -0.475943 -0.009728 0.879422 0.018235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.560178961] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.634,28.421,-0.304} [component_container_isolated-3] [DEBUG] [1762964990.560211633] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.007,-0.003} {-0.281,28.403,-0.045} [component_container_isolated-3] [DEBUG] [1762964990.560262560] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.573482968] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.573545988] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.573587698] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.573634527] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000037 0.000092 -0.000041 [component_container_isolated-3] -0.000037 1.000000 -0.000199 0.000004 [component_container_isolated-3] -0.000092 0.000199 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] [1762964990.573659215] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.154,-0.643,-0.103} [component_container_isolated-3] [DEBUG] [1762964990.573707276] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.573749437] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.573786718] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982691 0.000069 0.185254 -0.006901 [component_container_isolated-3] -0.000172 1.000000 0.000536 0.059897 [component_container_isolated-3] -0.185254 -0.000559 0.982691 0.017409 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.573809231] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.676,-0.010} [component_container_isolated-3] [DEBUG] [1762964990.573840761] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.167,11.319,0.093} [component_container_isolated-3] [DEBUG] [1762964990.573891107] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.591643500] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.591699938] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.591746527] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.591794108] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000095 -0.000004 -0.000451 [component_container_isolated-3] 0.000095 1.000000 0.000039 0.000241 [component_container_isolated-3] 0.000004 -0.000039 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] [1762964990.591820528] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.006,0.027,-0.018} {0.044,-0.313,-0.220} [component_container_isolated-3] [DEBUG] [1762964990.591870874] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.591915981] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.591979772] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 -0.000150 0.191338 -0.006876 [component_container_isolated-3] -0.001573 0.999960 0.008855 0.060107 [component_container_isolated-3] -0.191331 -0.008992 0.981484 0.017389 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.592003828] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.525,11.030,-0.092} [component_container_isolated-3] [DEBUG] [1762964990.592036511] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.027,0.020} {-0.525,11.346,0.129} [component_container_isolated-3] [DEBUG] [1762964990.592096004] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.593365960] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.593419752] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.593458136] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.593502861] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000018 0.000121 -0.000940 [component_container_isolated-3] -0.000018 1.000000 0.000141 -0.000062 [component_container_isolated-3] -0.000121 -0.000141 1.000000 0.000767 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.593526947] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.001,-0.016,0.001} {0.087,0.091,0.198} [component_container_isolated-3] [DEBUG] [1762964990.593573696] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.593615316] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.593650413] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 0.000070 0.203481 -0.006835 [component_container_isolated-3] 0.002309 0.999932 -0.011453 0.059707 [component_container_isolated-3] -0.203468 0.011683 0.979012 0.018663 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.593671844] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.684,11.740,0.135} [component_container_isolated-3] [DEBUG] [1762964990.593704637] [zed_multi.left]: +++ Diff [map -> odom] - {-0.002,0.016,-0.001} {0.556,11.650,-0.068} [component_container_isolated-3] [DEBUG] [1762964990.593760403] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.598503271] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.598565570] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.598603873] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.598647196] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000135 -0.000001 0.000240 [component_container_isolated-3] -0.000135 1.000000 0.000081 0.000252 [component_container_isolated-3] 0.000001 -0.000081 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] [1762964990.598671382] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.007,0.003} {-0.235,0.019,-0.235} [component_container_isolated-3] [DEBUG] [1762964990.598719554] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.598761474] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.598799366] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879464 0.000042 0.475966 -0.001259 [component_container_isolated-3] -0.004667 0.999953 0.008536 0.060201 [component_container_isolated-3] -0.475943 -0.009728 0.879422 0.018235 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.598823552] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.634,28.421,-0.304} [component_container_isolated-3] [DEBUG] [1762964990.598856866] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.007,-0.003} {-0.272,28.403,-0.036} [component_container_isolated-3] [DEBUG] [1762964990.598910388] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.619097892] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.619163467] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.619203984] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.619249621] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000010 -0.000081 0.000029 [component_container_isolated-3] 0.000010 1.000000 0.000089 -0.000032 [component_container_isolated-3] 0.000081 -0.000089 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] [1762964990.619274038] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.149,-0.647,-0.103} [component_container_isolated-3] [DEBUG] [1762964990.619321358] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.619363268] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.619399227] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000043 0.185174 -0.006902 [component_container_isolated-3] -0.000162 1.000000 0.000625 0.059914 [component_container_isolated-3] -0.185174 -0.000644 0.982706 0.017423 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.619422131] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.038,10.671,-0.009} [component_container_isolated-3] [DEBUG] [1762964990.619455194] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.167,11.319,0.093} [component_container_isolated-3] [DEBUG] [1762964990.619506863] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.625467476] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.625524034] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.625560594] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.625603726] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000018 0.000121 -0.000940 [component_container_isolated-3] -0.000018 1.000000 0.000141 -0.000062 [component_container_isolated-3] -0.000121 -0.000141 1.000000 0.000767 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.625629215] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.016,0.002} {0.079,0.098,0.197} [component_container_isolated-3] [DEBUG] [1762964990.625677938] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.625719317] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.625758712] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 0.000070 0.203481 -0.006835 [component_container_isolated-3] 0.002309 0.999932 -0.011453 0.059707 [component_container_isolated-3] -0.203468 0.011683 0.979012 0.018663 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.625781415] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.684,11.740,0.135} [component_container_isolated-3] [DEBUG] [1762964990.625813427] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.016,-0.001} {0.564,11.644,-0.067} [component_container_isolated-3] [DEBUG] [1762964990.625866328] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.644308688] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.644396936] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.644443986] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.644500053] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000074 0.000104 0.000082 [component_container_isolated-3] -0.000074 1.000000 0.000197 0.000158 [component_container_isolated-3] -0.000104 -0.000197 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] [1762964990.644531924] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.007,0.003} {-0.246,0.025,-0.240} [component_container_isolated-3] [DEBUG] [1762964990.644585637] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.644630142] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.644668094] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879414 0.000013 0.476058 -0.001229 [component_container_isolated-3] -0.004742 0.999951 0.008732 0.060204 [component_container_isolated-3] -0.476034 -0.009936 0.879371 0.018212 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.644691709] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.647,28.427,-0.309} [component_container_isolated-3] [DEBUG] [1762964990.644727989] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.007,-0.003} {-0.272,28.403,-0.036} [component_container_isolated-3] [DEBUG] [1762964990.644788234] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.646294470] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.646341570] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.646378621] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.646421483] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000018 0.000121 -0.000940 [component_container_isolated-3] -0.000018 1.000000 0.000141 -0.000062 [component_container_isolated-3] -0.000121 -0.000141 1.000000 0.000767 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.646445058] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.016,0.003} {0.071,0.105,0.196} [component_container_isolated-3] [DEBUG] [1762964990.646491286] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.646532866] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.646570868] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 0.000070 0.203481 -0.006835 [component_container_isolated-3] 0.002309 0.999932 -0.011453 0.059707 [component_container_isolated-3] -0.203468 0.011683 0.979012 0.018663 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.646592049] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.684,11.740,0.135} [component_container_isolated-3] [DEBUG] [1762964990.646621084] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.016,-0.002} {0.572,11.637,-0.066} [component_container_isolated-3] [DEBUG] [1762964990.646671721] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.652432412] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.652499120] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.652541370] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.652588140] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000065 -0.000389 0.000439 [component_container_isolated-3] -0.000065 1.000000 -0.000025 -0.000008 [component_container_isolated-3] 0.000389 0.000025 1.000000 -0.001795 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.652613749] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.027,-0.020} {0.045,-0.335,-0.223} [component_container_isolated-3] [DEBUG] [1762964990.652663454] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.652709221] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.652747023] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981599 -0.000082 0.190956 -0.006956 [component_container_isolated-3] -0.001634 0.999960 0.008831 0.060039 [component_container_isolated-3] -0.190949 -0.008980 0.981559 0.016725 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.652772983] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.524,11.008,-0.095} [component_container_isolated-3] [DEBUG] [1762964990.652807168] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.027,0.021} {-0.525,11.346,0.129} [component_container_isolated-3] [DEBUG] [1762964990.652905175] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.657692608] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.657761520] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.657803480] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.657850169] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000030 -0.000035 0.000046 [component_container_isolated-3] -0.000030 1.000000 0.000030 0.000038 [component_container_isolated-3] 0.000035 -0.000030 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] [1762964990.657874686] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.148,-0.649,-0.105} [component_container_isolated-3] [DEBUG] [1762964990.657959548] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.658011557] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.657733015] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.658105797] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.658158959] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.658052946] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000067 0.185139 -0.006896 [component_container_isolated-3] -0.000192 1.000000 0.000656 0.059933 [component_container_isolated-3] -0.185139 -0.000680 0.982712 0.017429 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.658267756] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.040,10.669,-0.011} [component_container_isolated-3] [DEBUG] [1762964990.658302503] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.054} {-0.167,11.319,0.093} [component_container_isolated-3] [DEBUG] [1762964990.658221728] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000065 -0.000389 0.000439 [component_container_isolated-3] -0.000065 1.000000 -0.000025 -0.000008 [component_container_isolated-3] 0.000389 0.000025 1.000000 -0.001795 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.658391252] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.027,-0.022} {0.047,-0.358,-0.227} [component_container_isolated-3] [DEBUG] [1762964990.658370412] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.658470393] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.658537742] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.658588349] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981599 -0.000082 0.190956 -0.006956 [component_container_isolated-3] -0.001634 0.999960 0.008831 0.060039 [component_container_isolated-3] -0.190949 -0.008980 0.981559 0.016725 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.658618817] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.524,11.008,-0.095} [component_container_isolated-3] [DEBUG] [1762964990.658653683] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.027,0.023} {-0.526,11.368,0.133} [component_container_isolated-3] [DEBUG] [1762964990.658720451] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.665028778] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.665093221] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.665132867] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.665177412] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000030 -0.000035 0.000046 [component_container_isolated-3] -0.000030 1.000000 0.000030 0.000038 [component_container_isolated-3] 0.000035 -0.000030 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] [1762964990.665203091] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.146,-0.651,-0.106} [component_container_isolated-3] [DEBUG] [1762964990.665250872] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.665292883] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.665330905] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000067 0.185139 -0.006896 [component_container_isolated-3] -0.000192 1.000000 0.000656 0.059933 [component_container_isolated-3] -0.185139 -0.000680 0.982712 0.017429 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.665355172] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.040,10.669,-0.011} [component_container_isolated-3] [DEBUG] [1762964990.665386141] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.054} {-0.165,11.321,0.095} [component_container_isolated-3] [DEBUG] [1762964990.665438240] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.666217829] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.666271341] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.666311378] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.666356654] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000004 -0.000009 -0.000203 [component_container_isolated-3] 0.000004 1.000000 -0.000232 -0.000040 [component_container_isolated-3] 0.000009 0.000232 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] [1762964990.666382203] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.007,0.003} {-0.233,0.024,-0.240} [component_container_isolated-3] [DEBUG] [1762964990.666430455] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.666473618] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.666514145] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879418 0.000120 0.476050 -0.001217 [component_container_isolated-3] -0.004738 0.999953 0.008500 0.060196 [component_container_isolated-3] -0.476026 -0.009730 0.879377 0.018226 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.666538431] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.634,28.426,-0.309} [component_container_isolated-3] [DEBUG] [1762964990.666572196] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.007,-0.003} {-0.272,28.403,-0.036} [component_container_isolated-3] [DEBUG] [1762964990.666623584] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.683418128] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.683481659] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.683523148] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.683569406] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000116 -0.000113 0.000650 [component_container_isolated-3] 0.000116 1.000000 -0.000186 -0.000070 [component_container_isolated-3] 0.000113 0.000186 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] [1762964990.683593973] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {0.000,-0.016,0.002} {0.081,0.099,0.203} [component_container_isolated-3] [DEBUG] [1762964990.683642105] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.683682943] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.683720856] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979102 -0.000006 0.203370 -0.006793 [component_container_isolated-3] 0.002424 0.999929 -0.011639 0.059693 [component_container_isolated-3] -0.203355 0.011889 0.979033 0.018645 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.683744982] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.696,11.733,0.142} [component_container_isolated-3] [DEBUG] [1762964990.683777724] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.016,-0.002} {0.572,11.637,-0.066} [component_container_isolated-3] [DEBUG] [1762964990.683828131] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.696622374] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.696681988] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.696727906] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.696772952] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000121 -0.000087 0.000141 [component_container_isolated-3] 0.000121 1.000000 0.000030 -0.000169 [component_container_isolated-3] 0.000087 -0.000030 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] [1762964990.696800284] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.007,0.003} {-0.234,0.019,-0.233} [component_container_isolated-3] [DEBUG] [1762964990.696850580] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.696894183] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.696957785] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 -0.000001 0.475973 -0.001220 [component_container_isolated-3] -0.004616 0.999953 0.008530 0.060167 [component_container_isolated-3] -0.475951 -0.009699 0.879419 0.018192 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.696983634] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.632,28.421,-0.301} [component_container_isolated-3] [DEBUG] [1762964990.697017830] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.007,-0.003} {-0.272,28.403,-0.036} [component_container_isolated-3] [DEBUG] [1762964990.697069959] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.709546717] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.709610168] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.709650665] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.709693998] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000077 0.000229 -0.000267 [component_container_isolated-3] 0.000077 1.000000 0.000057 -0.000336 [component_container_isolated-3] -0.000229 -0.000057 1.000000 0.000931 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.709718194] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.027,-0.021} {0.044,-0.344,-0.223} [component_container_isolated-3] [DEBUG] [1762964990.709764493] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.709807946] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.709847591] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981555 -0.000168 0.191180 -0.006966 [component_container_isolated-3] -0.001560 0.999959 0.008887 0.059878 [component_container_isolated-3] -0.191174 -0.009022 0.981515 0.016717 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.709871337] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.527,11.021,-0.091} [component_container_isolated-3] [DEBUG] [1762964990.709901164] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.027,0.022} {-0.526,11.368,0.133} [component_container_isolated-3] [DEBUG] [1762964990.709989823] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.711751077] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.711802846] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.711841048] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.711885664] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000144 -0.000204 -0.000579 [component_container_isolated-3] 0.000144 1.000000 -0.000185 -0.000847 [component_container_isolated-3] 0.000204 0.000185 1.000000 -0.000926 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.711909940] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.055} {0.156,-0.663,-0.098} [component_container_isolated-3] [DEBUG] [1762964990.712004901] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.712050298] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.712090765] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982750 -0.000040 0.184939 -0.007070 [component_container_isolated-3] -0.000048 1.000000 0.000471 0.059740 [component_container_isolated-3] -0.184939 -0.000471 0.982750 0.017210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.712113980] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.027,10.658,-0.003} [component_container_isolated-3] [DEBUG] [1762964990.712145039] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.001,0.054} {-0.165,11.321,0.095} [component_container_isolated-3] [DEBUG] [1762964990.712194313] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.733805275] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.733862815] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.733906939] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.733983766] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000121 -0.000087 0.000141 [component_container_isolated-3] 0.000121 1.000000 0.000030 -0.000169 [component_container_isolated-3] 0.000087 -0.000030 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] [1762964990.734012050] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.007,0.002} {-0.236,0.014,-0.226} [component_container_isolated-3] [DEBUG] [1762964990.734063478] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.734106300] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.734142579] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 -0.000001 0.475973 -0.001220 [component_container_isolated-3] -0.004616 0.999953 0.008530 0.060167 [component_container_isolated-3] -0.475951 -0.009699 0.879419 0.018192 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.734166695] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.632,28.421,-0.301} [component_container_isolated-3] [DEBUG] [1762964990.734198396] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.007,-0.003} {-0.274,28.408,-0.044} [component_container_isolated-3] [DEBUG] [1762964990.734246497] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.734377718] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.734426882] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.734466117] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.734511253] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000011 -0.000007 -0.000135 [component_container_isolated-3] 0.000011 1.000000 -0.000020 -0.000011 [component_container_isolated-3] 0.000007 0.000020 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] [1762964990.734536762] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.016,0.002} {0.083,0.098,0.203} [component_container_isolated-3] [DEBUG] [1762964990.734587278] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.734632164] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.734671239] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979104 -0.000013 0.203363 -0.006788 [component_container_isolated-3] 0.002435 0.999929 -0.011659 0.059683 [component_container_isolated-3] -0.203348 0.011910 0.979034 0.018642 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.734693982] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.697,11.733,0.142} [component_container_isolated-3] [DEBUG] [1762964990.734724320] [zed_multi.left]: +++ Diff [map -> odom] - {-0.001,0.016,-0.002} {0.572,11.637,-0.066} [component_container_isolated-3] [DEBUG] [1762964990.734773714] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.752743432] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.752802525] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.752845677] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.752893018] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000015 0.000038 -0.000532 [component_container_isolated-3] 0.000015 1.000000 -0.000087 0.000017 [component_container_isolated-3] -0.000038 0.000087 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] [1762964990.752959986] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.006,0.027,-0.021} {0.049,-0.342,-0.222} [component_container_isolated-3] [DEBUG] [1762964990.753013378] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.753058925] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.753095955] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 -0.000166 0.191218 -0.007087 [component_container_isolated-3] -0.001545 0.999960 0.008800 0.059802 [component_container_isolated-3] -0.191212 -0.008933 0.981508 0.016760 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.753119360] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.521,11.024,-0.090} [component_container_isolated-3] [DEBUG] [1762964990.753150179] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.027,0.022} {-0.526,11.368,0.133} [component_container_isolated-3] [DEBUG] [1762964990.753200685] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.754992487] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.755044988] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.755085705] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.755129058] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000079 -0.000008 0.000186 [component_container_isolated-3] 0.000079 1.000000 -0.000041 -0.000217 [component_container_isolated-3] 0.000008 0.000041 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] [1762964990.755153535] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.055} {0.159,-0.664,-0.094} [component_container_isolated-3] [DEBUG] [1762964990.755201446] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.755243557] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.755279365] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982752 -0.000110 0.184931 -0.007121 [component_container_isolated-3] 0.000031 1.000000 0.000430 0.059614 [component_container_isolated-3] -0.184931 -0.000417 0.982751 0.017118 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.755302309] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.024,10.657,0.002} [component_container_isolated-3] [DEBUG] [1762964990.755333959] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.001,0.054} {-0.165,11.321,0.095} [component_container_isolated-3] [DEBUG] [1762964990.755385698] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.757609495] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.757671824] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.757709396] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.757752077] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000011 -0.000007 -0.000135 [component_container_isolated-3] 0.000011 1.000000 -0.000020 -0.000011 [component_container_isolated-3] 0.000007 0.000020 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] [1762964990.757777045] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.016,0.002} {0.084,0.098,0.204} [component_container_isolated-3] [DEBUG] [1762964990.757823474] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.757866145] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.757904268] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979104 -0.000013 0.203363 -0.006788 [component_container_isolated-3] 0.002435 0.999929 -0.011659 0.059683 [component_container_isolated-3] -0.203348 0.011910 0.979034 0.018642 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.757962600] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.697,11.733,0.142} [component_container_isolated-3] [DEBUG] [1762964990.757997296] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.016,-0.002} {0.571,11.637,-0.067} [component_container_isolated-3] [DEBUG] [1762964990.758053253] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.776002141] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.776072665] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.776117020] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.776164791] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000066 0.000014 -0.000261 [component_container_isolated-3] -0.000066 1.000000 0.000079 0.000137 [component_container_isolated-3] -0.000014 -0.000079 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] [1762964990.776191082] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.007,0.002} {-0.240,0.015,-0.229} [component_container_isolated-3] [DEBUG] [1762964990.776240756] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.776284019] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.776324687] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879453 0.000019 0.475985 -0.001237 [component_container_isolated-3] -0.004682 0.999952 0.008609 0.060164 [component_container_isolated-3] -0.475962 -0.009800 0.879411 0.018188 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.776348512] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.638,28.422,-0.305} [component_container_isolated-3] [DEBUG] [1762964990.776378880] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.007,-0.003} {-0.274,28.408,-0.044} [component_container_isolated-3] [DEBUG] [1762964990.776438073] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.790643853] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.790701974] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.790742772] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.790788980] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000114 -0.000094 0.000601 [component_container_isolated-3] -0.000114 1.000000 0.000084 0.000261 [component_container_isolated-3] 0.000094 -0.000084 1.000000 -0.000451 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.790813938] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.027,-0.021} {0.044,-0.348,-0.228} [component_container_isolated-3] [DEBUG] [1762964990.790862520] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.790910993] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.790995124] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981566 -0.000071 0.191126 -0.007064 [component_container_isolated-3] -0.001658 0.999959 0.008885 0.059740 [component_container_isolated-3] -0.191119 -0.009038 0.981525 0.016678 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.791022055] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.528,11.018,-0.097} [component_container_isolated-3] [DEBUG] [1762964990.791055088] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.027,0.022} {-0.526,11.368,0.133} [component_container_isolated-3] [DEBUG] [1762964990.791113099] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.791279687] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.791353468] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.791409034] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.791470982] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000155 0.000195 0.000300 [component_container_isolated-3] -0.000155 1.000000 0.000156 0.001108 [component_container_isolated-3] -0.000195 -0.000156 1.000000 0.001061 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.791507392] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.150,-0.652,-0.102} [component_container_isolated-3] [DEBUG] [1762964990.791580842] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.791649283] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.791703807] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982715 0.000014 0.185122 -0.007069 [component_container_isolated-3] -0.000124 1.000000 0.000586 0.059778 [component_container_isolated-3] -0.185122 -0.000599 0.982715 0.017249 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.791738473] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.035,10.668,-0.007} [component_container_isolated-3] [DEBUG] [1762964990.791782427] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.053} {-0.165,11.321,0.095} [component_container_isolated-3] [DEBUG] [1762964990.791859785] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.812577731] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.812646573] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.812688924] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.812736655] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000066 0.000014 -0.000261 [component_container_isolated-3] -0.000066 1.000000 0.000079 0.000137 [component_container_isolated-3] -0.000014 -0.000079 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] [1762964990.812761302] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.002} {-0.245,0.016,-0.233} [component_container_isolated-3] [DEBUG] [1762964990.812809514] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.812859409] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.812901850] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879453 0.000019 0.475985 -0.001237 [component_container_isolated-3] -0.004682 0.999952 0.008609 0.060164 [component_container_isolated-3] -0.475962 -0.009800 0.879411 0.018188 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.812957527] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.638,28.422,-0.305} [component_container_isolated-3] [DEBUG] [1762964990.812992994] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.007,-0.003} {-0.267,28.408,-0.040} [component_container_isolated-3] [DEBUG] [1762964990.813049833] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.826975678] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.827044640] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.827091539] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.827146083] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000042 0.000040 -0.000008 [component_container_isolated-3] -0.000042 1.000000 0.000079 0.000148 [component_container_isolated-3] -0.000040 -0.000079 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] [1762964990.827176942] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.016,0.002} {0.079,0.100,0.202} [component_container_isolated-3] [DEBUG] [1762964990.827240964] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.827298184] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.827346406] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 0.000012 0.203402 -0.006780 [component_container_isolated-3] 0.002394 0.999930 -0.011579 0.059692 [component_container_isolated-3] -0.203388 0.011824 0.979027 0.018645 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.827374379] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.735,0.140} [component_container_isolated-3] [DEBUG] [1762964990.827411991] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.016,-0.002} {0.571,11.637,-0.067} [component_container_isolated-3] [DEBUG] [1762964990.827477977] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.829522832] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.829573529] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.829613886] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.829659002] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000066 0.000014 -0.000261 [component_container_isolated-3] -0.000066 1.000000 0.000079 0.000137 [component_container_isolated-3] -0.000014 -0.000079 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] [1762964990.829688609] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.250,0.017,-0.237} [component_container_isolated-3] [DEBUG] [1762964990.829669653] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.829789311] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.829741109] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.829824068] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.829868152] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.829885615] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000080 0.000358 -0.000144 [component_container_isolated-3] -0.000080 1.000000 0.000033 0.000525 [component_container_isolated-3] -0.000358 -0.000033 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] [1762964990.829974926] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.027,-0.020} {0.042,-0.327,-0.233} [component_container_isolated-3] [DEBUG] [1762964990.829914009] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879453 0.000019 0.475985 -0.001237 [component_container_isolated-3] -0.004682 0.999952 0.008609 0.060164 [component_container_isolated-3] -0.475962 -0.009800 0.879411 0.018188 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.830087370] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.638,28.422,-0.305} [component_container_isolated-3] [DEBUG] [1762964990.830138859] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.007,-0.003} {-0.261,28.407,-0.036} [component_container_isolated-3] [DEBUG] [1762964990.830023428] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.830232728] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.830249640] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.830262896] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981497 0.000002 0.191477 -0.006979 [component_container_isolated-3] -0.001741 0.999959 0.008917 0.059786 [component_container_isolated-3] -0.191469 -0.009085 0.981457 0.017084 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.830318061] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.530,11.039,-0.102} [component_container_isolated-3] [DEBUG] [1762964990.830341175] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.028,0.021} {-0.526,11.368,0.133} [component_container_isolated-3] [DEBUG] [1762964990.830382614] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.834728694] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.834783769] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.834833314] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.834896625] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000042 0.000040 -0.000008 [component_container_isolated-3] -0.000042 1.000000 0.000079 0.000148 [component_container_isolated-3] -0.000040 -0.000079 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] [1762964990.834963843] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.016,0.003} {0.075,0.102,0.199} [component_container_isolated-3] [DEBUG] [1762964990.835034248] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.835099402] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.835152544] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 0.000012 0.203402 -0.006780 [component_container_isolated-3] 0.002394 0.999930 -0.011579 0.059692 [component_container_isolated-3] -0.203388 0.011824 0.979027 0.018645 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.835184024] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.735,0.140} [component_container_isolated-3] [DEBUG] [1762964990.835224561] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.016,-0.002} {0.576,11.635,-0.065} [component_container_isolated-3] [DEBUG] [1762964990.835303632] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.837173904] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.837241914] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.837283103] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.837328429] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000074 -0.000133 0.000292 [component_container_isolated-3] -0.000074 1.000000 -0.000065 0.000234 [component_container_isolated-3] 0.000133 0.000065 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] [1762964990.837353477] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.054} {0.154,-0.660,-0.107} [component_container_isolated-3] [DEBUG] [1762964990.837404084] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.837450472] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.837490939] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982740 0.000098 0.184992 -0.007007 [component_container_isolated-3] -0.000198 1.000000 0.000521 0.059887 [component_container_isolated-3] -0.184992 -0.000549 0.982740 0.017219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.837514434] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.661,-0.012} [component_container_isolated-3] [DEBUG] [1762964990.837547247] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.054} {-0.165,11.321,0.095} [component_container_isolated-3] [DEBUG] [1762964990.837597663] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.843496739] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.843552125] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.843598684] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.843654390] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000042 0.000040 -0.000008 [component_container_isolated-3] -0.000042 1.000000 0.000079 0.000148 [component_container_isolated-3] -0.000040 -0.000079 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] [1762964990.843687834] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.000,-0.015,0.003} {0.070,0.105,0.197} [component_container_isolated-3] [DEBUG] [1762964990.843753109] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.843816510] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.843863880] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 0.000012 0.203402 -0.006780 [component_container_isolated-3] 0.002394 0.999930 -0.011579 0.059692 [component_container_isolated-3] -0.203388 0.011824 0.979027 0.018645 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.843891663] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.735,0.140} [component_container_isolated-3] [DEBUG] [1762964990.843970874] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.015,-0.002} {0.581,11.632,-0.062} [component_container_isolated-3] [DEBUG] [1762964990.844045587] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.844544560] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.844598914] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.844638449] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.844682584] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000074 -0.000133 0.000292 [component_container_isolated-3] -0.000074 1.000000 -0.000065 0.000234 [component_container_isolated-3] 0.000133 0.000065 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] [1762964990.844707000] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.003,-0.055} {0.157,-0.668,-0.111} [component_container_isolated-3] [DEBUG] [1762964990.844754591] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.844796852] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.844833462] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982740 0.000098 0.184992 -0.007007 [component_container_isolated-3] -0.000198 1.000000 0.000521 0.059887 [component_container_isolated-3] -0.184992 -0.000549 0.982740 0.017219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.844858359] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.661,-0.012} [component_container_isolated-3] [DEBUG] [1762964990.844891663] [zed_multi.front]: +++ Diff [map -> odom] - {0.005,-0.003,0.054} {-0.168,11.329,0.099} [component_container_isolated-3] [DEBUG] [1762964990.844990231] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.853249194] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.853314509] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.853354405] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.853398439] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000101 -0.000081 0.000010 [component_container_isolated-3] 0.000101 1.000000 -0.000001 -0.000556 [component_container_isolated-3] 0.000081 0.000001 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] [1762964990.853423607] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.027,-0.020} {0.042,-0.332,-0.227} [component_container_isolated-3] [DEBUG] [1762964990.853471919] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.853517506] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.853557603] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 -0.000097 0.191397 -0.006977 [component_container_isolated-3] -0.001639 0.999959 0.008916 0.059701 [component_container_isolated-3] -0.191390 -0.009065 0.981472 0.017138 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.853581619] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.529,11.034,-0.096} [component_container_isolated-3] [DEBUG] [1762964990.853612638] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.027,0.021} {-0.526,11.368,0.133} [component_container_isolated-3] [DEBUG] [1762964990.853661952] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.856284751] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.856333604] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.856371877] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.856416352] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000074 -0.000133 0.000292 [component_container_isolated-3] -0.000074 1.000000 -0.000065 0.000234 [component_container_isolated-3] 0.000133 0.000065 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] [1762964990.856439687] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.003,-0.055} {0.161,-0.675,-0.115} [component_container_isolated-3] [DEBUG] [1762964990.856485224] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.856527705] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.856563203] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982740 0.000098 0.184992 -0.007007 [component_container_isolated-3] -0.000198 1.000000 0.000521 0.059887 [component_container_isolated-3] -0.184992 -0.000549 0.982740 0.017219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.856584734] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.661,-0.012} [component_container_isolated-3] [DEBUG] [1762964990.856616705] [zed_multi.front]: +++ Diff [map -> odom] - {0.005,-0.003,0.055} {-0.171,11.336,0.104} [component_container_isolated-3] [DEBUG] [1762964990.856671520] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.860957224] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.861013903] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.861063257] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.861123332] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000101 -0.000081 0.000010 [component_container_isolated-3] 0.000101 1.000000 -0.000001 -0.000556 [component_container_isolated-3] 0.000081 0.000001 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] [1762964990.861160172] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.026,-0.020} {0.042,-0.336,-0.221} [component_container_isolated-3] [DEBUG] [1762964990.861227200] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.861283067] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.861334805] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 -0.000097 0.191397 -0.006977 [component_container_isolated-3] -0.001639 0.999959 0.008916 0.059701 [component_container_isolated-3] -0.191390 -0.009065 0.981472 0.017138 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.861367468] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.529,11.034,-0.096} [component_container_isolated-3] [DEBUG] [1762964990.861410209] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.027,0.021} {-0.527,11.373,0.127} [component_container_isolated-3] [DEBUG] [1762964990.861531431] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.862476826] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.862527393] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.862566958] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.862611614] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000007 0.000005 -0.000129 [component_container_isolated-3] -0.000007 1.000000 -0.000150 -0.000046 [component_container_isolated-3] -0.000005 0.000150 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] [1762964990.862636882] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.241,0.017,-0.237} [component_container_isolated-3] [DEBUG] [1762964990.862684072] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.862726253] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.862762893] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879451 0.000097 0.475989 -0.001261 [component_container_isolated-3] -0.004689 0.999953 0.008459 0.060154 [component_container_isolated-3] -0.475966 -0.009671 0.879410 0.018207 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.862786929] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.630,28.422,-0.305} [component_container_isolated-3] [DEBUG] [1762964990.862820102] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.261,28.407,-0.036} [component_container_isolated-3] [DEBUG] [1762964990.862873073] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.878185546] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.878251532] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.878291398] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.878335943] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000035 0.000017 -0.000253 [component_container_isolated-3] -0.000035 1.000000 -0.000093 0.000080 [component_container_isolated-3] -0.000017 0.000093 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] [1762964990.878360480] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.003} {0.075,0.106,0.195} [component_container_isolated-3] [DEBUG] [1762964990.878408913] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.878451153] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.878490398] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 0.000064 0.203419 -0.006807 [component_container_isolated-3] 0.002359 0.999929 -0.011672 0.059707 [component_container_isolated-3] -0.203405 0.011908 0.979022 0.018676 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.878513513] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.697,11.736,0.138} [component_container_isolated-3] [DEBUG] [1762964990.878545944] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.015,-0.002} {0.581,11.632,-0.062} [component_container_isolated-3] [DEBUG] [1762964990.878597273] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.880046590] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.880094642] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.880132364] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.880174405] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000007 0.000005 -0.000129 [component_container_isolated-3] -0.000007 1.000000 -0.000150 -0.000046 [component_container_isolated-3] -0.000005 0.000150 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] [1762964990.880200054] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.232,0.017,-0.238} [component_container_isolated-3] [DEBUG] [1762964990.880248145] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.880290206] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.880331014] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879451 0.000097 0.475989 -0.001261 [component_container_isolated-3] -0.004689 0.999953 0.008459 0.060154 [component_container_isolated-3] -0.475966 -0.009671 0.879410 0.018207 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.880356422] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.630,28.422,-0.305} [component_container_isolated-3] [DEBUG] [1762964990.880389345] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.269,28.407,-0.035} [component_container_isolated-3] [DEBUG] [1762964990.880443188] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.902914102] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.903011788] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.903053047] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.903098504] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000046 -0.000000 0.000191 [component_container_isolated-3] 0.000046 1.000000 -0.000024 0.000322 [component_container_isolated-3] 0.000000 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] [1762964990.903125255] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.027,-0.020} {0.043,-0.336,-0.219} [component_container_isolated-3] [DEBUG] [1762964990.903174950] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.903220898] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.903260864] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 -0.000138 0.191397 -0.006945 [component_container_isolated-3] -0.001593 0.999959 0.008891 0.059700 [component_container_isolated-3] -0.191390 -0.009032 0.981472 0.017177 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.903285852] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.527,11.034,-0.093} [component_container_isolated-3] [DEBUG] [1762964990.903318644] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.027,0.022} {-0.527,11.373,0.127} [component_container_isolated-3] [DEBUG] [1762964990.903370534] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.905153769] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.905206820] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.905247087] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.905295961] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000101 0.000162 -0.000006 [component_container_isolated-3] 0.000101 1.000000 0.000031 -0.000174 [component_container_isolated-3] -0.000162 -0.000031 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] [1762964990.905321519] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.006,0.003,-0.055} {0.159,-0.666,-0.109} [component_container_isolated-3] [DEBUG] [1762964990.905369461] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.905412313] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.905448101] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 -0.000007 0.185152 -0.006963 [component_container_isolated-3] -0.000097 1.000000 0.000553 0.059925 [component_container_isolated-3] -0.185152 -0.000561 0.982710 0.017302 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.905469682] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.670,-0.006} [component_container_isolated-3] [DEBUG] [1762964990.905499770] [zed_multi.front]: +++ Diff [map -> odom] - {0.005,-0.003,0.055} {-0.171,11.336,0.104} [component_container_isolated-3] [DEBUG] [1762964990.905548262] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.921599997] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.921652277] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.921691091] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.921732951] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000007 0.000005 -0.000129 [component_container_isolated-3] -0.000007 1.000000 -0.000150 -0.000046 [component_container_isolated-3] -0.000005 0.000150 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] [1762964990.921758290] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.224,0.017,-0.238} [component_container_isolated-3] [DEBUG] [1762964990.921805620] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.921846328] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.921880894] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879451 0.000097 0.475989 -0.001261 [component_container_isolated-3] -0.004689 0.999953 0.008459 0.060154 [component_container_isolated-3] -0.475966 -0.009671 0.879410 0.018207 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.921903737] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.630,28.422,-0.305} [component_container_isolated-3] [DEBUG] [1762964990.921970224] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.278,28.406,-0.035} [component_container_isolated-3] [DEBUG] [1762964990.922028205] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.927722139] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.927785600] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.927824385] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.927867607] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000046 -0.000000 0.000191 [component_container_isolated-3] 0.000046 1.000000 -0.000024 0.000322 [component_container_isolated-3] 0.000000 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] [1762964990.927893136] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.027,-0.020} {0.045,-0.337,-0.216} [component_container_isolated-3] [DEBUG] [1762964990.927982486] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.928032151] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.928074021] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 -0.000138 0.191397 -0.006945 [component_container_isolated-3] -0.001593 0.999959 0.008891 0.059700 [component_container_isolated-3] -0.191390 -0.009032 0.981472 0.017177 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.928098157] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.527,11.034,-0.093} [component_container_isolated-3] [DEBUG] [1762964990.928129858] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.027,0.022} {-0.529,11.373,0.124} [component_container_isolated-3] [DEBUG] [1762964990.928180144] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.931064292] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.931124487] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.931164113] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.931207846] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000415 0.000088 -0.000281 [component_container_isolated-3] -0.000415 1.000000 0.000143 0.001592 [component_container_isolated-3] -0.000088 -0.000143 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] [1762964990.931233545] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.014,0.003} {0.067,0.111,0.171} [component_container_isolated-3] [DEBUG] [1762964990.931281066] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.931325150] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.931360948] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979074 0.000441 0.203505 -0.006850 [component_container_isolated-3] 0.001946 0.999932 -0.011529 0.060368 [component_container_isolated-3] -0.203496 0.011684 0.979006 0.018779 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.931385355] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.001,0.000} {0.684,11.741,0.114} [component_container_isolated-3] [DEBUG] [1762964990.931418949] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.014,-0.003} {0.581,11.632,-0.062} [component_container_isolated-3] [DEBUG] [1762964990.931471730] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.949717635] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.949779103] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.949819099] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.949864225] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000017 0.000012 -0.000281 [component_container_isolated-3] -0.000017 1.000000 0.000052 -0.000087 [component_container_isolated-3] -0.000012 -0.000052 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] [1762964990.949889003] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.003,-0.055} {0.156,-0.665,-0.110} [component_container_isolated-3] [DEBUG] [1762964990.949972352] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.950018570] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.950058576] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 0.000000 0.185163 -0.006961 [component_container_isolated-3] -0.000114 1.000000 0.000605 0.059948 [component_container_isolated-3] -0.185163 -0.000615 0.982708 0.017324 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.950082873] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.671,-0.007} [component_container_isolated-3] [DEBUG] [1762964990.950115335] [zed_multi.front]: +++ Diff [map -> odom] - {0.005,-0.002,0.055} {-0.171,11.336,0.104} [component_container_isolated-3] [DEBUG] [1762964990.950169759] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.965547937] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.965599366] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.965636356] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.965679599] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000046 -0.000000 0.000191 [component_container_isolated-3] 0.000046 1.000000 -0.000024 0.000322 [component_container_isolated-3] 0.000000 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] [1762964990.965703695] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.027,-0.020} {0.046,-0.337,-0.214} [component_container_isolated-3] [DEBUG] [1762964990.965750073] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.965791823] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.965830978] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 -0.000138 0.191397 -0.006945 [component_container_isolated-3] -0.001593 0.999959 0.008891 0.059700 [component_container_isolated-3] -0.191390 -0.009032 0.981472 0.017177 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.965855795] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.527,11.034,-0.093} [component_container_isolated-3] [DEBUG] [1762964990.965889309] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.027,0.022} {-0.531,11.373,0.121} [component_container_isolated-3] [DEBUG] [1762964990.965977307] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.970663046] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.970716558] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.970758558] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.970808233] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000258 0.000328 -0.000478 [component_container_isolated-3] 0.000258 1.000000 -0.000071 -0.001683 [component_container_isolated-3] -0.000328 0.000071 1.000000 0.000882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.970835996] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.001,-0.015,0.004} {0.071,0.130,0.186} [component_container_isolated-3] [DEBUG] [1762964990.970884649] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.970961586] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.971000791] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979007 0.000203 0.203826 -0.006966 [component_container_isolated-3] 0.002207 0.999930 -0.011599 0.060128 [component_container_isolated-3] -0.203815 0.011806 0.978938 0.019186 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.971023224] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.691,11.760,0.129} [component_container_isolated-3] [DEBUG] [1762964990.971053211] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.016,-0.003} {0.581,11.632,-0.062} [component_container_isolated-3] [DEBUG] [1762964990.971105010] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.972017583] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.972069883] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.972109799] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.972154675] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000056 -0.000035 0.000277 [component_container_isolated-3] 0.000056 1.000000 0.000230 -0.000051 [component_container_isolated-3] 0.000035 -0.000230 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] [1762964990.972180003] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.237,0.015,-0.235} [component_container_isolated-3] [DEBUG] [1762964990.972229658] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.972272920] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.972308859] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879468 -0.000061 0.475959 -0.001261 [component_container_isolated-3] -0.004633 0.999952 0.008689 0.060144 [component_container_isolated-3] -0.475936 -0.009846 0.879425 0.018186 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.972333236] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.641,28.420,-0.302} [component_container_isolated-3] [DEBUG] [1762964990.972366810] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.007,-0.003} {-0.278,28.406,-0.035} [component_container_isolated-3] [DEBUG] [1762964990.972422606] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.976078789] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.976127171] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.976170043] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.976215009] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000258 0.000328 -0.000478 [component_container_isolated-3] 0.000258 1.000000 -0.000071 -0.001683 [component_container_isolated-3] -0.000328 0.000071 1.000000 0.000882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964990.976239906] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.017,0.005} {0.075,0.148,0.201} [component_container_isolated-3] [DEBUG] [1762964990.976287597] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.976329057] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.976363122] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979007 0.000203 0.203826 -0.006966 [component_container_isolated-3] 0.002207 0.999930 -0.011599 0.060128 [component_container_isolated-3] -0.203815 0.011806 0.978938 0.019186 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.976384392] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.691,11.760,0.129} [component_container_isolated-3] [DEBUG] [1762964990.976416704] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.018,-0.004} {0.574,11.614,-0.077} [component_container_isolated-3] [DEBUG] [1762964990.976469214] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.987850009] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.987917758] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.987998513] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.988043999] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000143 -0.000295 -0.000464 [component_container_isolated-3] 0.000143 1.000000 -0.000050 -0.000865 [component_container_isolated-3] 0.000295 0.000050 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] [1762964990.988068827] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.005,0.002,-0.056} {0.159,-0.682,-0.102} [component_container_isolated-3] [DEBUG] [1762964990.988118261] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.988161524] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.988197933] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982762 -0.000131 0.184874 -0.007112 [component_container_isolated-3] 0.000029 1.000000 0.000555 0.059749 [component_container_isolated-3] -0.184874 -0.000540 0.982762 0.017116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.988222641] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.654,0.002} [component_container_isolated-3] [DEBUG] [1762964990.988256345] [zed_multi.front]: +++ Diff [map -> odom] - {0.006,-0.002,0.055} {-0.171,11.336,0.104} [component_container_isolated-3] [DEBUG] [1762964990.988307252] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.990646950] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.990696986] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.990733365] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.990776748] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000046 -0.000000 0.000191 [component_container_isolated-3] 0.000046 1.000000 -0.000024 0.000322 [component_container_isolated-3] 0.000000 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] [1762964990.990800874] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.008,0.028,-0.021} {0.047,-0.337,-0.211} [component_container_isolated-3] [DEBUG] [1762964990.990847293] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.990888862] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.990963274] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 -0.000138 0.191397 -0.006945 [component_container_isolated-3] -0.001593 0.999959 0.008891 0.059700 [component_container_isolated-3] -0.191390 -0.009032 0.981472 0.017177 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.990990356] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.527,11.034,-0.093} [component_container_isolated-3] [DEBUG] [1762964990.991024141] [zed_multi.right]: +++ Diff [map -> odom] - {-0.004,-0.028,0.022} {-0.533,11.373,0.119} [component_container_isolated-3] [DEBUG] [1762964990.991080178] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.994189937] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.994241114] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.994280760] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.994329413] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000028 0.000025 0.000138 [component_container_isolated-3] 0.000028 1.000000 -0.000073 -0.000049 [component_container_isolated-3] -0.000025 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] [1762964990.994355513] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.233,0.017,-0.233} [component_container_isolated-3] [DEBUG] [1762964990.994405578] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.994449863] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.994485551] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879456 -0.000051 0.475981 -0.001240 [component_container_isolated-3] -0.004604 0.999952 0.008616 0.060125 [component_container_isolated-3] -0.475959 -0.009769 0.879413 0.018165 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.994507253] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.636,28.422,-0.300} [component_container_isolated-3] [DEBUG] [1762964990.994538152] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.007,-0.003} {-0.278,28.406,-0.035} [component_container_isolated-3] [DEBUG] [1762964990.994591924] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964990.997005393] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964990.997060078] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964990.997099062] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964990.997144369] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000143 -0.000295 -0.000464 [component_container_isolated-3] 0.000143 1.000000 -0.000050 -0.000865 [component_container_isolated-3] 0.000295 0.000050 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] [1762964990.997170729] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.057} {0.162,-0.699,-0.094} [component_container_isolated-3] [DEBUG] [1762964990.997219302] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964990.997267724] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964990.997308302] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982762 -0.000131 0.184874 -0.007112 [component_container_isolated-3] 0.000029 1.000000 0.000555 0.059749 [component_container_isolated-3] -0.184874 -0.000540 0.982762 0.017116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964990.997333510] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.654,0.002} [component_container_isolated-3] [DEBUG] [1762964990.997365661] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.001,0.056} {-0.175,11.353,0.095} [component_container_isolated-3] [DEBUG] [1762964990.997415737] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.027126728] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.027191682] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.027230326] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.027273328] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000258 0.000328 -0.000478 [component_container_isolated-3] 0.000258 1.000000 -0.000071 -0.001683 [component_container_isolated-3] -0.000328 0.000071 1.000000 0.000882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.027299238] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.019,0.006} {0.079,0.167,0.216} [component_container_isolated-3] [DEBUG] [1762964991.027345706] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.027387025] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.027421902] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979007 0.000203 0.203826 -0.006966 [component_container_isolated-3] 0.002207 0.999930 -0.011599 0.060128 [component_container_isolated-3] -0.203815 0.011806 0.978938 0.019186 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.027444896] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.691,11.760,0.129} [component_container_isolated-3] [DEBUG] [1762964991.027477538] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.005} {0.567,11.595,-0.093} [component_container_isolated-3] [DEBUG] [1762964991.027528576] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.042649703] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.042725788] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.042765374] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.042810290] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000143 -0.000295 -0.000464 [component_container_isolated-3] 0.000143 1.000000 -0.000050 -0.000865 [component_container_isolated-3] 0.000295 0.000050 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] [1762964991.042835899] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,-0.000,-0.058} {0.165,-0.716,-0.086} [component_container_isolated-3] [DEBUG] [1762964991.042883289] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.042964915] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.043008488] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982762 -0.000131 0.184874 -0.007112 [component_container_isolated-3] 0.000029 1.000000 0.000555 0.059749 [component_container_isolated-3] -0.184874 -0.000540 0.982762 0.017116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.043034087] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.654,0.002} [component_container_isolated-3] [DEBUG] [1762964991.043066038] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.000,0.057} {-0.179,11.370,0.087} [component_container_isolated-3] [DEBUG] [1762964991.043116354] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.051776854] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.051831007] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.051873759] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.051939424] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000022 0.000032 -0.000107 [component_container_isolated-3] -0.000022 1.000000 -0.000100 0.000103 [component_container_isolated-3] -0.000032 0.000100 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] [1762964991.051968139] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.227,0.019,-0.235} [component_container_isolated-3] [DEBUG] [1762964991.052019026] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.052063381] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.052098819] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879441 0.000016 0.476009 -0.001230 [component_container_isolated-3] -0.004627 0.999953 0.008516 0.060119 [component_container_isolated-3] -0.475986 -0.009691 0.879399 0.018162 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.052121883] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.631,28.424,-0.301} [component_container_isolated-3] [DEBUG] [1762964991.052154455] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.278,28.406,-0.035} [component_container_isolated-3] [DEBUG] [1762964991.052207025] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.057456751] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.057522156] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.057567964] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.057611216] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000258 0.000328 -0.000478 [component_container_isolated-3] 0.000258 1.000000 -0.000071 -0.001683 [component_container_isolated-3] -0.000328 0.000071 1.000000 0.000882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.057631184] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.020,0.007} {0.084,0.186,0.230} [component_container_isolated-3] [DEBUG] [1762964991.057671862] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.057706198] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.057731997] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979007 0.000203 0.203826 -0.006966 [component_container_isolated-3] 0.002207 0.999930 -0.011599 0.060128 [component_container_isolated-3] -0.203815 0.011806 0.978938 0.019186 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.057748268] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.691,11.760,0.129} [component_container_isolated-3] [DEBUG] [1762964991.057768847] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.021,-0.006} {0.560,11.577,-0.108} [component_container_isolated-3] [DEBUG] [1762964991.057806168] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.068683742] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.068752814] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.068795215] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.068840732] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000019 -0.000075 0.000191 [component_container_isolated-3] 0.000019 1.000000 -0.000080 0.000175 [component_container_isolated-3] 0.000075 0.000080 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] [1762964991.068867814] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.008,0.028,-0.020} {0.052,-0.341,-0.210} [component_container_isolated-3] [DEBUG] [1762964991.068999375] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.069055161] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.069093705] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981527 -0.000141 0.191323 -0.006886 [component_container_isolated-3] -0.001574 0.999960 0.008812 0.059724 [component_container_isolated-3] -0.191317 -0.008950 0.981488 0.017218 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.069117480] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.522,11.030,-0.092} [component_container_isolated-3] [DEBUG] [1762964991.069147898] [zed_multi.right]: +++ Diff [map -> odom] - {-0.004,-0.028,0.022} {-0.533,11.373,0.119} [component_container_isolated-3] [DEBUG] [1762964991.069197082] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.074268518] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.074327931] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.074370212] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.074416340] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000143 -0.000295 -0.000464 [component_container_isolated-3] 0.000143 1.000000 -0.000050 -0.000865 [component_container_isolated-3] 0.000295 0.000050 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] [1762964991.074441909] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,-0.001,-0.059} {0.167,-0.733,-0.078} [component_container_isolated-3] [DEBUG] [1762964991.074490041] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.074534155] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.074572879] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982762 -0.000131 0.184874 -0.007112 [component_container_isolated-3] 0.000029 1.000000 0.000555 0.059749 [component_container_isolated-3] -0.184874 -0.000540 0.982762 0.017116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.074596043] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.654,0.002} [component_container_isolated-3] [DEBUG] [1762964991.074628695] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.184,11.387,0.078} [component_container_isolated-3] [DEBUG] [1762964991.074679893] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.081641508] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.081695682] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.081737692] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.081782247] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000014 -0.000081 -0.000033 [component_container_isolated-3] -0.000014 1.000000 0.000031 -0.000040 [component_container_isolated-3] 0.000081 -0.000031 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] [1762964991.081808156] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.229,0.014,-0.235} [component_container_isolated-3] [DEBUG] [1762964991.081858482] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.081902306] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.081971027] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879479 0.000013 0.475938 -0.001231 [component_container_isolated-3] -0.004640 0.999953 0.008547 0.060112 [component_container_isolated-3] -0.475915 -0.009726 0.879437 0.018154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.081997127] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.634,28.419,-0.302} [component_container_isolated-3] [DEBUG] [1762964991.082030862] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.278,28.406,-0.035} [component_container_isolated-3] [DEBUG] [1762964991.082085366] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.089984792] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.090039607] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.090077268] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.090119599] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000258 0.000328 -0.000478 [component_container_isolated-3] 0.000258 1.000000 -0.000071 -0.001683 [component_container_isolated-3] -0.000328 0.000071 1.000000 0.000882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.090144166] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.008} {0.088,0.205,0.245} [component_container_isolated-3] [DEBUG] [1762964991.090191046] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.090232415] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.090268303] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979007 0.000203 0.203826 -0.006966 [component_container_isolated-3] 0.002207 0.999930 -0.011599 0.060128 [component_container_isolated-3] -0.203815 0.011806 0.978938 0.019186 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.090291878] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.691,11.760,0.129} [component_container_isolated-3] [DEBUG] [1762964991.090324380] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.023,-0.007} {0.553,11.558,-0.123} [component_container_isolated-3] [DEBUG] [1762964991.090377762] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.096257501] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.096323247] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.096364686] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.096409391] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000143 -0.000295 -0.000464 [component_container_isolated-3] 0.000143 1.000000 -0.000050 -0.000865 [component_container_isolated-3] 0.000295 0.000050 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] [1762964991.096435942] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.002,-0.060} {0.170,-0.750,-0.070} [component_container_isolated-3] [DEBUG] [1762964991.096484595] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.096527968] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.096563756] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982762 -0.000131 0.184874 -0.007112 [component_container_isolated-3] 0.000029 1.000000 0.000555 0.059749 [component_container_isolated-3] -0.184874 -0.000540 0.982762 0.017116 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.096588353] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.654,0.002} [component_container_isolated-3] [DEBUG] [1762964991.096622388] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,0.002,0.059} {-0.188,11.404,0.070} [component_container_isolated-3] [DEBUG] [1762964991.096674678] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.100830144] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.100891481] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.100960433] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.101008144] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000000 -0.000207 -0.000314 [component_container_isolated-3] -0.000000 1.000000 -0.000046 -0.000896 [component_container_isolated-3] 0.000207 0.000046 1.000000 -0.001254 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.101036127] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.008,0.027,-0.022} {0.055,-0.353,-0.210} [component_container_isolated-3] [DEBUG] [1762964991.101089599] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.101137771] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.101178379] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981567 -0.000132 0.191120 -0.006949 [component_container_isolated-3] -0.001572 0.999960 0.008766 0.059513 [component_container_isolated-3] -0.191114 -0.008905 0.981528 0.016928 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.101201463] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,-0.000} {-0.520,11.018,-0.092} [component_container_isolated-3] [DEBUG] [1762964991.101232683] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.027,0.023} {-0.533,11.373,0.119} [component_container_isolated-3] [DEBUG] [1762964991.101282478] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.107875118] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.107961293] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.108002091] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.108047167] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000000 -0.000207 -0.000314 [component_container_isolated-3] -0.000000 1.000000 -0.000046 -0.000896 [component_container_isolated-3] 0.000207 0.000046 1.000000 -0.001254 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.108071724] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.026,-0.023} {0.057,-0.365,-0.210} [component_container_isolated-3] [DEBUG] [1762964991.108121128] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.108167506] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.108207984] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981567 -0.000132 0.191120 -0.006949 [component_container_isolated-3] -0.001572 0.999960 0.008766 0.059513 [component_container_isolated-3] -0.191114 -0.008905 0.981528 0.016928 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.108232220] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,-0.000} {-0.520,11.018,-0.092} [component_container_isolated-3] [DEBUG] [1762964991.108263520] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.026,0.024} {-0.536,11.384,0.119} [component_container_isolated-3] [DEBUG] [1762964991.108314147] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.115005786] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.115068185] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.115108422] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.115153308] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000014 -0.000081 -0.000033 [component_container_isolated-3] -0.000014 1.000000 0.000031 -0.000040 [component_container_isolated-3] 0.000081 -0.000031 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] [1762964991.115178686] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.231,0.009,-0.236} [component_container_isolated-3] [DEBUG] [1762964991.115231367] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.115278276] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.115317842] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879479 0.000013 0.475938 -0.001231 [component_container_isolated-3] -0.004640 0.999953 0.008547 0.060112 [component_container_isolated-3] -0.475915 -0.009726 0.879437 0.018154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.115342409] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.634,28.419,-0.302} [component_container_isolated-3] [DEBUG] [1762964991.115373047] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.275,28.411,-0.034} [component_container_isolated-3] [DEBUG] [1762964991.115424275] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.120758392] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.120810491] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.120848334] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.120891085] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000014 -0.000081 -0.000033 [component_container_isolated-3] -0.000014 1.000000 0.000031 -0.000040 [component_container_isolated-3] 0.000081 -0.000031 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] [1762964991.120917305] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.232,0.005,-0.237} [component_container_isolated-3] [DEBUG] [1762964991.121000404] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.121047173] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.121087971] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879479 0.000013 0.475938 -0.001231 [component_container_isolated-3] -0.004640 0.999953 0.008547 0.060112 [component_container_isolated-3] -0.475915 -0.009726 0.879437 0.018154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.121111596] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.634,28.419,-0.302} [component_container_isolated-3] [DEBUG] [1762964991.121142065] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.273,28.416,-0.033} [component_container_isolated-3] [DEBUG] [1762964991.121191068] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.124543581] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.124599728] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.124632681] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.124694840] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000028 -0.000426 0.001080 [component_container_isolated-3] 0.000028 1.000000 -0.000029 -0.000060 [component_container_isolated-3] 0.000426 0.000029 1.000000 -0.001390 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.124726540] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.089,0.180,0.247} [component_container_isolated-3] [DEBUG] [1762964991.124784240] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.124833394] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.124877999] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979094 0.000182 0.203409 -0.006888 [component_container_isolated-3] 0.002231 0.999930 -0.011630 0.060057 [component_container_isolated-3] -0.203397 0.011840 0.979025 0.019000 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.124906464] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.693,11.736,0.131} [component_container_isolated-3] [DEBUG] [1762964991.124986917] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.023,-0.006} {0.553,11.558,-0.123} [component_container_isolated-3] [DEBUG] [1762964991.125058684] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.144582911] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.144647545] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.144690256] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.144738328] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000054 0.000128 -0.000607 [component_container_isolated-3] 0.000054 1.000000 0.000104 -0.000004 [component_container_isolated-3] -0.000128 -0.000104 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] [1762964991.144765390] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.026,-0.022} {0.051,-0.357,-0.207} [component_container_isolated-3] [DEBUG] [1762964991.144819493] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.144871242] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.144914094] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 -0.000205 0.191246 -0.007095 [component_container_isolated-3] -0.001519 0.999959 0.008869 0.059445 [component_container_isolated-3] -0.191240 -0.008996 0.981502 0.016953 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.144968918] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,-0.000} {-0.525,11.025,-0.089} [component_container_isolated-3] [DEBUG] [1762964991.145003605] [zed_multi.right]: +++ Diff [map -> odom] - {-0.002,-0.026,0.023} {-0.536,11.384,0.119} [component_container_isolated-3] [DEBUG] [1762964991.145059712] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.147426672] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.147488620] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.147543405] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.147593280] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000007 0.000019 0.000054 [component_container_isolated-3] -0.000007 1.000000 -0.000102 -0.000061 [component_container_isolated-3] -0.000019 0.000102 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] [1762964991.147621584] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.002,-0.060} {0.176,-0.749,-0.070} [component_container_isolated-3] [DEBUG] [1762964991.147673614] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.147719241] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.147757614] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982759 -0.000105 0.184893 -0.007153 [component_container_isolated-3] 0.000022 1.000000 0.000453 0.059668 [component_container_isolated-3] -0.184893 -0.000441 0.982759 0.017062 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.147781179] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.026,10.655,0.001} [component_container_isolated-3] [DEBUG] [1762964991.147811527] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.002,0.059} {-0.188,11.404,0.070} [component_container_isolated-3] [DEBUG] [1762964991.147862875] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.162202951] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.162258968] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.162296650] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.162338410] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000007 0.000019 0.000054 [component_container_isolated-3] -0.000007 1.000000 -0.000102 -0.000061 [component_container_isolated-3] -0.000019 0.000102 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] [1762964991.162363047] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.002,-0.060} {0.182,-0.747,-0.070} [component_container_isolated-3] [DEBUG] [1762964991.162411069] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.162455914] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.162495610] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982759 -0.000105 0.184893 -0.007153 [component_container_isolated-3] 0.000022 1.000000 0.000453 0.059668 [component_container_isolated-3] -0.184893 -0.000441 0.982759 0.017062 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.162519405] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.026,10.655,0.001} [component_container_isolated-3] [DEBUG] [1762964991.162552589] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.002,0.059} {-0.194,11.403,0.070} [component_container_isolated-3] [DEBUG] [1762964991.162603927] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.166809078] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.166902967] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.166974103] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.167026262] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000185 0.000018 -0.000169 [component_container_isolated-3] -0.000185 1.000000 0.000169 0.000266 [component_container_isolated-3] -0.000018 -0.000169 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] [1762964991.167053444] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.242,0.006,-0.247} [component_container_isolated-3] [DEBUG] [1762964991.167108429] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.167156521] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.167194634] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879470 0.000096 0.475953 -0.001247 [component_container_isolated-3] -0.004826 0.999950 0.008716 0.060148 [component_container_isolated-3] -0.475929 -0.009962 0.879427 0.018144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.167218129] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.649,28.420,-0.314} [component_container_isolated-3] [DEBUG] [1762964991.167248437] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.003} {-0.273,28.416,-0.033} [component_container_isolated-3] [DEBUG] [1762964991.167298372] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.168838503] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.168892967] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.168961238] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.169009760] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000225 0.000231 -0.000447 [component_container_isolated-3] 0.000225 1.000000 0.000152 -0.001153 [component_container_isolated-3] -0.000231 -0.000152 1.000000 0.000829 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.169036091] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.023,0.007} {0.081,0.194,0.260} [component_container_isolated-3] [DEBUG] [1762964991.169085705] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.169208009] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.169253726] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979047 -0.000070 0.203635 -0.006899 [component_container_isolated-3] 0.002459 0.999931 -0.011477 0.059548 [component_container_isolated-3] -0.203620 0.011738 0.978980 0.019119 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.169277351] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.687,11.749,0.144} [component_container_isolated-3] [DEBUG] [1762964991.169311216] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.023,-0.006} {0.553,11.558,-0.123} [component_container_isolated-3] [DEBUG] [1762964991.169370549] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.176706590] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.176771163] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.176810718] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.176855213] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000175 -0.000077 0.000913 [component_container_isolated-3] -0.000175 1.000000 0.000011 0.000716 [component_container_isolated-3] 0.000077 -0.000011 1.000000 -0.000567 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.176880612] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.008,0.027,-0.023} {0.051,-0.362,-0.217} [component_container_isolated-3] [DEBUG] [1762964991.176964492] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.177017343] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.177059574] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981557 -0.000035 0.191171 -0.006995 [component_container_isolated-3] -0.001693 0.999959 0.008880 0.059505 [component_container_isolated-3] -0.191164 -0.009040 0.981517 0.016810 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.177084642] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,-0.000} {-0.528,11.021,-0.099} [component_container_isolated-3] [DEBUG] [1762964991.177117524] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.027,0.024} {-0.536,11.384,0.119} [component_container_isolated-3] [DEBUG] [1762964991.177167169] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.195434475] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.195500411] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.195541209] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.195588379] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000175 -0.000077 0.000913 [component_container_isolated-3] -0.000175 1.000000 0.000011 0.000716 [component_container_isolated-3] 0.000077 -0.000011 1.000000 -0.000567 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.195613948] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.008,0.027,-0.024} {0.050,-0.366,-0.227} [component_container_isolated-3] [DEBUG] [1762964991.195665767] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.195714109] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.195753605] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981557 -0.000035 0.191171 -0.006995 [component_container_isolated-3] -0.001693 0.999959 0.008880 0.059505 [component_container_isolated-3] -0.191164 -0.009040 0.981517 0.016810 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.195777450] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,-0.000} {-0.528,11.021,-0.099} [component_container_isolated-3] [DEBUG] [1762964991.195807959] [zed_multi.right]: +++ Diff [map -> odom] - {-0.004,-0.028,0.025} {-0.533,11.389,0.129} [component_container_isolated-3] [DEBUG] [1762964991.195867552] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.204883811] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.204972090] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.205015473] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.205061501] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000062 0.000140 0.000118 [component_container_isolated-3] 0.000062 1.000000 0.000078 -0.000075 [component_container_isolated-3] -0.000140 -0.000078 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] [1762964991.205087019] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.246,0.014,-0.244} [component_container_isolated-3] [DEBUG] [1762964991.205138317] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.205183123] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.205220865] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879404 0.000004 0.476077 -0.001236 [component_container_isolated-3] -0.004765 0.999950 0.008794 0.060158 [component_container_isolated-3] -0.476053 -0.010002 0.879360 0.018170 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.205244119] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.652,28.428,-0.310} [component_container_isolated-3] [DEBUG] [1762964991.205277563] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.004} {-0.273,28.416,-0.033} [component_container_isolated-3] [DEBUG] [1762964991.205328290] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.206678699] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.206729686] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.206769933] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.206814278] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000129 -0.000137 0.000503 [component_container_isolated-3] -0.000130 1.000000 -0.000119 0.001015 [component_container_isolated-3] 0.000137 0.000119 1.000000 -0.000924 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.206840789] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.087,0.186,0.252} [component_container_isolated-3] [DEBUG] [1762964991.206888820] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.206960217] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.206998219] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979075 0.000081 0.203501 -0.006850 [component_container_isolated-3] 0.002328 0.999930 -0.011596 0.059545 [component_container_isolated-3] -0.203488 0.011827 0.979006 0.018964 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.207021975] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.692,11.741,0.136} [component_container_isolated-3] [DEBUG] [1762964991.207052884] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.553,11.558,-0.123} [component_container_isolated-3] [DEBUG] [1762964991.207103520] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.218058722] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.218120159] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.218161188] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.218209761] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000132 0.000240 0.000620 [component_container_isolated-3] -0.000132 1.000000 0.000174 0.000782 [component_container_isolated-3] -0.000240 -0.000174 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] [1762964991.218237524] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,-0.001,-0.059} {0.172,-0.734,-0.078} [component_container_isolated-3] [DEBUG] [1762964991.218290224] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.218336442] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.218374054] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 -0.000008 0.185129 -0.007046 [component_container_isolated-3] -0.000110 1.000000 0.000627 0.059747 [component_container_isolated-3] -0.185129 -0.000636 0.982714 0.017160 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.218396748] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.669,-0.006} [component_container_isolated-3] [DEBUG] [1762964991.218427096] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.194,11.403,0.070} [component_container_isolated-3] [DEBUG] [1762964991.218476069] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.234187604] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.234268669] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.234313435] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.234362037] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000065 -0.000155 0.000202 [component_container_isolated-3] 0.000065 1.000000 -0.000161 -0.000146 [component_container_isolated-3] 0.000155 0.000161 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] [1762964991.234391554] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.237,0.005,-0.240} [component_container_isolated-3] [DEBUG] [1762964991.234443092] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.234490222] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.234529227] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879477 0.000023 0.475941 -0.001214 [component_container_isolated-3] -0.004698 0.999952 0.008634 0.060147 [component_container_isolated-3] -0.475918 -0.009829 0.879435 0.018162 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.234552992] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.640,28.419,-0.306} [component_container_isolated-3] [DEBUG] [1762964991.234588280] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.007,-0.003} {-0.273,28.416,-0.033} [component_container_isolated-3] [DEBUG] [1762964991.234643044] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.237001829] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.237052255] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.237091821] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.237136125] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000018 -0.000125 -0.000079 [component_container_isolated-3] 0.000018 1.000000 0.000030 0.000026 [component_container_isolated-3] 0.000125 -0.000030 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] [1762964991.237166022] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.086,0.179,0.253} [component_container_isolated-3] [DEBUG] [1762964991.237217821] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.237259892] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.237296862] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979100 0.000057 0.203379 -0.006843 [component_container_isolated-3] 0.002345 0.999930 -0.011567 0.059548 [component_container_isolated-3] -0.203365 0.011802 0.979032 0.018909 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.237318183] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.691,11.734,0.137} [component_container_isolated-3] [DEBUG] [1762964991.237347659] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.553,11.558,-0.123} [component_container_isolated-3] [DEBUG] [1762964991.237395781] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.247095075] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.247148396] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.247187822] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.247235653] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000060 0.000366 -0.000595 [component_container_isolated-3] -0.000060 1.000000 0.000036 0.000429 [component_container_isolated-3] -0.000366 -0.000036 1.000000 0.001507 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.247261623] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.008,0.028,-0.022} {0.048,-0.345,-0.230} [component_container_isolated-3] [DEBUG] [1762964991.247310436] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.247356053] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.247391941] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981487 0.000017 0.191530 -0.006970 [component_container_isolated-3] -0.001757 0.999959 0.008916 0.059640 [component_container_isolated-3] -0.191522 -0.009087 0.981446 0.017200 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.247415436] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.530,11.042,-0.103} [component_container_isolated-3] [DEBUG] [1762964991.247446295] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.028,0.024} {-0.533,11.389,0.129} [component_container_isolated-3] [DEBUG] [1762964991.247499858] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.251562326] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.251620948] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.251666515] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.251712052] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000048 -0.000037 -0.000220 [component_container_isolated-3] -0.000048 1.000000 0.000045 0.000141 [component_container_isolated-3] 0.000037 -0.000045 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] [1762964991.251738332] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,-0.001,-0.059} {0.170,-0.736,-0.081} [component_container_isolated-3] [DEBUG] [1762964991.251789109] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.251834095] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.251872178] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982721 0.000031 0.185092 -0.007031 [component_container_isolated-3] -0.000158 1.000000 0.000672 0.059804 [component_container_isolated-3] -0.185092 -0.000689 0.982721 0.017209 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.251895903] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.040,10.666,-0.009} [component_container_isolated-3] [DEBUG] [1762964991.251965356] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.194,11.403,0.070} [component_container_isolated-3] [DEBUG] [1762964991.252027194] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.264173079] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.264228024] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.264265566] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.264307376] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000048 -0.000037 -0.000220 [component_container_isolated-3] -0.000048 1.000000 0.000045 0.000141 [component_container_isolated-3] 0.000037 -0.000045 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] [1762964991.264331161] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.167,-0.738,-0.083} [component_container_isolated-3] [DEBUG] [1762964991.264379213] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.264425251] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.264464686] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982721 0.000031 0.185092 -0.007031 [component_container_isolated-3] -0.000158 1.000000 0.000672 0.059804 [component_container_isolated-3] -0.185092 -0.000689 0.982721 0.017209 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.264488161] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.040,10.666,-0.009} [component_container_isolated-3] [DEBUG] [1762964991.264521324] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.191,11.405,0.073} [component_container_isolated-3] [DEBUG] [1762964991.264574646] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.265964491] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.266015288] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.266072096] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.266117212] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000013 0.000011 0.000069 [component_container_isolated-3] -0.000013 1.000000 -0.000129 0.000119 [component_container_isolated-3] -0.000011 0.000129 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] [1762964991.266143552] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.093,0.179,0.253} [component_container_isolated-3] [DEBUG] [1762964991.266195532] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.266324147] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.266367140] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 0.000096 0.203390 -0.006819 [component_container_isolated-3] 0.002332 0.999929 -0.011696 0.059563 [component_container_isolated-3] -0.203376 0.011926 0.979028 0.018876 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.266393159] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.698,11.734,0.136} [component_container_isolated-3] [DEBUG] [1762964991.266425942] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.553,11.558,-0.123} [component_container_isolated-3] [DEBUG] [1762964991.266474935] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.270869818] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.270959560] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.271002863] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.271049271] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000241 0.000084 -0.000212 [component_container_isolated-3] -0.000241 1.000000 0.000070 0.000475 [component_container_isolated-3] -0.000084 -0.000070 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] [1762964991.271074860] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.008,0.003} {-0.241,0.010,-0.254} [component_container_isolated-3] [DEBUG] [1762964991.271126218] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.271170563] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.271211611] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879437 0.000201 0.476015 -0.001204 [component_container_isolated-3] -0.004940 0.999950 0.008704 0.060234 [component_container_isolated-3] -0.475989 -0.010006 0.879394 0.018164 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.271237000] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.652,28.424,-0.322} [component_container_isolated-3] [DEBUG] [1762964991.271271536] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.008,-0.004} {-0.273,28.416,-0.033} [component_container_isolated-3] [DEBUG] [1762964991.271322233] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.286211237] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.286276231] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.286317009] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.286361905] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000102 -0.000277 0.001020 [component_container_isolated-3] 0.000102 1.000000 0.000014 -0.000405 [component_container_isolated-3] 0.000277 -0.000014 1.000000 -0.001093 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.286387023] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.009,0.027,-0.023} {0.047,-0.361,-0.224} [component_container_isolated-3] [DEBUG] [1762964991.286439212] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.286485390] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.286522912] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981540 -0.000086 0.191258 -0.006771 [component_container_isolated-3] -0.001653 0.999959 0.008931 0.059651 [component_container_isolated-3] -0.191251 -0.009082 0.981499 0.017038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.286545646] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,-0.000} {-0.530,11.026,-0.096} [component_container_isolated-3] [DEBUG] [1762964991.286576845] [zed_multi.right]: +++ Diff [map -> odom] - {-0.004,-0.028,0.025} {-0.533,11.389,0.129} [component_container_isolated-3] [DEBUG] [1762964991.286626640] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.307715866] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.307778635] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.307818602] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.307864519] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000005 0.000073 -0.000041 [component_container_isolated-3] 0.000005 1.000000 0.000096 0.000051 [component_container_isolated-3] -0.000073 -0.000096 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] [1762964991.307890469] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.088,0.183,0.253} [component_container_isolated-3] [DEBUG] [1762964991.307957908] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.308002924] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.308039413] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 0.000072 0.203461 -0.006807 [component_container_isolated-3] 0.002337 0.999930 -0.011600 0.059584 [component_container_isolated-3] -0.203448 0.011833 0.979014 0.018835 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.308064271] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.739,0.137} [component_container_isolated-3] [DEBUG] [1762964991.308097144] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.553,11.558,-0.123} [component_container_isolated-3] [DEBUG] [1762964991.308147430] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.313678393] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.313738297] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.313777802] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.313821656] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000289 0.000036 0.000041 [component_container_isolated-3] 0.000289 1.000000 -0.000256 -0.000410 [component_container_isolated-3] -0.000036 0.000256 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] [1762964991.313848037] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.227,0.012,-0.237} [component_container_isolated-3] [DEBUG] [1762964991.313898934] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.313983385] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.314027569] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 0.000069 0.476047 -0.001204 [component_container_isolated-3] -0.004652 0.999953 0.008448 0.060215 [component_container_isolated-3] -0.476024 -0.009644 0.879379 0.018199 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.314051806] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.628,28.426,-0.303} [component_container_isolated-3] [DEBUG] [1762964991.314084999] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.007,-0.004} {-0.273,28.416,-0.033} [component_container_isolated-3] [DEBUG] [1762964991.314136167] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.325850819] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.325948005] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.325992590] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.326039389] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000002 0.000205 -0.000704 [component_container_isolated-3] -0.000002 1.000000 0.000089 0.000025 [component_container_isolated-3] -0.000205 -0.000089 1.000000 0.000861 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.326065499] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.008,0.027,-0.022} {0.042,-0.349,-0.225} [component_container_isolated-3] [DEBUG] [1762964991.326115695] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.326160540] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.326201148] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981501 -0.000101 0.191459 -0.006772 [component_container_isolated-3] -0.001657 0.999958 0.009019 0.059662 [component_container_isolated-3] -0.191452 -0.009170 0.981459 0.017184 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.326224973] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.535,11.038,-0.097} [component_container_isolated-3] [DEBUG] [1762964991.326257145] [zed_multi.right]: +++ Diff [map -> odom] - {-0.004,-0.028,0.024} {-0.533,11.389,0.129} [component_container_isolated-3] [DEBUG] [1762964991.326312060] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.326585001] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.326658682] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.326701323] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.326747632] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000289 0.000036 0.000041 [component_container_isolated-3] 0.000289 1.000000 -0.000256 -0.000410 [component_container_isolated-3] -0.000036 0.000256 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] [1762964991.326773321] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.212,0.014,-0.221} [component_container_isolated-3] [DEBUG] [1762964991.326821353] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.326862521] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.326898851] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 0.000069 0.476047 -0.001204 [component_container_isolated-3] -0.004652 0.999953 0.008448 0.060215 [component_container_isolated-3] -0.476024 -0.009644 0.879379 0.018199 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.326942594] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.628,28.426,-0.303} [component_container_isolated-3] [DEBUG] [1762964991.326976248] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.007,-0.004} {-0.297,28.413,-0.052} [component_container_isolated-3] [DEBUG] [1762964991.327060028] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.328617192] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.328661928] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.328693067] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.328745637] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000005 0.000073 -0.000041 [component_container_isolated-3] 0.000005 1.000000 0.000096 0.000051 [component_container_isolated-3] -0.000073 -0.000096 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] [1762964991.328772338] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.082,0.188,0.253} [component_container_isolated-3] [DEBUG] [1762964991.328820701] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.328862310] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.328897688] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 0.000072 0.203461 -0.006807 [component_container_isolated-3] 0.002337 0.999930 -0.011600 0.059584 [component_container_isolated-3] -0.203448 0.011833 0.979014 0.018835 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.328956640] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.739,0.137} [component_container_isolated-3] [DEBUG] [1762964991.328989253] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.558,11.554,-0.124} [component_container_isolated-3] [DEBUG] [1762964991.329041693] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.330142555] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.330199123] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.330240562] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.330285628] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000001 0.000108 0.000026 [component_container_isolated-3] -0.000001 1.000000 -0.000066 0.000066 [component_container_isolated-3] -0.000108 0.000066 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] [1762964991.330311207] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.171,-0.732,-0.083} [component_container_isolated-3] [DEBUG] [1762964991.330359099] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.330404295] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.330444141] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000044 0.185198 -0.007016 [component_container_isolated-3] -0.000159 1.000000 0.000605 0.059847 [component_container_isolated-3] -0.185198 -0.000624 0.982701 0.017257 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.330468017] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.673,-0.009} [component_container_isolated-3] [DEBUG] [1762964991.330498655] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.191,11.405,0.073} [component_container_isolated-3] [DEBUG] [1762964991.330549202] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.336276640] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.336344008] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.336381530] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.336424111] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000001 0.000108 0.000026 [component_container_isolated-3] -0.000001 1.000000 -0.000066 0.000066 [component_container_isolated-3] -0.000108 0.000066 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] [1762964991.336450171] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.175,-0.726,-0.084} [component_container_isolated-3] [DEBUG] [1762964991.336501920] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.336547557] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.336587664] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000044 0.185198 -0.007016 [component_container_isolated-3] -0.000159 1.000000 0.000605 0.059847 [component_container_isolated-3] -0.185198 -0.000624 0.982701 0.017257 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.336611850] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.673,-0.009} [component_container_isolated-3] [DEBUG] [1762964991.336645454] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.399,0.073} [component_container_isolated-3] [DEBUG] [1762964991.336697303] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.355111590] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.355172246] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.355214476] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.355260194] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000255 -0.000126 0.000051 [component_container_isolated-3] 0.000255 1.000000 -0.000397 -0.001666 [component_container_isolated-3] 0.000126 0.000397 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] [1762964991.355286123] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.008,0.026,-0.022} {0.065,-0.356,-0.210} [component_container_isolated-3] [DEBUG] [1762964991.355335558] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.355380053] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.355416612] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 -0.000275 0.191335 -0.006782 [component_container_isolated-3] -0.001401 0.999962 0.008623 0.059033 [component_container_isolated-3] -0.191330 -0.008732 0.981487 0.017245 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.355440859] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.510,11.030,-0.082} [component_container_isolated-3] [DEBUG] [1762964991.355475425] [zed_multi.right]: +++ Diff [map -> odom] - {-0.004,-0.027,0.024} {-0.533,11.389,0.129} [component_container_isolated-3] [DEBUG] [1762964991.355527655] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.360294258] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.360349072] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.360382296] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.360418294] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000036 0.000040 -0.000195 [component_container_isolated-3] -0.000036 1.000000 0.000098 -0.000034 [component_container_isolated-3] -0.000040 -0.000098 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] [1762964991.360437702] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.077,0.190,0.251} [component_container_isolated-3] [DEBUG] [1762964991.360476145] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.360508186] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.360534526] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979075 0.000087 0.203500 -0.006813 [component_container_isolated-3] 0.002302 0.999931 -0.011502 0.059597 [component_container_isolated-3] -0.203487 0.011730 0.979007 0.018811 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.360551399] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.686,11.741,0.135} [component_container_isolated-3] [DEBUG] [1762964991.360572479] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.558,11.554,-0.124} [component_container_isolated-3] [DEBUG] [1762964991.360608898] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.364993492] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.365058005] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.365098442] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.365142787] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000255 -0.000126 0.000051 [component_container_isolated-3] 0.000255 1.000000 -0.000397 -0.001666 [component_container_isolated-3] 0.000126 0.000397 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] [1762964991.365168296] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.008,0.024,-0.022} {0.088,-0.364,-0.195} [component_container_isolated-3] [DEBUG] [1762964991.365216758] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.365261814] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.365297533] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 -0.000275 0.191335 -0.006782 [component_container_isolated-3] -0.001401 0.999962 0.008623 0.059033 [component_container_isolated-3] -0.191330 -0.008732 0.981487 0.017245 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.365320286] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.510,11.030,-0.082} [component_container_isolated-3] [DEBUG] [1762964991.365353389] [zed_multi.right]: +++ Diff [map -> odom] - {-0.004,-0.025,0.024} {-0.559,11.396,0.114} [component_container_isolated-3] [DEBUG] [1762964991.365406631] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.373584278] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.373640365] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.373679590] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.373722302] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000289 0.000036 0.000041 [component_container_isolated-3] 0.000289 1.000000 -0.000256 -0.000410 [component_container_isolated-3] -0.000036 0.000256 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] [1762964991.373746839] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.197,0.016,-0.204} [component_container_isolated-3] [DEBUG] [1762964991.373794370] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.373836730] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.373872629] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 0.000069 0.476047 -0.001204 [component_container_isolated-3] -0.004652 0.999953 0.008448 0.060215 [component_container_isolated-3] -0.476024 -0.009644 0.879379 0.018199 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.373896465] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.628,28.426,-0.303} [component_container_isolated-3] [DEBUG] [1762964991.373972219] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.006,-0.004} {-0.320,28.411,-0.071} [component_container_isolated-3] [DEBUG] [1762964991.374026703] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.386608361] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.386672123] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.386714153] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.386759750] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000021 -0.000024 0.000070 [component_container_isolated-3] 0.000021 1.000000 0.000089 -0.000121 [component_container_isolated-3] 0.000024 -0.000089 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] [1762964991.386785780] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.170,-0.727,-0.082} [component_container_isolated-3] [DEBUG] [1762964991.386839412] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.386887494] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.386955624] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000008 0.185174 -0.007000 [component_container_isolated-3] -0.000138 1.000000 0.000694 0.059873 [component_container_isolated-3] -0.185174 -0.000707 0.982705 0.017278 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.386979710] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.041,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964991.387010469] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.399,0.073} [component_container_isolated-3] [DEBUG] [1762964991.387063170] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.402125415] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.402179709] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.402217731] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.402259651] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000289 0.000036 0.000041 [component_container_isolated-3] 0.000289 1.000000 -0.000256 -0.000410 [component_container_isolated-3] -0.000036 0.000256 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] [1762964991.402284238] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.183,0.018,-0.188} [component_container_isolated-3] [DEBUG] [1762964991.402329855] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.402373749] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.402413485] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 0.000069 0.476047 -0.001204 [component_container_isolated-3] -0.004652 0.999953 0.008448 0.060215 [component_container_isolated-3] -0.476024 -0.009644 0.879379 0.018199 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.402436920] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.628,28.426,-0.303} [component_container_isolated-3] [DEBUG] [1762964991.402469853] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.006,-0.004} {-0.344,28.409,-0.089} [component_container_isolated-3] [DEBUG] [1762964991.402522443] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.408708868] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.408765225] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.408811233] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.408865286] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000021 -0.000024 0.000070 [component_container_isolated-3] 0.000021 1.000000 0.000089 -0.000121 [component_container_isolated-3] 0.000024 -0.000089 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] [1762964991.408897298] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,-0.001,-0.059} {0.164,-0.728,-0.081} [component_container_isolated-3] [DEBUG] [1762964991.409003681] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.409069026] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.409117528] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000008 0.185174 -0.007000 [component_container_isolated-3] -0.000138 1.000000 0.000694 0.059873 [component_container_isolated-3] -0.185174 -0.000707 0.982705 0.017278 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.409145732] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.041,10.671,-0.008} [component_container_isolated-3] [DEBUG] [1762964991.409185478] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.190,11.400,0.072} [component_container_isolated-3] [DEBUG] [1762964991.409256724] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.414651407] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.414713826] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.414754453] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.414800421] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000020 -0.000009 0.000075 [component_container_isolated-3] 0.000020 1.000000 -0.000064 -0.000037 [component_container_isolated-3] 0.000009 0.000064 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] [1762964991.414826832] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.080,0.189,0.252} [component_container_isolated-3] [DEBUG] [1762964991.414874903] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.414951390] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.414994281] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 0.000080 0.203491 -0.006812 [component_container_isolated-3] 0.002322 0.999930 -0.011566 0.059603 [component_container_isolated-3] -0.203478 0.011796 0.979008 0.018792 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.415017887] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.740,0.136} [component_container_isolated-3] [DEBUG] [1762964991.415048054] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.558,11.554,-0.124} [component_container_isolated-3] [DEBUG] [1762964991.415104582] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.422149797] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.422209421] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.422247093] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.422290245] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000020 -0.000009 0.000075 [component_container_isolated-3] 0.000020 1.000000 -0.000064 -0.000037 [component_container_isolated-3] 0.000009 0.000064 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] [1762964991.422314331] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.084,0.189,0.253} [component_container_isolated-3] [DEBUG] [1762964991.422361551] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.422403932] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.422443528] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 0.000080 0.203491 -0.006812 [component_container_isolated-3] 0.002322 0.999930 -0.011566 0.059603 [component_container_isolated-3] -0.203478 0.011796 0.979008 0.018792 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.422466892] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.740,0.136} [component_container_isolated-3] [DEBUG] [1762964991.422499645] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.554,11.554,-0.125} [component_container_isolated-3] [DEBUG] [1762964991.422554389] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.432541442] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.432600796] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.432641163] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.432685568] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000082 0.000036 -0.000490 [component_container_isolated-3] -0.000082 1.000000 0.000080 0.000870 [component_container_isolated-3] -0.000036 -0.000080 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] [1762964991.432710746] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.008,0.025,-0.023} {0.083,-0.362,-0.200} [component_container_isolated-3] [DEBUG] [1762964991.432759829] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.432806519] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.432843790] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981518 -0.000210 0.191370 -0.006884 [component_container_isolated-3] -0.001483 0.999961 0.008703 0.059013 [component_container_isolated-3] -0.191365 -0.008826 0.981479 0.017279 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.432869138] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.515,11.032,-0.087} [component_container_isolated-3] [DEBUG] [1762964991.432903013] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.026,0.024} {-0.559,11.396,0.114} [component_container_isolated-3] [DEBUG] [1762964991.432980140] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.441010797] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.441076342] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.441116368] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.441162096] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000285 -0.000220 0.000216 [component_container_isolated-3] -0.000285 1.000000 0.000471 0.000587 [component_container_isolated-3] 0.000220 -0.000471 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] [1762964991.441190199] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.210,0.006,-0.204} [component_container_isolated-3] [DEBUG] [1762964991.441242509] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.441414047] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.441551489] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879525 0.000096 0.475853 -0.001213 [component_container_isolated-3] -0.004935 0.999948 0.008920 0.060338 [component_container_isolated-3] -0.475828 -0.010193 0.879479 0.018088 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.441584613] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.664,28.413,-0.321} [component_container_isolated-3] [DEBUG] [1762964991.441611714] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.007,-0.003} {-0.344,28.409,-0.089} [component_container_isolated-3] [DEBUG] [1762964991.441665707] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.445065160] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.445152015] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.445196881] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.445246556] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000020 -0.000009 0.000075 [component_container_isolated-3] 0.000020 1.000000 -0.000064 -0.000037 [component_container_isolated-3] 0.000009 0.000064 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] [1762964991.445274579] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.088,0.188,0.255} [component_container_isolated-3] [DEBUG] [1762964991.445327721] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.445376113] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.445414647] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 0.000080 0.203491 -0.006812 [component_container_isolated-3] 0.002322 0.999930 -0.011566 0.059603 [component_container_isolated-3] -0.203478 0.011796 0.979008 0.018792 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.445437581] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.740,0.136} [component_container_isolated-3] [DEBUG] [1762964991.445467718] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.550,11.555,-0.126} [component_container_isolated-3] [DEBUG] [1762964991.445516231] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.451124782] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.451189976] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.451228690] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.451273957] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000001 -0.000100 -0.000185 [component_container_isolated-3] -0.000001 1.000000 -0.000099 0.000089 [component_container_isolated-3] 0.000100 0.000099 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] [1762964991.451298554] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.170,-0.734,-0.081} [component_container_isolated-3] [DEBUG] [1762964991.451345994] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.451394727] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.451433011] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982724 0.000027 0.185076 -0.007007 [component_container_isolated-3] -0.000140 1.000000 0.000595 0.059902 [component_container_isolated-3] -0.185076 -0.000610 0.982724 0.017309 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.451455684] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.666,-0.008} [component_container_isolated-3] [DEBUG] [1762964991.451485681] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.190,11.400,0.072} [component_container_isolated-3] [DEBUG] [1762964991.451535476] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.455796945] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.455852341] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.455889892] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.455960828] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000005 0.000200 -0.000681 [component_container_isolated-3] 0.000005 1.000000 0.000071 -0.000137 [component_container_isolated-3] -0.000200 -0.000071 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] [1762964991.455987980] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.025,-0.021} {0.079,-0.350,-0.200} [component_container_isolated-3] [DEBUG] [1762964991.456039698] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.456087610] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.456128227] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981480 -0.000229 0.191567 -0.007054 [component_container_isolated-3] -0.001480 0.999960 0.008774 0.058997 [component_container_isolated-3] -0.191561 -0.008895 0.981440 0.017890 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.456152975] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.519,11.044,-0.086} [component_container_isolated-3] [DEBUG] [1762964991.456183944] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.026,0.023} {-0.559,11.396,0.114} [component_container_isolated-3] [DEBUG] [1762964991.456242766] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.462213258] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.462276679] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.462317718] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.462366892] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000001 -0.000100 -0.000185 [component_container_isolated-3] -0.000001 1.000000 -0.000099 0.000089 [component_container_isolated-3] 0.000100 0.000099 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] [1762964991.462394945] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.176,-0.740,-0.081} [component_container_isolated-3] [DEBUG] [1762964991.462448417] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.462495668] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.462533780] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982724 0.000027 0.185076 -0.007007 [component_container_isolated-3] -0.000140 1.000000 0.000595 0.059902 [component_container_isolated-3] -0.185076 -0.000610 0.982724 0.017309 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.462555863] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.666,-0.008} [component_container_isolated-3] [DEBUG] [1762964991.462586792] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.406,0.072} [component_container_isolated-3] [DEBUG] [1762964991.462636246] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.463044626] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.463091255] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.463129168] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.463171889] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000005 0.000200 -0.000681 [component_container_isolated-3] 0.000005 1.000000 0.000071 -0.000137 [component_container_isolated-3] -0.000200 -0.000071 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] [1762964991.463196526] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.006,0.025,-0.020} {0.075,-0.339,-0.199} [component_container_isolated-3] [DEBUG] [1762964991.463243295] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.463290215] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.463329700] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981480 -0.000229 0.191567 -0.007054 [component_container_isolated-3] -0.001480 0.999960 0.008774 0.058997 [component_container_isolated-3] -0.191561 -0.008895 0.981440 0.017890 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.463352805] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.519,11.044,-0.086} [component_container_isolated-3] [DEBUG] [1762964991.463383764] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.026,0.022} {-0.555,11.385,0.113} [component_container_isolated-3] [DEBUG] [1762964991.463434190] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.464454569] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.464511888] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.464555351] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.464601770] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000011 0.000140 -0.000143 [component_container_isolated-3] 0.000011 1.000000 0.000130 -0.000120 [component_container_isolated-3] -0.000140 -0.000130 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] [1762964991.464630094] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.007,0.003} {-0.217,0.014,-0.204} [component_container_isolated-3] [DEBUG] [1762964991.464681181] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.464727079] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.464767566] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879458 0.000024 0.475976 -0.001215 [component_container_isolated-3] -0.004924 0.999947 0.009049 0.060370 [component_container_isolated-3] -0.475951 -0.010302 0.879412 0.018071 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.464793666] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.671,28.421,-0.321} [component_container_isolated-3] [DEBUG] [1762964991.464825417] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.006,-0.003} {-0.344,28.409,-0.089} [component_container_isolated-3] [DEBUG] [1762964991.464875302] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.484741151] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.484804873] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.484844048] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.484886809] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000011 0.000140 -0.000143 [component_container_isolated-3] 0.000011 1.000000 0.000130 -0.000120 [component_container_isolated-3] -0.000140 -0.000130 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] [1762964991.484911907] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.225,0.022,-0.203} [component_container_isolated-3] [DEBUG] [1762964991.484982712] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.485031726] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.485071652] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879458 0.000024 0.475976 -0.001215 [component_container_isolated-3] -0.004924 0.999947 0.009049 0.060370 [component_container_isolated-3] -0.475951 -0.010302 0.879412 0.018071 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.485095909] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.671,28.421,-0.321} [component_container_isolated-3] [DEBUG] [1762964991.485128852] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.006,-0.004} {-0.337,28.401,-0.090} [component_container_isolated-3] [DEBUG] [1762964991.485180500] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.485776148] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.485829470] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.485870909] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.485915444] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000013 -0.000149 -0.000312 [component_container_isolated-3] 0.000013 1.000000 -0.000102 -0.000048 [component_container_isolated-3] 0.000149 0.000102 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] [1762964991.485978945] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.093,0.180,0.255} [component_container_isolated-3] [DEBUG] [1762964991.486028750] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.486074077] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.486110757] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979107 0.000088 0.203345 -0.006859 [component_container_isolated-3] 0.002333 0.999929 -0.011669 0.059602 [component_container_isolated-3] -0.203332 0.011899 0.979038 0.018797 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.486134873] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.696,11.732,0.137} [component_container_isolated-3] [DEBUG] [1762964991.486166593] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.550,11.555,-0.126} [component_container_isolated-3] [DEBUG] [1762964991.486224444] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.506659099] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.506725085] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.506764631] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.506811009] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000029 -0.000125 0.000698 [component_container_isolated-3] 0.000029 1.000000 -0.000221 -0.000078 [component_container_isolated-3] 0.000125 0.000221 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] [1762964991.506836267] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.025,-0.021} {0.087,-0.346,-0.198} [component_container_isolated-3] [DEBUG] [1762964991.506886814] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.506964192] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.507007655] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 -0.000215 0.191444 -0.007084 [component_container_isolated-3] -0.001449 0.999962 0.008553 0.058962 [component_container_isolated-3] -0.191439 -0.008672 0.981466 0.017900 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.507032492] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.506,11.037,-0.085} [component_container_isolated-3] [DEBUG] [1762964991.507066667] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.026,0.023} {-0.555,11.385,0.113} [component_container_isolated-3] [DEBUG] [1762964991.507117985] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.511387098] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.511450520] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.511491017] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.511535943] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000013 0.000126 0.000119 [component_container_isolated-3] 0.000013 1.000000 0.000032 -0.000058 [component_container_isolated-3] -0.000126 -0.000032 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] [1762964991.511561281] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.174,-0.733,-0.081} [component_container_isolated-3] [DEBUG] [1762964991.511609824] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.511654519] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.511691009] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000008 0.185199 -0.006997 [component_container_isolated-3] -0.000126 1.000000 0.000627 0.059921 [component_container_isolated-3] -0.185199 -0.000640 0.982701 0.017330 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.511715666] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.673,-0.007} [component_container_isolated-3] [DEBUG] [1762964991.511750152] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.406,0.072} [component_container_isolated-3] [DEBUG] [1762964991.511803864] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.519406453] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.519464164] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.519505222] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.519550899] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000022 0.000204 0.000045 [component_container_isolated-3] 0.000022 1.000000 0.000101 0.000148 [component_container_isolated-3] -0.000204 -0.000101 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] [1762964991.519575947] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.088,0.191,0.257} [component_container_isolated-3] [DEBUG] [1762964991.519623869] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.519666280] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.519701838] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979066 0.000046 0.203544 -0.006871 [component_container_isolated-3] 0.002358 0.999930 -0.011568 0.059624 [component_container_isolated-3] -0.203531 0.011805 0.978997 0.018814 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.519724601] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.743,0.138} [component_container_isolated-3] [DEBUG] [1762964991.519757834] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.550,11.555,-0.126} [component_container_isolated-3] [DEBUG] [1762964991.519810154] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.534312240] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.534371122] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.534412712] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.534458459] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000001 0.000003 -0.000013 [component_container_isolated-3] -0.000001 1.000000 -0.000156 0.000013 [component_container_isolated-3] -0.000003 0.000156 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] [1762964991.534484379] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.216,0.022,-0.203} [component_container_isolated-3] [DEBUG] [1762964991.534533102] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.534580572] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.534619978] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879457 0.000099 0.475979 -0.001211 [component_container_isolated-3] -0.004925 0.999948 0.008893 0.060394 [component_container_isolated-3] -0.475953 -0.010165 0.879412 0.018074 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.534643392] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.662,28.421,-0.321} [component_container_isolated-3] [DEBUG] [1762964991.534674512] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.006,-0.004} {-0.337,28.401,-0.090} [component_container_isolated-3] [DEBUG] [1762964991.534732853] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.544457014] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.544514935] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.544554480] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.544599877] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000283 -0.000007 -0.000130 [component_container_isolated-3] -0.000283 1.000000 0.000195 0.000659 [component_container_isolated-3] 0.000007 -0.000195 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] [1762964991.544624915] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.007,0.025,-0.021} {0.076,-0.346,-0.214} [component_container_isolated-3] [DEBUG] [1762964991.544673728] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.544717662] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.544757398] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981505 0.000026 0.191437 -0.007094 [component_container_isolated-3] -0.001733 0.999960 0.008748 0.059069 [component_container_isolated-3] -0.191430 -0.008918 0.981466 0.017898 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.544781434] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.521,11.036,-0.101} [component_container_isolated-3] [DEBUG] [1762964991.544814998] [zed_multi.right]: +++ Diff [map -> odom] - {-0.003,-0.026,0.023} {-0.555,11.385,0.113} [component_container_isolated-3] [DEBUG] [1762964991.544866356] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.553282018] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.553342443] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.553397939] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.553462613] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000001 -0.000023 0.000197 [component_container_isolated-3] 0.000001 1.000000 0.000015 -0.000226 [component_container_isolated-3] 0.000023 -0.000015 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] [1762964991.553500445] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,-0.001,-0.059} {0.173,-0.734,-0.081} [component_container_isolated-3] [DEBUG] [1762964991.553567503] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.553634881] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.553688724] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 0.000005 0.185176 -0.006955 [component_container_isolated-3] -0.000126 1.000000 0.000642 0.059912 [component_container_isolated-3] -0.185176 -0.000654 0.982705 0.017361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.553722489] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.038,10.671,-0.007} [component_container_isolated-3] [DEBUG] [1762964991.553766112] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.406,0.072} [component_container_isolated-3] [DEBUG] [1762964991.553845754] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.555865331] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.555954662] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.555995119] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.556038482] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000001 0.000003 -0.000013 [component_container_isolated-3] -0.000001 1.000000 -0.000156 0.000013 [component_container_isolated-3] -0.000003 0.000156 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] [1762964991.556063289] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.207,0.022,-0.203} [component_container_isolated-3] [DEBUG] [1762964991.556112724] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.556154744] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.556192285] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879457 0.000099 0.475979 -0.001211 [component_container_isolated-3] -0.004925 0.999948 0.008893 0.060394 [component_container_isolated-3] -0.475953 -0.010165 0.879412 0.018074 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.556216953] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.662,28.421,-0.321} [component_container_isolated-3] [DEBUG] [1762964991.556250787] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.006,-0.004} {-0.346,28.401,-0.090} [component_container_isolated-3] [DEBUG] [1762964991.556307305] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.557136549] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.557188308] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.557229005] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.557273380] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000029 -0.000107 0.000222 [component_container_isolated-3] -0.000029 1.000000 -0.000020 0.000004 [component_container_isolated-3] 0.000107 0.000020 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] [1762964991.557298167] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.089,0.185,0.255} [component_container_isolated-3] [DEBUG] [1762964991.557345728] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.557388119] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.557423497] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 0.000079 0.203440 -0.006864 [component_container_isolated-3] 0.002327 0.999930 -0.011588 0.059638 [component_container_isolated-3] -0.203427 0.011819 0.979019 0.018799 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.557446050] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.737,0.136} [component_container_isolated-3] [DEBUG] [1762964991.557477831] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.550,11.555,-0.126} [component_container_isolated-3] [DEBUG] [1762964991.557531152] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.587125480] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.587185144] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.587233697] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.587291117] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000041 -0.000029 -0.000050 [component_container_isolated-3] -0.000041 1.000000 -0.000078 0.000222 [component_container_isolated-3] 0.000029 0.000078 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] [1762964991.587324561] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.178,-0.736,-0.083} [component_container_isolated-3] [DEBUG] [1762964991.587390166] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.587453196] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.587502090] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 0.000059 0.185148 -0.006931 [component_container_isolated-3] -0.000166 1.000000 0.000564 0.059934 [component_container_isolated-3] -0.185148 -0.000585 0.982710 0.017395 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.587530574] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.670,-0.010} [component_container_isolated-3] [DEBUG] [1762964991.587570931] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.406,0.072} [component_container_isolated-3] [DEBUG] [1762964991.587641175] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.589681261] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.589731157] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.589773948] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.589820417] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000166 -0.000249 0.001004 [component_container_isolated-3] 0.000166 1.000000 -0.000025 -0.000096 [component_container_isolated-3] 0.000249 0.000025 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] [1762964991.589846918] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.008,0.025,-0.021} {0.078,-0.360,-0.205} [component_container_isolated-3] [DEBUG] [1762964991.589896062] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.589973620] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.590018405] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981552 -0.000132 0.191193 -0.006906 [component_container_isolated-3] -0.001564 0.999961 0.008724 0.059087 [component_container_isolated-3] -0.191187 -0.008862 0.981514 0.017660 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.590044565] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.517,11.022,-0.091} [component_container_isolated-3] [DEBUG] [1762964991.590077969] [zed_multi.right]: +++ Diff [map -> odom] - {-0.004,-0.026,0.023} {-0.555,11.385,0.113} [component_container_isolated-3] [DEBUG] [1762964991.590129417] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.593837709] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.593889959] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.593956135] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.594003235] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000007 0.000133 -0.000154 [component_container_isolated-3] 0.000007 1.000000 0.000015 -0.000019 [component_container_isolated-3] -0.000133 -0.000015 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] [1762964991.594028564] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.088,0.193,0.255} [component_container_isolated-3] [DEBUG] [1762964991.594077637] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.594123094] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.594162349] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979060 0.000069 0.203570 -0.006873 [component_container_isolated-3] 0.002336 0.999930 -0.011573 0.059649 [component_container_isolated-3] -0.203556 0.011806 0.978992 0.018811 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.594185984] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.745,0.137} [component_container_isolated-3] [DEBUG] [1762964991.594219378] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.550,11.555,-0.126} [component_container_isolated-3] [DEBUG] [1762964991.594268281] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.600224426] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.600288398] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.600327593] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.600371818] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000166 -0.000249 0.001004 [component_container_isolated-3] 0.000166 1.000000 -0.000025 -0.000096 [component_container_isolated-3] 0.000249 0.000025 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] [1762964991.600400633] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.009,0.025,-0.022} {0.079,-0.375,-0.195} [component_container_isolated-3] [DEBUG] [1762964991.600381206] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.600515733] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.600563003] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.600623208] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000261 0.000046 0.000020 [component_container_isolated-3] 0.000261 1.000000 -0.000493 -0.000411 [component_container_isolated-3] -0.000046 0.000493 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] [1762964991.600651702] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.178,0.025,-0.188} [component_container_isolated-3] [DEBUG] [1762964991.600707138] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.600453584] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.600755410] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.600868557] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.600881952] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879435 0.000104 0.476019 -0.001202 [component_container_isolated-3] -0.004664 0.999954 0.008399 0.060354 [component_container_isolated-3] -0.475996 -0.009607 0.879395 0.018112 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.600984247] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.626,28.424,-0.304} [component_container_isolated-3] [DEBUG] [1762964991.601020216] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.006,-0.004} {-0.346,28.401,-0.090} [component_container_isolated-3] [DEBUG] [1762964991.600952797] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981552 -0.000132 0.191193 -0.006906 [component_container_isolated-3] -0.001564 0.999961 0.008724 0.059087 [component_container_isolated-3] -0.191187 -0.008862 0.981514 0.017660 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.601112883] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.517,11.022,-0.091} [component_container_isolated-3] [DEBUG] [1762964991.601157017] [zed_multi.right]: +++ Diff [map -> odom] - {-0.005,-0.026,0.024} {-0.558,11.399,0.104} [component_container_isolated-3] [DEBUG] [1762964991.601087144] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.601231981] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.613109874] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.613163857] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.613205036] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.613250262] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000059 0.000095 -0.000213 [component_container_isolated-3] 0.000059 1.000000 -0.000085 -0.000014 [component_container_isolated-3] -0.000095 0.000085 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] [1762964991.613275551] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.182,-0.730,-0.079} [component_container_isolated-3] [DEBUG] [1762964991.613323502] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.613371815] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.613412492] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982693 0.000017 0.185242 -0.006939 [component_container_isolated-3] -0.000108 1.000000 0.000479 0.059945 [component_container_isolated-3] -0.185242 -0.000491 0.982693 0.017424 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.613436618] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.675,-0.006} [component_container_isolated-3] [DEBUG] [1762964991.613467938] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.406,0.072} [component_container_isolated-3] [DEBUG] [1762964991.613518024] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.638400243] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.638453394] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.638493912] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.638536854] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000166 -0.000249 0.001004 [component_container_isolated-3] 0.000166 1.000000 -0.000025 -0.000096 [component_container_isolated-3] 0.000249 0.000025 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] [1762964991.638562924] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.010,0.025,-0.023} {0.080,-0.389,-0.186} [component_container_isolated-3] [DEBUG] [1762964991.638610805] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.638653867] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.638689084] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981552 -0.000132 0.191193 -0.006906 [component_container_isolated-3] -0.001564 0.999961 0.008724 0.059087 [component_container_isolated-3] -0.191187 -0.008862 0.981514 0.017660 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.638711648] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.517,11.022,-0.091} [component_container_isolated-3] [DEBUG] [1762964991.638745302] [zed_multi.right]: +++ Diff [map -> odom] - {-0.005,-0.026,0.025} {-0.561,11.413,0.094} [component_container_isolated-3] [DEBUG] [1762964991.638797852] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.642547683] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.642610333] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.642659096] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.642717007] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000091 -0.000096 -0.000199 [component_container_isolated-3] -0.000091 1.000000 -0.000033 0.000084 [component_container_isolated-3] 0.000096 0.000033 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] [1762964991.642752404] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.090,0.187,0.250} [component_container_isolated-3] [DEBUG] [1762964991.642817940] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.642877363] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.642954901] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 0.000164 0.203476 -0.006909 [component_container_isolated-3] 0.002244 0.999930 -0.011606 0.059670 [component_container_isolated-3] -0.203463 0.011820 0.979011 0.018829 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.642984558] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.740,0.131} [component_container_isolated-3] [DEBUG] [1762964991.643015086] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.550,11.555,-0.126} [component_container_isolated-3] [DEBUG] [1762964991.643070292] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.645470105] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.645520100] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.645559565] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.645612396] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000007 0.000058 -0.000035 [component_container_isolated-3] -0.000007 1.000000 0.000059 -0.000059 [component_container_isolated-3] -0.000058 -0.000059 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] [1762964991.645633947] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.182,0.028,-0.188} [component_container_isolated-3] [DEBUG] [1762964991.645674505] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.645707919] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.645750580] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879408 0.000082 0.476070 -0.001183 [component_container_isolated-3] -0.004672 0.999953 0.008458 0.060332 [component_container_isolated-3] -0.476047 -0.009662 0.879367 0.018144 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.645778183] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.630,28.428,-0.304} [component_container_isolated-3] [DEBUG] [1762964991.645801367] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.006,-0.004} {-0.346,28.401,-0.090} [component_container_isolated-3] [DEBUG] [1762964991.645842416] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.657155030] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.657212931] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.657252456] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.657294797] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000091 -0.000096 -0.000199 [component_container_isolated-3] -0.000091 1.000000 -0.000033 0.000084 [component_container_isolated-3] 0.000096 0.000033 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] [1762964991.657319714] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.006} {0.092,0.182,0.245} [component_container_isolated-3] [DEBUG] [1762964991.657367776] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.657410097] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.657444793] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 0.000164 0.203476 -0.006909 [component_container_isolated-3] 0.002244 0.999930 -0.011606 0.059670 [component_container_isolated-3] -0.203463 0.011820 0.979011 0.018829 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.657467827] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.740,0.131} [component_container_isolated-3] [DEBUG] [1762964991.657499869] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.549,11.560,-0.121} [component_container_isolated-3] [DEBUG] [1762964991.657586694] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.660792787] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.660852782] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.660889642] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.660969595] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000018 -0.000015 0.000356 [component_container_isolated-3] -0.000018 1.000000 0.000004 0.000199 [component_container_isolated-3] 0.000015 -0.000004 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] [1762964991.660998791] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,-0.001,-0.059} {0.182,-0.731,-0.080} [component_container_isolated-3] [DEBUG] [1762964991.661051241] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.661099002] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.661138007] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 0.000034 0.185227 -0.006887 [component_container_isolated-3] -0.000125 1.000000 0.000483 0.059991 [component_container_isolated-3] -0.185227 -0.000498 0.982696 0.017420 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.661161902] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.674,-0.007} [component_container_isolated-3] [DEBUG] [1762964991.661195196] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.406,0.072} [component_container_isolated-3] [DEBUG] [1762964991.661248017] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.671156970] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.671218327] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.671258845] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.671302899] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000166 -0.000249 0.001004 [component_container_isolated-3] 0.000166 1.000000 -0.000025 -0.000096 [component_container_isolated-3] 0.000249 0.000025 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] [1762964991.671328628] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.025,-0.024} {0.082,-0.403,-0.176} [component_container_isolated-3] [DEBUG] [1762964991.671376780] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.671420884] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.671456633] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981552 -0.000132 0.191193 -0.006906 [component_container_isolated-3] -0.001564 0.999961 0.008724 0.059087 [component_container_isolated-3] -0.191187 -0.008862 0.981514 0.017660 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.671479506] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.517,11.022,-0.091} [component_container_isolated-3] [DEBUG] [1762964991.671511377] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.026,0.026} {-0.564,11.427,0.084} [component_container_isolated-3] [DEBUG] [1762964991.671564338] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.675805287] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.675873097] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.675913995] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.675993036] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000018 -0.000117 -0.000087 [component_container_isolated-3] 0.000018 1.000000 0.000019 -0.000085 [component_container_isolated-3] 0.000117 -0.000019 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] [1762964991.676019416] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.183,0.021,-0.187} [component_container_isolated-3] [DEBUG] [1762964991.676069522] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.676112624] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.676150797] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879463 0.000057 0.475967 -0.001198 [component_container_isolated-3] -0.004652 0.999953 0.008477 0.060302 [component_container_isolated-3] -0.475944 -0.009670 0.879422 0.018142 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.676175555] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.630,28.421,-0.303} [component_container_isolated-3] [DEBUG] [1762964991.676209189] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.006,-0.004} {-0.346,28.401,-0.090} [component_container_isolated-3] [DEBUG] [1762964991.676260226] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.689455927] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.689513126] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.689555146] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.689598950] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000018 -0.000117 -0.000087 [component_container_isolated-3] 0.000018 1.000000 0.000019 -0.000085 [component_container_isolated-3] 0.000117 -0.000019 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] [1762964991.689624579] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.184,0.015,-0.186} [component_container_isolated-3] [DEBUG] [1762964991.689672100] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.689713940] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.689749127] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879463 0.000057 0.475967 -0.001198 [component_container_isolated-3] -0.004652 0.999953 0.008477 0.060302 [component_container_isolated-3] -0.475944 -0.009670 0.879422 0.018142 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.689771219] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.630,28.421,-0.303} [component_container_isolated-3] [DEBUG] [1762964991.689803300] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.345,28.408,-0.091} [component_container_isolated-3] [DEBUG] [1762964991.689857183] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.694389228] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.694450716] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.694490442] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.694536269] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000024 0.000008 -0.000255 [component_container_isolated-3] -0.000024 1.000000 -0.000023 -0.000265 [component_container_isolated-3] -0.000008 0.000023 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] [1762964991.694562539] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.183,-0.731,-0.082} [component_container_isolated-3] [DEBUG] [1762964991.694611583] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.694660256] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.694700002] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982694 0.000061 0.185235 -0.006886 [component_container_isolated-3] -0.000149 1.000000 0.000460 0.059992 [component_container_isolated-3] -0.185235 -0.000479 0.982694 0.017430 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.694723697] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.028,10.675,-0.009} [component_container_isolated-3] [DEBUG] [1762964991.694757421] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.406,0.072} [component_container_isolated-3] [DEBUG] [1762964991.694809070] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.695981890] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.696031274] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.696069938] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.696117299] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000166 -0.000249 0.001004 [component_container_isolated-3] 0.000166 1.000000 -0.000025 -0.000096 [component_container_isolated-3] 0.000249 0.000025 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] [1762964991.696144901] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.025,-0.025} {0.083,-0.418,-0.167} [component_container_isolated-3] [DEBUG] [1762964991.696194957] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.696240864] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.696278536] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981552 -0.000132 0.191193 -0.006906 [component_container_isolated-3] -0.001564 0.999961 0.008724 0.059087 [component_container_isolated-3] -0.191187 -0.008862 0.981514 0.017660 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.696301160] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.517,11.022,-0.091} [component_container_isolated-3] [DEBUG] [1762964991.696331217] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.026,0.027} {-0.568,11.441,0.074} [component_container_isolated-3] [DEBUG] [1762964991.696379810] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.700429864] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.700521029] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.700573950] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.700627562] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000100 0.000110 0.000110 [component_container_isolated-3] 0.000100 1.000000 0.000169 -0.000021 [component_container_isolated-3] -0.000110 -0.000169 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] [1762964991.700658040] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.006} {0.082,0.188,0.251} [component_container_isolated-3] [DEBUG] [1762964991.700712344] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.700760275] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.700799150] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979058 0.000032 0.203583 -0.006928 [component_container_isolated-3] 0.002346 0.999932 -0.011437 0.059684 [component_container_isolated-3] -0.203570 0.011675 0.978991 0.018837 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.700822715] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.683,11.746,0.137} [component_container_isolated-3] [DEBUG] [1762964991.700853854] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.549,11.560,-0.121} [component_container_isolated-3] [DEBUG] [1762964991.700903279] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.706677566] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.706750465] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.706790612] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.706835367] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000100 0.000110 0.000110 [component_container_isolated-3] 0.000100 1.000000 0.000169 -0.000021 [component_container_isolated-3] -0.000110 -0.000169 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] [1762964991.706860966] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.072,0.194,0.256} [component_container_isolated-3] [DEBUG] [1762964991.706912695] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.706984432] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.707023256] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979058 0.000032 0.203583 -0.006928 [component_container_isolated-3] 0.002346 0.999932 -0.011437 0.059684 [component_container_isolated-3] -0.203570 0.011675 0.978991 0.018837 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.707050468] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.683,11.746,0.137} [component_container_isolated-3] [DEBUG] [1762964991.707082179] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.558,11.554,-0.127} [component_container_isolated-3] [DEBUG] [1762964991.707124159] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.716948631] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.717005350] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.717044575] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.717087426] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000013 -0.000034 0.000010 [component_container_isolated-3] 0.000013 1.000000 0.000122 0.000001 [component_container_isolated-3] 0.000034 -0.000122 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] [1762964991.717112785] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.177,-0.732,-0.081} [component_container_isolated-3] [DEBUG] [1762964991.717162931] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.717207345] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.717246811] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000026 0.185202 -0.006886 [component_container_isolated-3] -0.000136 1.000000 0.000582 0.059994 [component_container_isolated-3] -0.185202 -0.000597 0.982700 0.017436 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.717270496] [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] [1762964991.717304491] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.406,0.072} [component_container_isolated-3] [DEBUG] [1762964991.717357402] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.728329576] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.728394781] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.728435949] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.728481136] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000043 0.000018 -0.000013 [component_container_isolated-3] 0.000043 1.000000 -0.000015 0.000014 [component_container_isolated-3] -0.000018 0.000015 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] [1762964991.728507606] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.183,0.016,-0.184} [component_container_isolated-3] [DEBUG] [1762964991.728556600] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.728603419] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.728643626] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879455 0.000026 0.475983 -0.001208 [component_container_isolated-3] -0.004610 0.999954 0.008462 0.060282 [component_container_isolated-3] -0.475960 -0.009636 0.879414 0.018146 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.728668253] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.628,28.422,-0.300} [component_container_isolated-3] [DEBUG] [1762964991.728699152] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.345,28.408,-0.091} [component_container_isolated-3] [DEBUG] [1762964991.728757674] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.737044770] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.737106298] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.737146835] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.737192292] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000041 0.000035 0.000313 [component_container_isolated-3] 0.000041 1.000000 -0.000007 -0.000573 [component_container_isolated-3] -0.000035 0.000007 1.000000 -0.000490 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.737220576] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.024,-0.025} {0.084,-0.416,-0.164} [component_container_isolated-3] [DEBUG] [1762964991.737273838] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.737323923] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.737364180] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 -0.000171 0.191228 -0.006779 [component_container_isolated-3] -0.001524 0.999961 0.008716 0.059001 [component_container_isolated-3] -0.191222 -0.008847 0.981507 0.017396 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.737386984] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.516,11.024,-0.089} [component_container_isolated-3] [DEBUG] [1762964991.737418123] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.025,0.028} {-0.568,11.441,0.074} [component_container_isolated-3] [DEBUG] [1762964991.737468069] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.739681145] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.739740709] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.739783110] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.739828025] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000004 0.000031 -0.000067 [component_container_isolated-3] -0.000004 1.000000 0.000004 -0.000025 [component_container_isolated-3] -0.000031 -0.000004 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] [1762964991.739853394] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.176,-0.731,-0.081} [component_container_isolated-3] [DEBUG] [1762964991.739902658] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.740017016] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.740062664] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982695 0.000029 0.185232 -0.006892 [component_container_isolated-3] -0.000140 1.000000 0.000585 0.059992 [component_container_isolated-3] -0.185232 -0.000601 0.982695 0.017446 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.740087361] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.035,10.675,-0.008} [component_container_isolated-3] [DEBUG] [1762964991.740118761] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.406,0.072} [component_container_isolated-3] [DEBUG] [1762964991.740169447] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.751438889] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.751512099] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.751557265] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.751603374] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000033 -0.000078 0.000494 [component_container_isolated-3] 0.000033 1.000000 -0.000030 -0.000220 [component_container_isolated-3] 0.000078 0.000030 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] [1762964991.751630095] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.074,0.190,0.258} [component_container_isolated-3] [DEBUG] [1762964991.751680481] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.751723713] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.751760123] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979074 0.000005 0.203507 -0.006861 [component_container_isolated-3] 0.002378 0.999931 -0.011466 0.059670 [component_container_isolated-3] -0.203493 0.011710 0.979006 0.018780 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.751783748] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.685,11.741,0.139} [component_container_isolated-3] [DEBUG] [1762964991.751813715] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.022,-0.006} {0.558,11.554,-0.127} [component_container_isolated-3] [DEBUG] [1762964991.751866215] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.762372901] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.762432995] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.762473523] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.762518589] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000041 0.000035 0.000313 [component_container_isolated-3] 0.000041 1.000000 -0.000007 -0.000573 [component_container_isolated-3] -0.000035 0.000007 1.000000 -0.000490 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.762543787] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.024,-0.026} {0.084,-0.414,-0.162} [component_container_isolated-3] [DEBUG] [1762964991.762591618] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.762636664] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.762672302] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 -0.000171 0.191228 -0.006779 [component_container_isolated-3] -0.001524 0.999961 0.008716 0.059001 [component_container_isolated-3] -0.191222 -0.008847 0.981507 0.017396 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.762694775] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.516,11.024,-0.089} [component_container_isolated-3] [DEBUG] [1762964991.762725364] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.025,0.028} {-0.569,11.439,0.072} [component_container_isolated-3] [DEBUG] [1762964991.762743769] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.762823682] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.762869449] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.762780048] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.762917561] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000131 0.000018 -0.000025 [component_container_isolated-3] -0.000131 1.000000 0.000223 0.000148 [component_container_isolated-3] -0.000018 -0.000223 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] [1762964991.763009827] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.196,0.017,-0.191} [component_container_isolated-3] [DEBUG] [1762964991.763075973] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.763135878] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.763180964] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 0.000035 0.475999 -0.001215 [component_container_isolated-3] -0.004741 0.999951 0.008685 0.060282 [component_container_isolated-3] -0.475975 -0.009894 0.879403 0.018138 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.763205240] [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] [1762964991.763236049] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.004} {-0.345,28.408,-0.091} [component_container_isolated-3] [DEBUG] [1762964991.763288319] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.772894845] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.772991630] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.773034832] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.773080399] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000053 -0.000065 0.000124 [component_container_isolated-3] -0.000053 1.000000 0.000124 0.000050 [component_container_isolated-3] 0.000065 -0.000124 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] [1762964991.773106910] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.169,-0.734,-0.084} [component_container_isolated-3] [DEBUG] [1762964991.773157296] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.773202302] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.773242599] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982707 0.000058 0.185168 -0.006883 [component_container_isolated-3] -0.000193 1.000000 0.000710 0.059997 [component_container_isolated-3] -0.185168 -0.000733 0.982707 0.017439 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.773267547] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.043,10.671,-0.011} [component_container_isolated-3] [DEBUG] [1762964991.773301371] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.406,0.072} [component_container_isolated-3] [DEBUG] [1762964991.773354443] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.794534281] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.794619865] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.794669059] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.794723172] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000070 0.000298 -0.001431 [component_container_isolated-3] -0.000070 1.000000 0.000033 -0.000083 [component_container_isolated-3] -0.000298 -0.000033 1.000000 0.001803 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.794752278] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.008} {0.072,0.207,0.254} [component_container_isolated-3] [DEBUG] [1762964991.794806241] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.794850325] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.794887115] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979013 0.000067 0.203798 -0.007117 [component_container_isolated-3] 0.002311 0.999932 -0.011433 0.059642 [component_container_isolated-3] -0.203785 0.011664 0.978946 0.019493 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.794910410] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.683,11.758,0.135} [component_container_isolated-3] [DEBUG] [1762964991.794966186] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.007} {0.558,11.554,-0.127} [component_container_isolated-3] [DEBUG] [1762964991.795058683] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.795728652] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.795782094] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.795823163] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.795875573] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000085 0.000003 0.000193 [component_container_isolated-3] 0.000085 1.000000 -0.000126 -0.000080 [component_container_isolated-3] -0.000003 0.000126 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] [1762964991.795904157] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.189,0.017,-0.187} [component_container_isolated-3] [DEBUG] [1762964991.795998998] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.796048463] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.796088299] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879445 0.000021 0.476001 -0.001208 [component_container_isolated-3] -0.004656 0.999953 0.008559 0.060266 [component_container_isolated-3] -0.475978 -0.009744 0.879403 0.018129 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.796112074] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.635,28.423,-0.303} [component_container_isolated-3] [DEBUG] [1762964991.796141921] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.006,-0.003} {-0.345,28.408,-0.091} [component_container_isolated-3] [DEBUG] [1762964991.796191185] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.806625573] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.806684345] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.806724231] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.806768395] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000129 0.000257 -0.000736 [component_container_isolated-3] -0.000129 1.000000 0.000122 0.000961 [component_container_isolated-3] -0.000257 -0.000122 1.000000 0.001124 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.806792962] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.025,-0.024} {0.077,-0.399,-0.169} [component_container_isolated-3] [DEBUG] [1762964991.806842086] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.806886200] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.806952437] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981497 -0.000068 0.191480 -0.006760 [component_container_isolated-3] -0.001655 0.999960 0.008838 0.059195 [component_container_isolated-3] -0.191473 -0.008991 0.981457 0.017493 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.806978747] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.525,11.039,-0.097} [component_container_isolated-3] [DEBUG] [1762964991.807012922] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.025,0.027} {-0.569,11.439,0.072} [component_container_isolated-3] [DEBUG] [1762964991.807078257] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.812191933] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.812249222] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.812289870] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.812334275] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000107 0.000052 -0.000058 [component_container_isolated-3] 0.000107 1.000000 0.000074 -0.000090 [component_container_isolated-3] -0.000052 -0.000074 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] [1762964991.812360515] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.165,-0.731,-0.078} [component_container_isolated-3] [DEBUG] [1762964991.812408937] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.812456658] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.812497707] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 -0.000061 0.185219 -0.006884 [component_container_isolated-3] -0.000086 1.000000 0.000784 0.059990 [component_container_isolated-3] -0.185219 -0.000786 0.982697 0.017467 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.812521863] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.046,10.674,-0.005} [component_container_isolated-3] [DEBUG] [1762964991.812555708] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.406,0.072} [component_container_isolated-3] [DEBUG] [1762964991.812607476] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.824247777] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.824321828] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.824365552] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.824413403] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000016 -0.000362 0.001002 [component_container_isolated-3] -0.000016 1.000000 -0.000004 0.000294 [component_container_isolated-3] 0.000362 0.000004 1.000000 -0.001603 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.824439202] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.072,0.186,0.253} [component_container_isolated-3] [DEBUG] [1762964991.824488046] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.824529845] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.824565854] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 0.000083 0.203444 -0.007098 [component_container_isolated-3] 0.002291 0.999932 -0.011438 0.059669 [component_container_isolated-3] -0.203431 0.011665 0.979020 0.019254 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.824590070] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.683,11.738,0.134} [component_container_isolated-3] [DEBUG] [1762964991.824620889] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.005} {0.558,11.554,-0.127} [component_container_isolated-3] [DEBUG] [1762964991.824670003] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.827335744] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.827394857] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.827434262] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.827560954] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000085 0.000003 0.000193 [component_container_isolated-3] 0.000085 1.000000 -0.000126 -0.000080 [component_container_isolated-3] -0.000003 0.000126 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] [1762964991.827592234] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.181,0.017,-0.182} [component_container_isolated-3] [DEBUG] [1762964991.827646878] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.827693217] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.827731600] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879445 0.000021 0.476001 -0.001208 [component_container_isolated-3] -0.004656 0.999953 0.008559 0.060266 [component_container_isolated-3] -0.475978 -0.009744 0.879403 0.018129 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.827755055] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.635,28.423,-0.303} [component_container_isolated-3] [DEBUG] [1762964991.827785934] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.006,-0.003} {-0.355,28.407,-0.097} [component_container_isolated-3] [DEBUG] [1762964991.827835478] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.843882264] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.843964110] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.844007974] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.844058050] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000052 -0.000001 -0.000096 [component_container_isolated-3] -0.000052 1.000000 -0.000005 0.000098 [component_container_isolated-3] 0.000001 0.000005 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] [1762964991.844088097] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.025,-0.025} {0.077,-0.399,-0.172} [component_container_isolated-3] [DEBUG] [1762964991.844139345] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.844186525] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.844226682] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981497 -0.000016 0.191479 -0.006773 [component_container_isolated-3] -0.001707 0.999959 0.008833 0.059282 [component_container_isolated-3] -0.191471 -0.008996 0.981457 0.017510 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.844250918] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.525,11.039,-0.100} [component_container_isolated-3] [DEBUG] [1762964991.844281907] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.025,0.027} {-0.569,11.439,0.072} [component_container_isolated-3] [DEBUG] [1762964991.844333906] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.849179150] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.849250125] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.849292697] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.849338354] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000023 0.000037 0.000121 [component_container_isolated-3] 0.000023 1.000000 -0.000202 -0.000043 [component_container_isolated-3] -0.000037 0.000202 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] [1762964991.849364624] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.176,-0.729,-0.077} [component_container_isolated-3] [DEBUG] [1762964991.849414088] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.849460126] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.849499441] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982690 -0.000045 0.185256 -0.006866 [component_container_isolated-3] -0.000063 1.000000 0.000582 0.059976 [component_container_isolated-3] -0.185256 -0.000583 0.982690 0.017480 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.849521173] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.676,-0.004} [component_container_isolated-3] [DEBUG] [1762964991.849551801] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.406,0.072} [component_container_isolated-3] [DEBUG] [1762964991.849602017] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.856714911] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.856768964] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.856808540] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.856852464] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000044 0.000042 0.000297 [component_container_isolated-3] 0.000044 1.000000 0.000039 -0.000098 [component_container_isolated-3] -0.000042 -0.000039 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] [1762964991.856877923] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.070,0.189,0.256} [component_container_isolated-3] [DEBUG] [1762964991.856950581] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.856999936] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.857040313] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 0.000032 0.203484 -0.007029 [component_container_isolated-3] 0.002336 0.999932 -0.011398 0.059673 [component_container_isolated-3] -0.203471 0.011635 0.979012 0.019126 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.857063347] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.681,11.740,0.137} [component_container_isolated-3] [DEBUG] [1762964991.857095378] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.022,-0.005} {0.558,11.554,-0.127} [component_container_isolated-3] [DEBUG] [1762964991.857144111] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.864681185] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.864740197] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.864782719] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.864827745] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000038 0.000090 0.000062 [component_container_isolated-3] -0.000038 1.000000 -0.000043 0.000078 [component_container_isolated-3] -0.000090 0.000043 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] [1762964991.864854115] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.179,0.022,-0.184} [component_container_isolated-3] [DEBUG] [1762964991.864905774] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.865036062] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.865083543] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000075 0.476080 -0.001174 [component_container_isolated-3] -0.004695 0.999953 0.008516 0.060264 [component_container_isolated-3] -0.476057 -0.009724 0.879361 0.018148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.865112559] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.634,28.428,-0.306} [component_container_isolated-3] [DEBUG] [1762964991.865144129] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.006,-0.003} {-0.355,28.407,-0.097} [component_container_isolated-3] [DEBUG] [1762964991.865187412] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.875743892] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.875814276] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.875853812] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.875897836] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000035 -0.000073 -0.000153 [component_container_isolated-3] -0.000035 1.000000 0.000049 0.000243 [component_container_isolated-3] 0.000073 -0.000049 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] [1762964991.875951248] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.059} {0.174,-0.734,-0.079} [component_container_isolated-3] [DEBUG] [1762964991.876005872] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.876053313] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.876092959] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 -0.000020 0.185184 -0.006872 [component_container_isolated-3] -0.000099 1.000000 0.000631 0.060001 [component_container_isolated-3] -0.185184 -0.000638 0.982704 0.017478 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.876124609] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964991.876155698] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.406,0.072} [component_container_isolated-3] [DEBUG] [1762964991.876204411] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.879660351] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.879728802] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.879771915] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.879819045] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000161 -0.000201 0.000136 [component_container_isolated-3] 0.000161 1.000000 -0.000004 -0.000385 [component_container_isolated-3] 0.000201 0.000004 1.000000 -0.000735 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.879846487] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.024,-0.025} {0.078,-0.410,-0.163} [component_container_isolated-3] [DEBUG] [1762964991.879896372] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.879975984] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.880015570] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981535 -0.000173 0.191282 -0.006812 [component_container_isolated-3] -0.001544 0.999960 0.008829 0.059299 [component_container_isolated-3] -0.191275 -0.008961 0.981495 0.017357 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.880039486] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.523,11.027,-0.090} [component_container_isolated-3] [DEBUG] [1762964991.880072108] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.025,0.028} {-0.569,11.439,0.072} [component_container_isolated-3] [DEBUG] [1762964991.880123366] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.886699945] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.886768707] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.886809565] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.886855843] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000038 0.000090 0.000062 [component_container_isolated-3] -0.000038 1.000000 -0.000043 0.000078 [component_container_isolated-3] -0.000090 0.000043 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] [1762964991.886882724] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.176,0.027,-0.186} [component_container_isolated-3] [DEBUG] [1762964991.886953069] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.887002393] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.887044704] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000075 0.476080 -0.001174 [component_container_isolated-3] -0.004695 0.999953 0.008516 0.060264 [component_container_isolated-3] -0.476057 -0.009724 0.879361 0.018148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.887072337] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.634,28.428,-0.306} [component_container_isolated-3] [DEBUG] [1762964991.887111471] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.006,-0.004} {-0.356,28.402,-0.094} [component_container_isolated-3] [DEBUG] [1762964991.887177107] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.888394311] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.888445539] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.888485175] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.888527896] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000005 0.000017 -0.000255 [component_container_isolated-3] 0.000005 1.000000 -0.000279 0.000021 [component_container_isolated-3] -0.000017 0.000279 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] [1762964991.888552393] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.086,0.190,0.256} [component_container_isolated-3] [DEBUG] [1762964991.888598220] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.888638407] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.888674025] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979075 0.000084 0.203501 -0.007010 [component_container_isolated-3] 0.002341 0.999929 -0.011678 0.059674 [component_container_isolated-3] -0.203488 0.011910 0.979005 0.019114 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.888700055] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.697,11.741,0.137} [component_container_isolated-3] [DEBUG] [1762964991.888736234] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.558,11.554,-0.127} [component_container_isolated-3] [DEBUG] [1762964991.888793433] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.895843828] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.895904724] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.895981501] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.896028641] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000161 -0.000201 0.000136 [component_container_isolated-3] 0.000161 1.000000 -0.000004 -0.000385 [component_container_isolated-3] 0.000201 0.000004 1.000000 -0.000735 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.896054991] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.024,-0.026} {0.078,-0.422,-0.154} [component_container_isolated-3] [DEBUG] [1762964991.896105407] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.896150864] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.896192955] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981535 -0.000173 0.191282 -0.006812 [component_container_isolated-3] -0.001544 0.999960 0.008829 0.059299 [component_container_isolated-3] -0.191275 -0.008961 0.981495 0.017357 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.896219004] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.523,11.027,-0.090} [component_container_isolated-3] [DEBUG] [1762964991.896253039] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.025,0.028} {-0.571,11.451,0.062} [component_container_isolated-3] [DEBUG] [1762964991.896305860] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.908444202] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.908500970] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.908545355] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.908591563] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000188 -0.000334 -0.000230 [component_container_isolated-3] 0.000188 1.000000 -0.000085 -0.001170 [component_container_isolated-3] 0.000334 0.000085 1.000000 -0.001027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.908617322] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.002,-0.060} {0.178,-0.753,-0.068} [component_container_isolated-3] [DEBUG] [1762964991.908667408] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.908712284] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.908748883] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982766 -0.000189 0.184856 -0.006984 [component_container_isolated-3] 0.000090 1.000000 0.000546 0.059665 [component_container_isolated-3] -0.184856 -0.000520 0.982766 0.017183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.908771727] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.030,10.653,0.005} [component_container_isolated-3] [DEBUG] [1762964991.908804069] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,0.002,0.059} {-0.195,11.406,0.072} [component_container_isolated-3] [DEBUG] [1762964991.908857471] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.919583866] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.919637558] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.919676092] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.919720006] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000043 0.000047 -0.000143 [component_container_isolated-3] -0.000043 1.000000 0.000036 0.000018 [component_container_isolated-3] -0.000047 -0.000036 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] [1762964991.919744763] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.084,0.192,0.254} [component_container_isolated-3] [DEBUG] [1762964991.919790941] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.919831128] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.919866325] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979065 0.000119 0.203547 -0.007012 [component_container_isolated-3] 0.002299 0.999930 -0.011642 0.059681 [component_container_isolated-3] -0.203534 0.011866 0.978996 0.019103 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.919886914] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.694,11.744,0.135} [component_container_isolated-3] [DEBUG] [1762964991.919916681] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.558,11.554,-0.127} [component_container_isolated-3] [DEBUG] [1762964991.920004168] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.921351030] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.921401126] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.921439740] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.921482852] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000038 0.000090 0.000062 [component_container_isolated-3] -0.000038 1.000000 -0.000043 0.000078 [component_container_isolated-3] -0.000090 0.000043 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] [1762964991.921508020] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.003} {-0.174,0.032,-0.188} [component_container_isolated-3] [DEBUG] [1762964991.921555862] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.921598924] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.921640193] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000075 0.476080 -0.001174 [component_container_isolated-3] -0.004695 0.999953 0.008516 0.060264 [component_container_isolated-3] -0.476057 -0.009724 0.879361 0.018148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.921665491] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.634,28.428,-0.306} [component_container_isolated-3] [DEBUG] [1762964991.921698865] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.006,-0.004} {-0.358,28.397,-0.092} [component_container_isolated-3] [DEBUG] [1762964991.921749141] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.943718166] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.943785314] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.943826734] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.943871930] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000159 0.000141 -0.000239 [component_container_isolated-3] -0.000159 1.000000 0.000041 0.000440 [component_container_isolated-3] -0.000141 -0.000041 1.000000 0.000519 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.943897128] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.024,-0.026} {0.075,-0.414,-0.163} [component_container_isolated-3] [DEBUG] [1762964991.943983303] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.944030052] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.944066091] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981508 -0.000025 0.191421 -0.006831 [component_container_isolated-3] -0.001704 0.999959 0.008870 0.059401 [component_container_isolated-3] -0.191413 -0.009032 0.981468 0.017372 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.944089846] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.527,11.035,-0.099} [component_container_isolated-3] [DEBUG] [1762964991.944123460] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.025,0.028} {-0.571,11.451,0.062} [component_container_isolated-3] [DEBUG] [1762964991.944175019] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.948743513] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.948803648] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.948843595] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.948894041] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000269 0.000352 0.000581 [component_container_isolated-3] -0.000269 1.000000 0.000079 0.001614 [component_container_isolated-3] -0.000352 -0.000080 1.000000 0.001195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.948949497] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,-0.000,-0.059} {0.174,-0.732,-0.084} [component_container_isolated-3] [DEBUG] [1762964991.949004572] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.949053856] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.949096628] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000060 0.185202 -0.006863 [component_container_isolated-3] -0.000179 1.000000 0.000625 0.060001 [component_container_isolated-3] -0.185202 -0.000648 0.982700 0.017311 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.949121826] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.038,10.673,-0.010} [component_container_isolated-3] [DEBUG] [1762964991.949156131] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.058} {-0.195,11.406,0.072} [component_container_isolated-3] [DEBUG] [1762964991.949206207] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.957883138] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.957981305] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.958021542] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.958065065] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000006 0.000002 -0.000104 [component_container_isolated-3] 0.000006 1.000000 -0.000017 0.000031 [component_container_isolated-3] -0.000002 0.000017 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] [1762964991.958089672] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.006} {0.085,0.192,0.254} [component_container_isolated-3] [DEBUG] [1762964991.958141541] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.958183652] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.958221404] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979065 0.000116 0.203549 -0.007029 [component_container_isolated-3] 0.002305 0.999930 -0.011659 0.059689 [component_container_isolated-3] -0.203536 0.011884 0.978995 0.019099 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.958244628] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.695,11.744,0.135} [component_container_isolated-3] [DEBUG] [1762964991.958277641] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.558,11.554,-0.127} [component_container_isolated-3] [DEBUG] [1762964991.958328488] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.958999730] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.959050778] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.959091125] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.959134939] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000038 0.000090 0.000062 [component_container_isolated-3] -0.000038 1.000000 -0.000043 0.000078 [component_container_isolated-3] -0.000090 0.000043 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] [1762964991.959159766] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.172,0.038,-0.190} [component_container_isolated-3] [DEBUG] [1762964991.959207958] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.959250379] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.959286358] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000075 0.476080 -0.001174 [component_container_isolated-3] -0.004695 0.999953 0.008516 0.060264 [component_container_isolated-3] -0.476057 -0.009724 0.879361 0.018148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.959309712] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.634,28.428,-0.306} [component_container_isolated-3] [DEBUG] [1762964991.959341904] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.006,-0.004} {-0.359,28.392,-0.089} [component_container_isolated-3] [DEBUG] [1762964991.959392140] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.964963249] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.965019346] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.965060325] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.965107014] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000159 0.000141 -0.000239 [component_container_isolated-3] -0.000159 1.000000 0.000041 0.000440 [component_container_isolated-3] -0.000141 -0.000041 1.000000 0.000519 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.965134837] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.025,-0.025} {0.073,-0.406,-0.172} [component_container_isolated-3] [DEBUG] [1762964991.965187638] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.965236812] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.965278301] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981508 -0.000025 0.191421 -0.006831 [component_container_isolated-3] -0.001704 0.999959 0.008870 0.059401 [component_container_isolated-3] -0.191413 -0.009032 0.981468 0.017372 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.965303469] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.527,11.035,-0.099} [component_container_isolated-3] [DEBUG] [1762964991.965336793] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.025,0.027} {-0.566,11.443,0.072} [component_container_isolated-3] [DEBUG] [1762964991.965387459] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.971533908] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.971588642] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.971630963] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.971678313] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000269 0.000352 0.000581 [component_container_isolated-3] -0.000269 1.000000 0.000079 0.001614 [component_container_isolated-3] -0.000352 -0.000080 1.000000 0.001195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964991.971704002] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.057} {0.170,-0.712,-0.099} [component_container_isolated-3] [DEBUG] [1762964991.971753026] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.971796279] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.971832217] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000060 0.185202 -0.006863 [component_container_isolated-3] -0.000179 1.000000 0.000625 0.060001 [component_container_isolated-3] -0.185202 -0.000648 0.982700 0.017311 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.971854750] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.038,10.673,-0.010} [component_container_isolated-3] [DEBUG] [1762964991.971885269] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.001,0.057} {-0.188,11.385,0.088} [component_container_isolated-3] [DEBUG] [1762964991.971977485] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.992519154] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.992585571] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.992622592] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.992664642] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000025 0.000019 0.000264 [component_container_isolated-3] 0.000025 1.000000 0.000020 -0.000048 [component_container_isolated-3] -0.000019 -0.000020 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] [1762964991.992688939] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.084,0.193,0.256} [component_container_isolated-3] [DEBUG] [1762964991.992734756] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.992777498] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.992817164] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979061 0.000088 0.203567 -0.007010 [component_container_isolated-3] 0.002330 0.999930 -0.011639 0.059693 [component_container_isolated-3] -0.203554 0.011869 0.978992 0.019074 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.992840458] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.695,11.745,0.136} [component_container_isolated-3] [DEBUG] [1762964991.992872870] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.558,11.554,-0.127} [component_container_isolated-3] [DEBUG] [1762964991.992961599] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964991.998391750] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964991.998450452] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964991.998489276] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964991.998543620] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000038 0.000090 0.000062 [component_container_isolated-3] -0.000038 1.000000 -0.000043 0.000078 [component_container_isolated-3] -0.000090 0.000043 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] [1762964991.998569439] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.169,0.043,-0.193} [component_container_isolated-3] [DEBUG] [1762964991.998612762] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964991.998651245] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964991.998696983] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000075 0.476080 -0.001174 [component_container_isolated-3] -0.004695 0.999953 0.008516 0.060264 [component_container_isolated-3] -0.476057 -0.009724 0.879361 0.018148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964991.998725146] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.634,28.428,-0.306} [component_container_isolated-3] [DEBUG] [1762964991.998752499] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.006,-0.004} {-0.360,28.387,-0.086} [component_container_isolated-3] [DEBUG] [1762964991.998793948] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.021393047] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.021457540] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.021498678] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.021544105] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000001 0.000025 -0.000107 [component_container_isolated-3] -0.000001 1.000000 0.000072 -0.000284 [component_container_isolated-3] -0.000025 -0.000072 1.000000 0.000445 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.021569153] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.024,-0.025} {0.069,-0.404,-0.172} [component_container_isolated-3] [DEBUG] [1762964992.021617866] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.021661639] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.021697077] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 -0.000038 0.191445 -0.006849 [component_container_isolated-3] -0.001705 0.999959 0.008942 0.059425 [component_container_isolated-3] -0.191437 -0.009103 0.981463 0.017479 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.021720051] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.531,11.037,-0.100} [component_container_isolated-3] [DEBUG] [1762964992.021754557] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.025,0.027} {-0.566,11.443,0.072} [component_container_isolated-3] [DEBUG] [1762964992.021809462] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.023339434] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.023388788] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.023420088] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.023473430] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000038 0.000090 0.000062 [component_container_isolated-3] -0.000038 1.000000 -0.000043 0.000078 [component_container_isolated-3] -0.000090 0.000043 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] [1762964992.023498788] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.167,0.048,-0.195} [component_container_isolated-3] [DEBUG] [1762964992.023539566] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.023587908] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.023634397] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000075 0.476080 -0.001174 [component_container_isolated-3] -0.004695 0.999953 0.008516 0.060264 [component_container_isolated-3] -0.476057 -0.009724 0.879361 0.018148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.023662721] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,0.000,-0.000} {-0.634,28.428,-0.306} [component_container_isolated-3] [DEBUG] [1762964992.023685785] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.005} {-0.361,28.382,-0.084} [component_container_isolated-3] [DEBUG] [1762964992.023730841] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.028656137] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.028718106] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.028764715] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.028810372] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000060 0.000052 -0.000313 [component_container_isolated-3] 0.000060 1.000000 0.000069 -0.000866 [component_container_isolated-3] -0.000052 -0.000069 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] [1762964992.028836892] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.057} {0.166,-0.709,-0.095} [component_container_isolated-3] [DEBUG] [1762964992.028886577] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.028963925] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.029004753] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982691 -0.000011 0.185253 -0.006865 [component_container_isolated-3] -0.000119 1.000000 0.000694 0.059930 [component_container_isolated-3] -0.185253 -0.000704 0.982691 0.017348 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.029028178] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.041,10.676,-0.007} [component_container_isolated-3] [DEBUG] [1762964992.029059678] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.057} {-0.188,11.385,0.088} [component_container_isolated-3] [DEBUG] [1762964992.029112158] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.029439924] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.029487405] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.029524656] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.029568490] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000001 0.000025 -0.000107 [component_container_isolated-3] -0.000001 1.000000 0.000072 -0.000284 [component_container_isolated-3] -0.000025 -0.000072 1.000000 0.000445 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.029592626] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.024,-0.024} {0.065,-0.403,-0.172} [component_container_isolated-3] [DEBUG] [1762964992.029640387] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.029684912] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.029720630] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 -0.000038 0.191445 -0.006849 [component_container_isolated-3] -0.001705 0.999959 0.008942 0.059425 [component_container_isolated-3] -0.191437 -0.009103 0.981463 0.017479 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.029742542] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.531,11.037,-0.100} [component_container_isolated-3] [DEBUG] [1762964992.029773642] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.025,0.027} {-0.562,11.441,0.072} [component_container_isolated-3] [DEBUG] [1762964992.029823246] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.036251392] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.036316587] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.036358537] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.036404685] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000071 -0.000008 0.000051 [component_container_isolated-3] -0.000071 1.000000 0.000090 0.000053 [component_container_isolated-3] 0.000008 -0.000090 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] [1762964992.036433140] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.079,0.193,0.251} [component_container_isolated-3] [DEBUG] [1762964992.036485770] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.036530836] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.036569941] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979063 0.000139 0.203559 -0.006992 [component_container_isolated-3] 0.002259 0.999931 -0.011549 0.059704 [component_container_isolated-3] -0.203547 0.011767 0.978994 0.019041 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.036594778] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.689,11.744,0.132} [component_container_isolated-3] [DEBUG] [1762964992.036626218] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.558,11.554,-0.127} [component_container_isolated-3] [DEBUG] [1762964992.036674981] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.042094702] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.042154346] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.042191166] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.042237344] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000071 -0.000008 0.000051 [component_container_isolated-3] -0.000071 1.000000 0.000090 0.000053 [component_container_isolated-3] 0.000008 -0.000090 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] [1762964992.042263624] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.074,0.193,0.247} [component_container_isolated-3] [DEBUG] [1762964992.042314041] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.042358015] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.042397400] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979063 0.000139 0.203559 -0.006992 [component_container_isolated-3] 0.002259 0.999931 -0.011549 0.059704 [component_container_isolated-3] -0.203547 0.011767 0.978994 0.019041 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.042420794] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.689,11.744,0.132} [component_container_isolated-3] [DEBUG] [1762964992.042453016] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.564,11.554,-0.122} [component_container_isolated-3] [DEBUG] [1762964992.042504625] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.050818562] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.050893245] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.050963138] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.051011020] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000079 -0.000123 0.000055 [component_container_isolated-3] -0.000079 1.000000 0.000022 0.000522 [component_container_isolated-3] 0.000123 -0.000022 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] [1762964992.051037961] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.058} {0.164,-0.716,-0.100} [component_container_isolated-3] [DEBUG] [1762964992.051089850] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.051142441] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.051181976] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000062 0.185132 -0.006861 [component_container_isolated-3] -0.000198 1.000000 0.000716 0.059990 [component_container_isolated-3] -0.185132 -0.000740 0.982713 0.017344 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.051204640] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.043,10.669,-0.012} [component_container_isolated-3] [DEBUG] [1762964992.051242041] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.188,11.385,0.088} [component_container_isolated-3] [DEBUG] [1762964992.051304300] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.060380002] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.060442702] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.060481346] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.060530480] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000032 -0.000077 -0.000017 [component_container_isolated-3] 0.000032 1.000000 0.000057 -0.000144 [component_container_isolated-3] 0.000077 -0.000057 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] [1762964992.060558233] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.170,0.044,-0.193} [component_container_isolated-3] [DEBUG] [1762964992.060611234] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.060689473] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.060732325] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879438 0.000020 0.476013 -0.001163 [component_container_isolated-3] -0.004662 0.999952 0.008573 0.060243 [component_container_isolated-3] -0.475990 -0.009758 0.879397 0.018151 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.060756972] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.636,28.424,-0.304} [component_container_isolated-3] [DEBUG] [1762964992.060787390] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.361,28.382,-0.084} [component_container_isolated-3] [DEBUG] [1762964992.060837626] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.067757511] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.067809060] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.067847974] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.067897178] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000067 0.000135 0.000147 [component_container_isolated-3] 0.000067 1.000000 -0.000006 -0.000122 [component_container_isolated-3] -0.000135 0.000006 1.000000 0.000191 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.067958205] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.024,-0.024} {0.065,-0.395,-0.168} [component_container_isolated-3] [DEBUG] [1762964992.068011657] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.068058627] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.068095677] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981478 -0.000103 0.191577 -0.006846 [component_container_isolated-3] -0.001639 0.999959 0.008936 0.059426 [component_container_isolated-3] -0.191570 -0.009084 0.981437 0.017575 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.068117769] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.530,11.044,-0.096} [component_container_isolated-3] [DEBUG] [1762964992.068148729] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.025,0.026} {-0.562,11.441,0.072} [component_container_isolated-3] [DEBUG] [1762964992.068201289] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.073716432] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.073777368] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.073814910] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.073857381] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000018 -0.000009 0.000149 [component_container_isolated-3] 0.000018 1.000000 -0.000069 0.000109 [component_container_isolated-3] 0.000009 0.000069 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] [1762964992.073882519] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.058} {0.168,-0.717,-0.099} [component_container_isolated-3] [DEBUG] [1762964992.073962572] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.074012878] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.074053145] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982715 0.000057 0.185123 -0.006849 [component_container_isolated-3] -0.000180 1.000000 0.000647 0.060038 [component_container_isolated-3] -0.185123 -0.000669 0.982715 0.017294 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.074077932] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.039,10.668,-0.011} [component_container_isolated-3] [DEBUG] [1762964992.074111937] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.001,0.057} {-0.188,11.385,0.088} [component_container_isolated-3] [DEBUG] [1762964992.074165139] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.104041866] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.104107181] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.104147848] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.104193005] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000104 -0.000036 -0.000110 [component_container_isolated-3] 0.000104 1.000000 -0.000070 -0.000004 [component_container_isolated-3] 0.000036 0.000070 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] [1762964992.104218072] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.078,0.190,0.253} [component_container_isolated-3] [DEBUG] [1762964992.104267236] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.104312392] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.104349563] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979070 0.000051 0.203524 -0.006995 [component_container_isolated-3] 0.002363 0.999930 -0.011619 0.059708 [component_container_isolated-3] -0.203511 0.011856 0.979001 0.019027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.104371596] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.694,11.742,0.138} [component_container_isolated-3] [DEBUG] [1762964992.104401703] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.564,11.554,-0.122} [component_container_isolated-3] [DEBUG] [1762964992.104451468] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.105760598] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.105818369] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.105863254] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.105909653] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000064 0.000032 0.000156 [component_container_isolated-3] -0.000064 1.000000 0.000061 0.000182 [component_container_isolated-3] -0.000032 -0.000061 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] [1762964992.105968686] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.173,0.045,-0.197} [component_container_isolated-3] [DEBUG] [1762964992.106018912] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.106064929] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.106102541] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879423 0.000047 0.476041 -0.001128 [component_container_isolated-3] -0.004726 0.999952 0.008634 0.060250 [component_container_isolated-3] -0.476018 -0.009843 0.879381 0.018136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.106126237] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.426,-0.308} [component_container_isolated-3] [DEBUG] [1762964992.106156695] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.361,28.382,-0.084} [component_container_isolated-3] [DEBUG] [1762964992.106209536] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.110506452] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.110565384] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.110610470] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.110665766] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000104 -0.000036 -0.000110 [component_container_isolated-3] 0.000104 1.000000 -0.000070 -0.000004 [component_container_isolated-3] 0.000036 0.000070 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] [1762964992.110700292] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.082,0.188,0.259} [component_container_isolated-3] [DEBUG] [1762964992.110764645] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.110827395] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.110875817] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979070 0.000051 0.203524 -0.006995 [component_container_isolated-3] 0.002363 0.999930 -0.011619 0.059708 [component_container_isolated-3] -0.203511 0.011856 0.979001 0.019027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.110904021] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.694,11.742,0.138} [component_container_isolated-3] [DEBUG] [1762964992.110971730] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.559,11.557,-0.128} [component_container_isolated-3] [DEBUG] [1762964992.111046022] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.113191670] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.113267014] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.113311729] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.113357196] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000027 0.000054 -0.000159 [component_container_isolated-3] 0.000027 1.000000 -0.000014 -0.000224 [component_container_isolated-3] -0.000054 0.000014 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] [1762964992.113382755] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.058} {0.169,-0.714,-0.097} [component_container_isolated-3] [DEBUG] [1762964992.113431788] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.113479930] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.113519416] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 0.000034 0.185176 -0.006846 [component_container_isolated-3] -0.000153 1.000000 0.000633 0.060049 [component_container_isolated-3] -0.185176 -0.000650 0.982705 0.017330 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.113541658] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.038,10.671,-0.009} [component_container_isolated-3] [DEBUG] [1762964992.113572477] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.188,11.385,0.088} [component_container_isolated-3] [DEBUG] [1762964992.113624917] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.121601761] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.121667667] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.121713915] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.121764662] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000052 -0.000149 -0.000154 [component_container_isolated-3] -0.000052 1.000000 -0.000112 0.000174 [component_container_isolated-3] 0.000149 0.000112 1.000000 -0.000238 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.121793207] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.024,-0.024} {0.072,-0.404,-0.171} [component_container_isolated-3] [DEBUG] [1762964992.121849454] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.121905171] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.121990263] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981506 -0.000031 0.191431 -0.006869 [component_container_isolated-3] -0.001690 0.999960 0.008824 0.059448 [component_container_isolated-3] -0.191423 -0.008985 0.981466 0.017621 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.122018958] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.524,11.036,-0.099} [component_container_isolated-3] [DEBUG] [1762964992.122054686] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.025,0.027} {-0.562,11.441,0.072} [component_container_isolated-3] [DEBUG] [1762964992.122122445] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.127208719] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.127268393] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.127307047] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.127351482] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000052 -0.000149 -0.000154 [component_container_isolated-3] -0.000052 1.000000 -0.000112 0.000174 [component_container_isolated-3] 0.000149 0.000112 1.000000 -0.000238 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.127376229] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.024,-0.024} {0.078,-0.412,-0.174} [component_container_isolated-3] [DEBUG] [1762964992.127423760] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.127470789] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.127510225] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981506 -0.000031 0.191431 -0.006869 [component_container_isolated-3] -0.001690 0.999960 0.008824 0.059448 [component_container_isolated-3] -0.191423 -0.008985 0.981466 0.017621 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.127533980] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.524,11.036,-0.099} [component_container_isolated-3] [DEBUG] [1762964992.127568065] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.025,0.027} {-0.568,11.450,0.075} [component_container_isolated-3] [DEBUG] [1762964992.127620295] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.136248503] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.136306484] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.136279552] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.136383581] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.136346109] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.136428386] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.136469445] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000104 -0.000036 -0.000110 [component_container_isolated-3] 0.000104 1.000000 -0.000070 -0.000004 [component_container_isolated-3] 0.000036 0.000070 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] [1762964992.136536403] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.006} {0.086,0.186,0.265} [component_container_isolated-3] [DEBUG] [1762964992.136520111] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000031 -0.000006 -0.000343 [component_container_isolated-3] -0.000031 1.000000 -0.000074 0.000087 [component_container_isolated-3] 0.000006 0.000074 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] [1762964992.136626755] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.169,0.045,-0.198} [component_container_isolated-3] [DEBUG] [1762964992.136595355] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.136680858] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.136747856] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.136786961] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.136857726] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 0.000109 0.476036 -0.001138 [component_container_isolated-3] -0.004758 0.999952 0.008559 0.060264 [component_container_isolated-3] -0.476012 -0.009792 0.879384 0.018157 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.136886201] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.638,28.425,-0.310} [component_container_isolated-3] [DEBUG] [1762964992.136816588] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979070 0.000051 0.203524 -0.006995 [component_container_isolated-3] 0.002363 0.999930 -0.011619 0.059708 [component_container_isolated-3] -0.203511 0.011856 0.979001 0.019027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.136985350] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.694,11.742,0.138} [component_container_isolated-3] [DEBUG] [1762964992.137019966] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.554,11.559,-0.135} [component_container_isolated-3] [DEBUG] [1762964992.136953790] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.006,-0.005} {-0.361,28.382,-0.084} [component_container_isolated-3] [DEBUG] [1762964992.137078788] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.137140566] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.150304797] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.150368338] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.150408645] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.150452589] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000017 -0.000022 -0.000069 [component_container_isolated-3] -0.000017 1.000000 -0.000068 -0.000039 [component_container_isolated-3] 0.000022 0.000068 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] [1762964992.150478659] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.058} {0.173,-0.715,-0.098} [component_container_isolated-3] [DEBUG] [1762964992.150531249] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.150578600] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.150618987] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000063 0.185154 -0.006851 [component_container_isolated-3] -0.000171 1.000000 0.000565 0.060051 [component_container_isolated-3] -0.185154 -0.000586 0.982709 0.017351 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.150644265] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.034,10.670,-0.010} [component_container_isolated-3] [DEBUG] [1762964992.150678160] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.188,11.385,0.088} [component_container_isolated-3] [DEBUG] [1762964992.150737042] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.163769361] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.163835036] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.163874993] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.163955847] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000017 -0.000022 -0.000069 [component_container_isolated-3] -0.000017 1.000000 -0.000068 -0.000039 [component_container_isolated-3] 0.000022 0.000068 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] [1762964992.163983710] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.058} {0.177,-0.716,-0.099} [component_container_isolated-3] [DEBUG] [1762964992.164034828] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.164080475] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.164121233] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000063 0.185154 -0.006851 [component_container_isolated-3] -0.000171 1.000000 0.000565 0.060051 [component_container_isolated-3] -0.185154 -0.000586 0.982709 0.017351 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.164145960] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.034,10.670,-0.010} [component_container_isolated-3] [DEBUG] [1762964992.164180226] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.192,11.387,0.089} [component_container_isolated-3] [DEBUG] [1762964992.164245741] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.164692003] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.164739433] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.164778608] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.164822061] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000079 0.000007 -0.000032 [component_container_isolated-3] 0.000079 1.000000 -0.000059 -0.000267 [component_container_isolated-3] -0.000007 0.000059 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] [1762964992.164846177] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.166,0.045,-0.194} [component_container_isolated-3] [DEBUG] [1762964992.164897044] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.164981165] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.165024728] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879423 0.000068 0.476042 -0.001147 [component_container_isolated-3] -0.004679 0.999953 0.008500 0.060237 [component_container_isolated-3] -0.476019 -0.009703 0.879382 0.018181 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.165048053] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.632,28.426,-0.305} [component_container_isolated-3] [DEBUG] [1762964992.165078090] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.006,-0.005} {-0.361,28.382,-0.084} [component_container_isolated-3] [DEBUG] [1762964992.165126863] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.169357964] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.169409372] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.169446483] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.169488393] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000104 -0.000036 -0.000110 [component_container_isolated-3] 0.000104 1.000000 -0.000070 -0.000004 [component_container_isolated-3] 0.000036 0.000070 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] [1762964992.169513992] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.006} {0.090,0.184,0.271} [component_container_isolated-3] [DEBUG] [1762964992.169564308] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.169608943] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.169646264] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979070 0.000051 0.203524 -0.006995 [component_container_isolated-3] 0.002363 0.999930 -0.011619 0.059708 [component_container_isolated-3] -0.203511 0.011856 0.979001 0.019027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.169667695] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.694,11.742,0.138} [component_container_isolated-3] [DEBUG] [1762964992.169698163] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.548,11.561,-0.141} [component_container_isolated-3] [DEBUG] [1762964992.169747157] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.175054443] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.175119918] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.175162870] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.175209118] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000194 0.000022 0.000500 [component_container_isolated-3] -0.000194 1.000000 -0.000006 0.000972 [component_container_isolated-3] -0.000022 0.000006 1.000000 -0.000221 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.175235228] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.025,-0.025} {0.078,-0.411,-0.185} [component_container_isolated-3] [DEBUG] [1762964992.175284011] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.175329708] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.175366519] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981502 0.000161 0.191452 -0.006804 [component_container_isolated-3] -0.001884 0.999959 0.008819 0.059786 [component_container_isolated-3] -0.191443 -0.009016 0.981462 0.017604 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.175391847] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.526,11.037,-0.110} [component_container_isolated-3] [DEBUG] [1762964992.175422967] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.026,0.027} {-0.568,11.450,0.075} [component_container_isolated-3] [DEBUG] [1762964992.175474044] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.190610090] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.190668311] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.190707536] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.190751049] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000194 0.000022 0.000500 [component_container_isolated-3] -0.000194 1.000000 -0.000006 0.000972 [component_container_isolated-3] -0.000022 0.000006 1.000000 -0.000221 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.190776328] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.026,-0.025} {0.079,-0.410,-0.196} [component_container_isolated-3] [DEBUG] [1762964992.190824600] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.190871620] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.190912137] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981502 0.000161 0.191452 -0.006804 [component_container_isolated-3] -0.001884 0.999959 0.008819 0.059786 [component_container_isolated-3] -0.191443 -0.009016 0.981462 0.017604 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.190977201] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.526,11.037,-0.110} [component_container_isolated-3] [DEBUG] [1762964992.191011366] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.027,0.028} {-0.566,11.449,0.086} [component_container_isolated-3] [DEBUG] [1762964992.191064688] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.201421097] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.201475110] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.201507942] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.201558188] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000017 -0.000022 -0.000069 [component_container_isolated-3] -0.000017 1.000000 -0.000068 -0.000039 [component_container_isolated-3] 0.000022 0.000068 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] [1762964992.201586352] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.058} {0.181,-0.718,-0.100} [component_container_isolated-3] [DEBUG] [1762964992.201637540] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.201682756] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.201719406] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000063 0.185154 -0.006851 [component_container_isolated-3] -0.000171 1.000000 0.000565 0.060051 [component_container_isolated-3] -0.185154 -0.000586 0.982709 0.017351 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.201742851] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.034,10.670,-0.010} [component_container_isolated-3] [DEBUG] [1762964992.201773830] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.057} {-0.195,11.388,0.090} [component_container_isolated-3] [DEBUG] [1762964992.201831761] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.210049846] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.210101634] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.210141891] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.210186276] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000011 0.000073 -0.000082 [component_container_isolated-3] -0.000011 1.000000 0.000161 -0.000007 [component_container_isolated-3] -0.000073 -0.000161 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] [1762964992.210211755] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.175,0.050,-0.195} [component_container_isolated-3] [DEBUG] [1762964992.210259155] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.210300394] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.210336914] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879388 0.000001 0.476106 -0.001152 [component_container_isolated-3] -0.004690 0.999952 0.008661 0.060225 [component_container_isolated-3] -0.476083 -0.009850 0.879345 0.018218 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.210359547] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.430,-0.306} [component_container_isolated-3] [DEBUG] [1762964992.210393211] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.006,-0.005} {-0.361,28.382,-0.084} [component_container_isolated-3] [DEBUG] [1762964992.210446002] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.223880899] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.223971472] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.224011238] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.224054842] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000104 -0.000036 -0.000110 [component_container_isolated-3] 0.000104 1.000000 -0.000070 -0.000004 [component_container_isolated-3] 0.000036 0.000070 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] [1762964992.224078457] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.006} {0.094,0.182,0.277} [component_container_isolated-3] [DEBUG] [1762964992.224125176] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.224166805] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.224201852] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979070 0.000051 0.203524 -0.006995 [component_container_isolated-3] 0.002363 0.999930 -0.011619 0.059708 [component_container_isolated-3] -0.203511 0.011856 0.979001 0.019027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.224223003] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.694,11.742,0.138} [component_container_isolated-3] [DEBUG] [1762964992.224252790] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.543,11.563,-0.147} [component_container_isolated-3] [DEBUG] [1762964992.224302805] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.238094424] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.238158136] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.238199645] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.238245212] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000017 -0.000022 -0.000069 [component_container_isolated-3] -0.000017 1.000000 -0.000068 -0.000039 [component_container_isolated-3] 0.000022 0.000068 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] [1762964992.238271732] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.058} {0.185,-0.719,-0.101} [component_container_isolated-3] [DEBUG] [1762964992.238326377] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.238375330] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.238416148] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000063 0.185154 -0.006851 [component_container_isolated-3] -0.000171 1.000000 0.000565 0.060051 [component_container_isolated-3] -0.185154 -0.000586 0.982709 0.017351 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.238439242] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.034,10.670,-0.010} [component_container_isolated-3] [DEBUG] [1762964992.238470492] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.057} {-0.199,11.389,0.091} [component_container_isolated-3] [DEBUG] [1762964992.238520818] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.243606460] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.243662107] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.243703676] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.243747870] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000086 -0.000051 0.000123 [component_container_isolated-3] -0.000086 1.000000 -0.000012 0.000127 [component_container_isolated-3] 0.000051 0.000012 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] [1762964992.243772758] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.174,0.047,-0.200} [component_container_isolated-3] [DEBUG] [1762964992.243821691] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.243892867] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.243967931] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879412 0.000083 0.476061 -0.001147 [component_container_isolated-3] -0.004776 0.999951 0.008649 0.060225 [component_container_isolated-3] -0.476037 -0.009880 0.879370 0.018233 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.243994972] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.427,-0.311} [component_container_isolated-3] [DEBUG] [1762964992.244027665] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.006,-0.005} {-0.361,28.382,-0.084} [component_container_isolated-3] [DEBUG] [1762964992.244079975] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.255967036] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.256034816] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.256075022] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.256118225] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000104 -0.000036 -0.000110 [component_container_isolated-3] 0.000104 1.000000 -0.000070 -0.000004 [component_container_isolated-3] 0.000036 0.000070 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] [1762964992.256143353] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.006} {0.098,0.180,0.283} [component_container_isolated-3] [DEBUG] [1762964992.256190814] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.256231622] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.256266769] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979070 0.000051 0.203524 -0.006995 [component_container_isolated-3] 0.002363 0.999930 -0.011619 0.059708 [component_container_isolated-3] -0.203511 0.011856 0.979001 0.019027 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.256288119] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.694,11.742,0.138} [component_container_isolated-3] [DEBUG] [1762964992.256317806] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.538,11.565,-0.153} [component_container_isolated-3] [DEBUG] [1762964992.256369034] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.263726735] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.263794755] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.263834391] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.263878265] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000192 -0.000103 0.000079 [component_container_isolated-3] 0.000192 1.000000 0.000080 -0.000513 [component_container_isolated-3] 0.000103 -0.000080 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] [1762964992.263903813] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.026,-0.025} {0.074,-0.416,-0.185} [component_container_isolated-3] [DEBUG] [1762964992.263985479] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.264036076] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.264075261] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981522 -0.000044 0.191351 -0.006777 [component_container_isolated-3] -0.001691 0.999959 0.008899 0.059836 [component_container_isolated-3] -0.191343 -0.009058 0.981481 0.017593 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.264098545] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.529,11.031,-0.099} [component_container_isolated-3] [DEBUG] [1762964992.264129805] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.026,0.028} {-0.566,11.449,0.086} [component_container_isolated-3] [DEBUG] [1762964992.264180572] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.274149811] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.274211128] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.274251425] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.274296070] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000017 -0.000022 -0.000069 [component_container_isolated-3] -0.000017 1.000000 -0.000068 -0.000039 [component_container_isolated-3] 0.000022 0.000068 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] [1762964992.274321769] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.058} {0.189,-0.720,-0.102} [component_container_isolated-3] [DEBUG] [1762964992.274374901] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.274423564] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.274464722] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000063 0.185154 -0.006851 [component_container_isolated-3] -0.000171 1.000000 0.000565 0.060051 [component_container_isolated-3] -0.185154 -0.000586 0.982709 0.017351 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.274489620] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.034,10.670,-0.010} [component_container_isolated-3] [DEBUG] [1762964992.274520639] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.057} {-0.203,11.391,0.092} [component_container_isolated-3] [DEBUG] [1762964992.274570885] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.279104704] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.279203552] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.279262976] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.279318101] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000076 -0.000020 0.000236 [component_container_isolated-3] 0.000076 1.000000 -0.000116 -0.000053 [component_container_isolated-3] 0.000020 0.000116 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] [1762964992.279348098] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.168,0.046,-0.195} [component_container_isolated-3] [DEBUG] [1762964992.279401310] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.279445394] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.279482726] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879422 0.000071 0.476043 -0.001124 [component_container_isolated-3] -0.004700 0.999952 0.008533 0.060217 [component_container_isolated-3] -0.476020 -0.009742 0.879380 0.018221 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.279506291] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.635,28.426,-0.306} [component_container_isolated-3] [DEBUG] [1762964992.279537119] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.361,28.382,-0.084} [component_container_isolated-3] [DEBUG] [1762964992.279586253] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.292168873] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.292248896] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.292292419] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.292341362] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000076 -0.000020 0.000236 [component_container_isolated-3] 0.000076 1.000000 -0.000116 -0.000053 [component_container_isolated-3] 0.000020 0.000116 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] [1762964992.292368765] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.161,0.044,-0.191} [component_container_isolated-3] [DEBUG] [1762964992.292423269] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.292470369] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.292510545] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879422 0.000071 0.476043 -0.001124 [component_container_isolated-3] -0.004700 0.999952 0.008533 0.060217 [component_container_isolated-3] -0.476020 -0.009742 0.879380 0.018221 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.292534461] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.635,28.426,-0.306} [component_container_isolated-3] [DEBUG] [1762964992.292566041] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.370,28.383,-0.089} [component_container_isolated-3] [DEBUG] [1762964992.292614765] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.297473864] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.297533137] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.297574597] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.297621777] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000188 0.000159 -0.000572 [component_container_isolated-3] -0.000188 1.000000 0.000047 0.000258 [component_container_isolated-3] -0.000159 -0.000047 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] [1762964992.297647917] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.026,-0.024} {0.072,-0.407,-0.196} [component_container_isolated-3] [DEBUG] [1762964992.297696960] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.297741325] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.297777735] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981491 0.000132 0.191507 -0.006810 [component_container_isolated-3] -0.001880 0.999958 0.008946 0.059910 [component_container_isolated-3] -0.191497 -0.009140 0.981451 0.017724 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.297801079] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.534,11.040,-0.110} [component_container_isolated-3] [DEBUG] [1762964992.297832349] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.026,0.027} {-0.566,11.449,0.086} [component_container_isolated-3] [DEBUG] [1762964992.297881633] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.300008946] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.300068399] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.300106983] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.300152249] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000017 -0.000022 -0.000069 [component_container_isolated-3] -0.000017 1.000000 -0.000068 -0.000039 [component_container_isolated-3] 0.000022 0.000068 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] [1762964992.300177848] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.058} {0.193,-0.721,-0.103} [component_container_isolated-3] [DEBUG] [1762964992.300226762] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.300270555] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.300306955] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000063 0.185154 -0.006851 [component_container_isolated-3] -0.000171 1.000000 0.000565 0.060051 [component_container_isolated-3] -0.185154 -0.000586 0.982709 0.017351 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.300332363] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.034,10.670,-0.010} [component_container_isolated-3] [DEBUG] [1762964992.300366529] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.057} {-0.207,11.392,0.093} [component_container_isolated-3] [DEBUG] [1762964992.300419840] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.302342472] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.302403549] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.302441922] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.302484784] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000188 0.000159 -0.000572 [component_container_isolated-3] -0.000188 1.000000 0.000047 0.000258 [component_container_isolated-3] -0.000159 -0.000047 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] [1762964992.302509852] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.026,-0.024} {0.069,-0.397,-0.207} [component_container_isolated-3] [DEBUG] [1762964992.302558114] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.302600575] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.302640371] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981491 0.000132 0.191507 -0.006810 [component_container_isolated-3] -0.001880 0.999958 0.008946 0.059910 [component_container_isolated-3] -0.191497 -0.009140 0.981451 0.017724 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.302664577] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.534,11.040,-0.110} [component_container_isolated-3] [DEBUG] [1762964992.302698522] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.026,0.026} {-0.561,11.440,0.097} [component_container_isolated-3] [DEBUG] [1762964992.302752595] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.303840603] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.303913693] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.303994998] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.304050494] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000069 -0.000181 0.000600 [component_container_isolated-3] -0.000069 1.000000 0.000090 -0.000078 [component_container_isolated-3] 0.000181 -0.000090 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] [1762964992.304082595] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.022,0.006} {0.093,0.170,0.279} [component_container_isolated-3] [DEBUG] [1762964992.304131659] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.304166145] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.304193567] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979107 0.000101 0.203347 -0.006876 [component_container_isolated-3] 0.002291 0.999931 -0.011529 0.059710 [component_container_isolated-3] -0.203334 0.011754 0.979039 0.018866 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.304218505] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.732,0.134} [component_container_isolated-3] [DEBUG] [1762964992.304256197] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.005} {0.538,11.565,-0.153} [component_container_isolated-3] [DEBUG] [1762964992.304313216] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.326739835] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.326797225] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.326836790] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.326880594] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000188 0.000159 -0.000572 [component_container_isolated-3] -0.000188 1.000000 0.000047 0.000258 [component_container_isolated-3] -0.000159 -0.000047 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] [1762964992.326905612] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.027,-0.023} {0.066,-0.388,-0.218} [component_container_isolated-3] [DEBUG] [1762964992.326989863] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.327035840] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.327074885] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981491 0.000132 0.191507 -0.006810 [component_container_isolated-3] -0.001880 0.999958 0.008946 0.059910 [component_container_isolated-3] -0.191497 -0.009140 0.981451 0.017724 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.327098971] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.534,11.040,-0.110} [component_container_isolated-3] [DEBUG] [1762964992.327130211] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.027,0.026} {-0.557,11.431,0.108} [component_container_isolated-3] [DEBUG] [1762964992.327182170] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.333151159] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.333216875] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.333258925] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.333304121] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000028 -0.000030 0.000067 [component_container_isolated-3] -0.000028 1.000000 0.000029 0.000114 [component_container_isolated-3] 0.000030 -0.000029 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] [1762964992.333331974] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.163,0.043,-0.192} [component_container_isolated-3] [DEBUG] [1762964992.333385106] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.333431344] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.333469567] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879436 0.000081 0.476017 -0.001105 [component_container_isolated-3] -0.004727 0.999952 0.008563 0.060225 [component_container_isolated-3] -0.475994 -0.009780 0.879394 0.018196 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.333493683] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.424,-0.308} [component_container_isolated-3] [DEBUG] [1762964992.333524522] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.370,28.383,-0.089} [component_container_isolated-3] [DEBUG] [1762964992.333573916] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.335812381] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.335882245] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.335946137] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.335992766] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000005 0.000033 -0.000375 [component_container_isolated-3] -0.000005 1.000000 -0.000025 0.000050 [component_container_isolated-3] -0.000033 0.000025 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] [1762964992.336018044] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.006} {0.094,0.172,0.279} [component_container_isolated-3] [DEBUG] [1762964992.336067148] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.336108707] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.336146309] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979100 0.000111 0.203379 -0.006862 [component_container_isolated-3] 0.002287 0.999931 -0.011555 0.059713 [component_container_isolated-3] -0.203366 0.011778 0.979032 0.018828 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.336169764] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.734,0.134} [component_container_isolated-3] [DEBUG] [1762964992.336202396] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.538,11.565,-0.153} [component_container_isolated-3] [DEBUG] [1762964992.336251179] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.340880160] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.340978027] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.341017212] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.341060214] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000005 0.000033 -0.000375 [component_container_isolated-3] -0.000005 1.000000 -0.000025 0.000050 [component_container_isolated-3] -0.000033 0.000025 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] [1762964992.341084230] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.006} {0.095,0.174,0.279} [component_container_isolated-3] [DEBUG] [1762964992.341131269] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.341175584] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.341214248] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979100 0.000111 0.203379 -0.006862 [component_container_isolated-3] 0.002287 0.999931 -0.011555 0.059713 [component_container_isolated-3] -0.203366 0.011778 0.979032 0.018828 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.341237512] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.734,0.134} [component_container_isolated-3] [DEBUG] [1762964992.341269904] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.536,11.563,-0.152} [component_container_isolated-3] [DEBUG] [1762964992.341319118] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.363742020] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.363806083] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.363849345] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.363897116] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000102 -0.000105 -0.000322 [component_container_isolated-3] -0.000102 1.000000 0.000042 0.000242 [component_container_isolated-3] 0.000105 -0.000042 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] [1762964992.363943435] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.058} {0.190,-0.727,-0.109} [component_container_isolated-3] [DEBUG] [1762964992.363998540] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.364045550] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.364083913] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982729 0.000155 0.185051 -0.006914 [component_container_isolated-3] -0.000272 1.000000 0.000607 0.060093 [component_container_isolated-3] -0.185051 -0.000647 0.982729 0.017376 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.364106677] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.038,10.664,-0.016} [component_container_isolated-3] [DEBUG] [1762964992.364137556] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.207,11.392,0.093} [component_container_isolated-3] [DEBUG] [1762964992.364187842] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.368602934] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.368676133] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.368717522] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.368763881] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000059 -0.000009 -0.000091 [component_container_isolated-3] 0.000059 1.000000 0.000097 -0.000110 [component_container_isolated-3] 0.000009 -0.000097 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] [1762964992.368789510] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.168,0.042,-0.189} [component_container_isolated-3] [DEBUG] [1762964992.368840658] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.368886645] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.368953363] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879440 -0.000018 0.476010 -0.001103 [component_container_isolated-3] -0.004668 0.999952 0.008660 0.060220 [component_container_isolated-3] -0.475987 -0.009838 0.879397 0.018180 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.368980104] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.424,-0.304} [component_container_isolated-3] [DEBUG] [1762964992.369012716] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.370,28.383,-0.089} [component_container_isolated-3] [DEBUG] [1762964992.369064084] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.369168714] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.369215974] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.369254358] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.369301969] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000102 -0.000105 -0.000322 [component_container_isolated-3] -0.000102 1.000000 0.000042 0.000242 [component_container_isolated-3] 0.000105 -0.000042 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] [1762964992.369330463] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.058} {0.188,-0.733,-0.115} [component_container_isolated-3] [DEBUG] [1762964992.369382552] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.369429292] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.369469278] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982729 0.000155 0.185051 -0.006914 [component_container_isolated-3] -0.000272 1.000000 0.000607 0.060093 [component_container_isolated-3] -0.185051 -0.000647 0.982729 0.017376 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.369494566] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.038,10.664,-0.016} [component_container_isolated-3] [DEBUG] [1762964992.369517250] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.001,0.057} {-0.203,11.398,0.099} [component_container_isolated-3] [DEBUG] [1762964992.369558789] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.372543439] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.372626477] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.372677174] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.372730206] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000377 -0.000389 -0.000164 [component_container_isolated-3] 0.000377 1.000000 -0.000197 -0.001317 [component_container_isolated-3] 0.000389 0.000197 1.000000 -0.000993 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.372760554] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.010,0.025,-0.024} {0.077,-0.411,-0.196} [component_container_isolated-3] [DEBUG] [1762964992.372816340] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.372868610] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.372943393] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981566 -0.000200 0.191125 -0.006924 [component_container_isolated-3] -0.001499 0.999961 0.008750 0.059592 [component_container_isolated-3] -0.191119 -0.008875 0.981527 0.017591 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.372979071] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.518,11.018,-0.088} [component_container_isolated-3] [DEBUG] [1762964992.373022854] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.026,0.027} {-0.557,11.431,0.108} [component_container_isolated-3] [DEBUG] [1762964992.373097798] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.400411200] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.400478017] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.400519436] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.400569833] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000064 -0.000020 -0.000168 [component_container_isolated-3] 0.000064 1.000000 -0.000201 -0.000155 [component_container_isolated-3] 0.000020 0.000201 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] [1762964992.400598117] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.157,0.041,-0.185} [component_container_isolated-3] [DEBUG] [1762964992.400651108] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.400698168] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.400736551] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879450 0.000022 0.475992 -0.001111 [component_container_isolated-3] -0.004603 0.999954 0.008459 0.060189 [component_container_isolated-3] -0.475970 -0.009630 0.879409 0.018194 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.400759315] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.627,28.422,-0.300} [component_container_isolated-3] [DEBUG] [1762964992.400790544] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.006,-0.004} {-0.370,28.383,-0.089} [component_container_isolated-3] [DEBUG] [1762964992.400839608] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.407891816] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.407992198] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.408033697] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.408081087] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000059 0.000277 -0.000846 [component_container_isolated-3] 0.000059 1.000000 -0.000012 -0.000146 [component_container_isolated-3] -0.000277 0.000012 1.000000 0.001318 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.408108379] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.022,0.007} {0.096,0.190,0.282} [component_container_isolated-3] [DEBUG] [1762964992.408158555] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.408203251] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.408242916] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979044 0.000055 0.203651 -0.006988 [component_container_isolated-3] 0.002349 0.999930 -0.011566 0.059692 [component_container_isolated-3] -0.203637 0.011802 0.978975 0.019248 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.408266421] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.691,11.750,0.137} [component_container_isolated-3] [DEBUG] [1762964992.408296749] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.022,-0.007} {0.536,11.563,-0.152} [component_container_isolated-3] [DEBUG] [1762964992.408346504] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.412084753] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.412157863] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.412199402] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.412246482] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000002 0.000096 -0.000012 [component_container_isolated-3] -0.000002 1.000000 -0.000022 -0.000071 [component_container_isolated-3] -0.000096 0.000022 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] [1762964992.412272903] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.010,0.025,-0.024} {0.079,-0.405,-0.196} [component_container_isolated-3] [DEBUG] [1762964992.412325273] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.412372503] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.412414423] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 -0.000194 0.191219 -0.006958 [component_container_isolated-3] -0.001502 0.999961 0.008728 0.059489 [component_container_isolated-3] -0.191213 -0.008854 0.981509 0.017593 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.412439932] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.517,11.024,-0.088} [component_container_isolated-3] [DEBUG] [1762964992.412473255] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.026,0.026} {-0.557,11.431,0.108} [component_container_isolated-3] [DEBUG] [1762964992.412524653] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.416983869] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.417053372] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.417097035] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.417143654] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000106 0.000076 0.000149 [component_container_isolated-3] 0.000106 1.000000 0.000016 -0.000237 [component_container_isolated-3] -0.000076 -0.000016 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] [1762964992.417169384] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.057} {0.187,-0.729,-0.109} [component_container_isolated-3] [DEBUG] [1762964992.417219259] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.417265046] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.417302097] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982715 0.000048 0.185125 -0.006934 [component_container_isolated-3] -0.000167 1.000000 0.000623 0.060091 [component_container_isolated-3] -0.185125 -0.000643 0.982715 0.017411 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.417326684] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.037,10.668,-0.010} [component_container_isolated-3] [DEBUG] [1762964992.417358004] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.203,11.398,0.099} [component_container_isolated-3] [DEBUG] [1762964992.417426274] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.438514107] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.438581786] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.438623285] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.438668382] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000090 -0.000022 -0.000028 [component_container_isolated-3] -0.000090 1.000000 0.000046 0.000114 [component_container_isolated-3] 0.000022 -0.000046 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] [1762964992.438694471] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.159,0.040,-0.190} [component_container_isolated-3] [DEBUG] [1762964992.438743225] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.438785716] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.438825151] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 0.000079 0.475973 -0.001119 [component_container_isolated-3] -0.004693 0.999953 0.008505 0.060184 [component_container_isolated-3] -0.475950 -0.009714 0.879419 0.018188 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.438849988] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.633,28.421,-0.306} [component_container_isolated-3] [DEBUG] [1762964992.438882030] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.006,-0.004} {-0.370,28.383,-0.089} [component_container_isolated-3] [DEBUG] [1762964992.438957033] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.440506241] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.440566026] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.440607595] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.440654505] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000015 0.000061 -0.000160 [component_container_isolated-3] -0.000015 1.000000 0.000072 0.000191 [component_container_isolated-3] -0.000061 -0.000072 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] [1762964992.440682007] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.022,0.008} {0.092,0.193,0.281} [component_container_isolated-3] [DEBUG] [1762964992.440730720] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.440773893] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.440812707] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979031 0.000056 0.203710 -0.007073 [component_container_isolated-3] 0.002335 0.999931 -0.011494 0.059704 [component_container_isolated-3] -0.203696 0.011728 0.978964 0.019391 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.440836923] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.686,11.753,0.137} [component_container_isolated-3] [DEBUG] [1762964992.440868984] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.022,-0.007} {0.536,11.563,-0.152} [component_container_isolated-3] [DEBUG] [1762964992.440944759] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.445885505] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.445986878] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.446025953] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.446069987] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000015 0.000061 -0.000160 [component_container_isolated-3] -0.000015 1.000000 0.000072 0.000191 [component_container_isolated-3] -0.000061 -0.000072 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] [1762964992.446093782] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.022,0.008} {0.088,0.197,0.280} [component_container_isolated-3] [DEBUG] [1762964992.446142085] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.446186219] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.446225995] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979031 0.000056 0.203710 -0.007073 [component_container_isolated-3] 0.002335 0.999931 -0.011494 0.059704 [component_container_isolated-3] -0.203696 0.011728 0.978964 0.019391 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.446249710] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.686,11.753,0.137} [component_container_isolated-3] [DEBUG] [1762964992.446282232] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.022,-0.007} {0.541,11.559,-0.152} [component_container_isolated-3] [DEBUG] [1762964992.446330054] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.448844355] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.448906975] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.448980665] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.449026794] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000003 -0.000096 0.000150 [component_container_isolated-3] -0.000003 1.000000 0.000040 -0.000048 [component_container_isolated-3] 0.000096 -0.000040 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] [1762964992.449053154] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.057} {0.185,-0.734,-0.109} [component_container_isolated-3] [DEBUG] [1762964992.449106175] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.449174275] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.449214151] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982733 0.000044 0.185031 -0.006927 [component_container_isolated-3] -0.000169 1.000000 0.000662 0.060085 [component_container_isolated-3] -0.185031 -0.000682 0.982732 0.017459 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.449237406] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.040,10.663,-0.010} [component_container_isolated-3] [DEBUG] [1762964992.449272202] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.203,11.398,0.099} [component_container_isolated-3] [DEBUG] [1762964992.449331806] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.451247715] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.451301638] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.451343508] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.451390408] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000090 -0.000022 -0.000028 [component_container_isolated-3] -0.000090 1.000000 0.000046 0.000114 [component_container_isolated-3] 0.000022 -0.000046 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] [1762964992.451416888] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.162,0.039,-0.196} [component_container_isolated-3] [DEBUG] [1762964992.451465521] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.451508283] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.451546626] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 0.000079 0.475973 -0.001119 [component_container_isolated-3] -0.004693 0.999953 0.008505 0.060184 [component_container_isolated-3] -0.475950 -0.009714 0.879419 0.018188 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.451570662] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.633,28.421,-0.306} [component_container_isolated-3] [DEBUG] [1762964992.451602523] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.006,-0.004} {-0.365,28.384,-0.083} [component_container_isolated-3] [DEBUG] [1762964992.451653109] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.453702934] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.453759803] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.453803135] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.453852720] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000337 0.000229 0.000624 [component_container_isolated-3] -0.000338 1.000000 0.000241 0.001793 [component_container_isolated-3] -0.000229 -0.000241 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] [1762964992.453881846] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.027,-0.024} {0.065,-0.392,-0.215} [component_container_isolated-3] [DEBUG] [1762964992.453954424] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.454005442] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.454044096] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 0.000091 0.191444 -0.006862 [component_container_isolated-3] -0.001842 0.999958 0.008968 0.059990 [component_container_isolated-3] -0.191435 -0.009155 0.981463 0.017602 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.454069194] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.534,11.037,-0.108} [component_container_isolated-3] [DEBUG] [1762964992.454101856] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.027,0.026} {-0.557,11.431,0.108} [component_container_isolated-3] [DEBUG] [1762964992.454153915] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.463302707] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.463363443] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.463402498] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.463447564] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000337 0.000229 0.000624 [component_container_isolated-3] -0.000338 1.000000 0.000241 0.001793 [component_container_isolated-3] -0.000229 -0.000241 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] [1762964992.463473163] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.029,-0.023} {0.051,-0.379,-0.235} [component_container_isolated-3] [DEBUG] [1762964992.463520884] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.463565820] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.463602951] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 0.000091 0.191444 -0.006862 [component_container_isolated-3] -0.001842 0.999958 0.008968 0.059990 [component_container_isolated-3] -0.191435 -0.009155 0.981463 0.017602 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.463626746] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.534,11.037,-0.108} [component_container_isolated-3] [DEBUG] [1762964992.463658817] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.029,0.026} {-0.539,11.418,0.128} [component_container_isolated-3] [DEBUG] [1762964992.463709855] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.477609019] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.477666158] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.477702818] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.477744117] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000042 0.000016 0.000078 [component_container_isolated-3] 0.000042 1.000000 -0.000137 -0.000025 [component_container_isolated-3] -0.000016 0.000137 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] [1762964992.477767542] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.058} {0.193,-0.734,-0.107} [component_container_isolated-3] [DEBUG] [1762964992.477812978] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.477854488] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.477888112] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982730 0.000027 0.185046 -0.006916 [component_container_isolated-3] -0.000127 1.000000 0.000525 0.060075 [component_container_isolated-3] -0.185046 -0.000540 0.982730 0.017481 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.477908631] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.031,10.664,-0.007} [component_container_isolated-3] [DEBUG] [1762964992.477955370] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.057} {-0.203,11.398,0.099} [component_container_isolated-3] [DEBUG] [1762964992.478003302] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.493575621] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.493621078] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.493647338] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.493677997] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000000 -0.000300 0.000844 [component_container_isolated-3] -0.000000 1.000000 -0.000161 -0.000028 [component_container_isolated-3] 0.000300 0.000161 1.000000 -0.001337 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.493700860] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.006} {0.097,0.179,0.280} [component_container_isolated-3] [DEBUG] [1762964992.493733302] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.493761887] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.493786233] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 0.000089 0.203416 -0.007054 [component_container_isolated-3] 0.002331 0.999929 -0.011655 0.059710 [component_container_isolated-3] -0.203403 0.011886 0.979023 0.019154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.493801653] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.696,11.736,0.136} [component_container_isolated-3] [DEBUG] [1762964992.493822443] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.022,-0.006} {0.541,11.559,-0.152} [component_container_isolated-3] [DEBUG] [1762964992.493854895] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.499229429] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.499264045] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.499284975] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.499309471] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000032 0.000107 0.000068 [component_container_isolated-3] -0.000032 1.000000 0.000131 0.000067 [component_container_isolated-3] -0.000107 -0.000131 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] [1762964992.499323458] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.169,0.045,-0.197} [component_container_isolated-3] [DEBUG] [1762964992.499350129] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.499372161] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.499391488] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 0.000045 0.476067 -0.001109 [component_container_isolated-3] -0.004726 0.999952 0.008636 0.060188 [component_container_isolated-3] -0.476044 -0.009844 0.879367 0.018202 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.499403491] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.641,28.427,-0.308} [component_container_isolated-3] [DEBUG] [1762964992.499419161] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.365,28.384,-0.083} [component_container_isolated-3] [DEBUG] [1762964992.499443778] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.503105361] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.503135498] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.503155176] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.503177979] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000133 -0.000174 -0.000797 [component_container_isolated-3] 0.000133 1.000000 -0.000195 -0.000994 [component_container_isolated-3] 0.000174 0.000195 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] [1762964992.503191345] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.028,-0.024} {0.062,-0.389,-0.227} [component_container_isolated-3] [DEBUG] [1762964992.503215882] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.503238575] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.503257341] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 -0.000003 0.191274 -0.007021 [component_container_isolated-3] -0.001707 0.999960 0.008774 0.059919 [component_container_isolated-3] -0.191266 -0.008939 0.981498 0.017576 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.503269584] [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] [1762964992.503285284] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.028,0.026} {-0.539,11.418,0.128} [component_container_isolated-3] [DEBUG] [1762964992.503309911] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.505073429] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.505103076] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.505124026] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.505147671] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000017 0.000064 -0.000012 [component_container_isolated-3] 0.000017 1.000000 0.000026 0.000011 [component_container_isolated-3] -0.000064 -0.000026 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] [1762964992.505161708] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.058} {0.191,-0.730,-0.106} [component_container_isolated-3] [DEBUG] [1762964992.505186295] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.505208637] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.505227203] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 0.000006 0.185110 -0.006909 [component_container_isolated-3] -0.000110 1.000000 0.000551 0.060070 [component_container_isolated-3] -0.185109 -0.000562 0.982718 0.017487 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.505239015] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.033,10.668,-0.006} [component_container_isolated-3] [DEBUG] [1762964992.505255056] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.203,11.398,0.099} [component_container_isolated-3] [DEBUG] [1762964992.505280094] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.509363913] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.509402807] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.509426733] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.509454386] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000038 0.000293 -0.000890 [component_container_isolated-3] -0.000038 1.000000 0.000069 0.000025 [component_container_isolated-3] -0.000293 -0.000069 1.000000 0.001394 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.509470116] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.022,0.008} {0.093,0.196,0.278} [component_container_isolated-3] [DEBUG] [1762964992.509499261] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.509527626] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.509551752] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979033 0.000112 0.203703 -0.007164 [component_container_isolated-3] 0.002297 0.999930 -0.011586 0.059714 [component_container_isolated-3] -0.203690 0.011811 0.978964 0.019499 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.509566239] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.691,11.753,0.134} [component_container_isolated-3] [DEBUG] [1762964992.509586588] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.022,-0.007} {0.541,11.559,-0.152} [component_container_isolated-3] [DEBUG] [1762964992.509617748] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.522338121] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.522372005] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.522391953] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.522415007] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000012 -0.000174 0.000060 [component_container_isolated-3] 0.000012 1.000000 -0.000058 -0.000077 [component_container_isolated-3] 0.000174 0.000058 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] [1762964992.522427922] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.166,0.035,-0.197} [component_container_isolated-3] [DEBUG] [1762964992.522452389] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.522473820] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.522492275] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879492 0.000062 0.475914 -0.001116 [component_container_isolated-3] -0.004713 0.999952 0.008578 0.060179 [component_container_isolated-3] -0.475890 -0.009787 0.879450 0.018184 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.522503937] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.417,-0.307} [component_container_isolated-3] [DEBUG] [1762964992.522519307] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.006,-0.004} {-0.365,28.384,-0.083} [component_container_isolated-3] [DEBUG] [1762964992.522543673] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.528465102] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.528495640] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.528514777] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.528536718] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000017 0.000064 -0.000012 [component_container_isolated-3] 0.000017 1.000000 0.000026 0.000011 [component_container_isolated-3] -0.000064 -0.000026 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] [1762964992.528549513] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.058} {0.190,-0.726,-0.105} [component_container_isolated-3] [DEBUG] [1762964992.528573348] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.528594689] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.528612553] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 0.000006 0.185110 -0.006909 [component_container_isolated-3] -0.000110 1.000000 0.000551 0.060070 [component_container_isolated-3] -0.185109 -0.000562 0.982718 0.017487 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.528623474] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.033,10.668,-0.006} [component_container_isolated-3] [DEBUG] [1762964992.528638974] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.202,11.394,0.098} [component_container_isolated-3] [DEBUG] [1762964992.528663821] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.533429202] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.533463127] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.533487353] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.533516729] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000055 -0.000114 0.000872 [component_container_isolated-3] 0.000055 1.000000 0.000014 0.000051 [component_container_isolated-3] 0.000114 -0.000014 1.000000 -0.000755 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.533533661] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.028,-0.025} {0.062,-0.395,-0.224} [component_container_isolated-3] [DEBUG] [1762964992.533564109] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.533595169] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.533619716] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981558 -0.000060 0.191162 -0.006960 [component_container_isolated-3] -0.001651 0.999960 0.008789 0.059901 [component_container_isolated-3] -0.191155 -0.008942 0.981519 0.017284 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.533631438] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.522,11.020,-0.096} [component_container_isolated-3] [DEBUG] [1762964992.533645866] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.028,0.027} {-0.539,11.418,0.128} [component_container_isolated-3] [DEBUG] [1762964992.533672496] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.567023850] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.567074136] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.567107890] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.567146834] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000015 -0.000253 0.000716 [component_container_isolated-3] 0.000015 1.000000 -0.000032 0.000030 [component_container_isolated-3] 0.000253 0.000032 1.000000 -0.001106 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.567168486] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.007} {0.095,0.182,0.279} [component_container_isolated-3] [DEBUG] [1762964992.567212199] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.567248729] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.567278947] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 0.000104 0.203455 -0.007151 [component_container_isolated-3] 0.002308 0.999930 -0.011619 0.059725 [component_container_isolated-3] -0.203442 0.011845 0.979015 0.019356 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.567297262] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.693,11.738,0.135} [component_container_isolated-3] [DEBUG] [1762964992.567321458] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.022,-0.006} {0.541,11.559,-0.152} [component_container_isolated-3] [DEBUG] [1762964992.567365602] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.573623634] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.573660264] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.573682336] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.573704889] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000045 0.000136 -0.000277 [component_container_isolated-3] 0.000045 1.000000 0.000034 0.000035 [component_container_isolated-3] -0.000136 -0.000034 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] [1762964992.573717623] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.168,0.043,-0.194} [component_container_isolated-3] [DEBUG] [1762964992.573742821] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.573763912] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.573789711] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879427 0.000006 0.476034 -0.001148 [component_container_isolated-3] -0.004669 0.999952 0.008612 0.060177 [component_container_isolated-3] -0.476011 -0.009796 0.879385 0.018205 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.573801874] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.425,-0.304} [component_container_isolated-3] [DEBUG] [1762964992.573817654] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.006,-0.004} {-0.365,28.384,-0.083} [component_container_isolated-3] [DEBUG] [1762964992.573844115] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.582658488] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.582690840] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.582710758] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.582732870] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000053 0.000106 -0.000110 [component_container_isolated-3] -0.000053 1.000000 0.000045 0.000100 [component_container_isolated-3] -0.000106 -0.000045 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] [1762964992.582745494] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.057} {0.187,-0.720,-0.108} [component_container_isolated-3] [DEBUG] [1762964992.582769179] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.582790580] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.582811420] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000050 0.185213 -0.006910 [component_container_isolated-3] -0.000163 1.000000 0.000596 0.060077 [component_container_isolated-3] -0.185213 -0.000616 0.982698 0.017501 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.582823513] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.036,10.674,-0.010} [component_container_isolated-3] [DEBUG] [1762964992.582840295] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.202,11.394,0.098} [component_container_isolated-3] [DEBUG] [1762964992.582868048] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.591688323] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.591726676] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.591750662] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.591777192] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000071 0.000073 -0.000147 [component_container_isolated-3] -0.000071 1.000000 0.000126 0.000158 [component_container_isolated-3] -0.000073 -0.000126 1.000000 0.000297 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.591792612] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.028,-0.024} {0.054,-0.391,-0.228} [component_container_isolated-3] [DEBUG] [1762964992.591821497] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.591847737] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.591869328] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 -0.000014 0.191234 -0.006948 [component_container_isolated-3] -0.001722 0.999959 0.008914 0.059907 [component_container_isolated-3] -0.191226 -0.009079 0.981504 0.017211 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.591883265] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.530,11.024,-0.101} [component_container_isolated-3] [DEBUG] [1762964992.591902592] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.028,0.026} {-0.539,11.418,0.128} [component_container_isolated-3] [DEBUG] [1762964992.591954381] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.600072344] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.600118883] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.600150904] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.600185100] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000020 0.000361 -0.000690 [component_container_isolated-3] 0.000020 1.000000 0.000095 -0.000035 [component_container_isolated-3] -0.000361 -0.000095 1.000000 0.001106 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.600207001] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.022,0.008} {0.090,0.202,0.280} [component_container_isolated-3] [DEBUG] [1762964992.600244232] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.600279770] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.600309858] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979011 0.000065 0.203809 -0.007222 [component_container_isolated-3] 0.002332 0.999931 -0.011522 0.059728 [component_container_isolated-3] -0.203795 0.011756 0.978943 0.019604 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.600327942] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.688,11.759,0.137} [component_container_isolated-3] [DEBUG] [1762964992.600351187] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.022,-0.007} {0.541,11.559,-0.152} [component_container_isolated-3] [DEBUG] [1762964992.600390622] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.605746821] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.605807136] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.605842143] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.605875537] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000032 0.000005 0.000021 [component_container_isolated-3] -0.000032 1.000000 0.000124 0.000037 [component_container_isolated-3] -0.000005 -0.000124 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] [1762964992.605895315] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.175,0.043,-0.196} [component_container_isolated-3] [DEBUG] [1762964992.605944088] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.605974736] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.605998411] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879425 -0.000025 0.476038 -0.001157 [component_container_isolated-3] -0.004701 0.999951 0.008736 0.060181 [component_container_isolated-3] -0.476014 -0.009921 0.879381 0.018219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.606014141] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.646,28.425,-0.306} [component_container_isolated-3] [DEBUG] [1762964992.606036935] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.006,-0.004} {-0.365,28.384,-0.083} [component_container_isolated-3] [DEBUG] [1762964992.606075278] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.616257344] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.616322147] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.616361743] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.616405627] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000050 0.000036 -0.000136 [component_container_isolated-3] -0.000050 1.000000 -0.000223 0.000249 [component_container_isolated-3] -0.000036 0.000223 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] [1762964992.616431526] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.028,-0.024} {0.067,-0.389,-0.231} [component_container_isolated-3] [DEBUG] [1762964992.616482544] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.616530014] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.616567215] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 0.000077 0.191269 -0.006944 [component_container_isolated-3] -0.001772 0.999961 0.008691 0.059949 [component_container_isolated-3] -0.191261 -0.008870 0.981499 0.017197 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.616589548] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.518,11.026,-0.103} [component_container_isolated-3] [DEBUG] [1762964992.616619565] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.028,0.026} {-0.539,11.418,0.128} [component_container_isolated-3] [DEBUG] [1762964992.616668789] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.626270637] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.626352042] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.626395104] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.626442725] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000021 -0.000094 0.000106 [component_container_isolated-3] 0.000021 1.000000 -0.000088 -0.000076 [component_container_isolated-3] 0.000094 0.000088 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] [1762964992.626471029] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.058} {0.192,-0.726,-0.107} [component_container_isolated-3] [DEBUG] [1762964992.626520564] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.626566882] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.626607249] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 0.000045 0.185121 -0.006906 [component_container_isolated-3] -0.000142 1.000000 0.000508 0.060072 [component_container_isolated-3] -0.185121 -0.000525 0.982716 0.017503 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.626630865] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.031,10.668,-0.008} [component_container_isolated-3] [DEBUG] [1762964992.626661824] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.202,11.394,0.098} [component_container_isolated-3] [DEBUG] [1762964992.626712420] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.630062348] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.630136259] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.630177478] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.630223095] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000061 -0.000007 0.000056 [component_container_isolated-3] -0.000061 1.000000 -0.000059 -0.000063 [component_container_isolated-3] 0.000007 0.000059 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] [1762964992.630248784] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.022,0.008} {0.093,0.202,0.277} [component_container_isolated-3] [DEBUG] [1762964992.630301434] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.630344517] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.630381397] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979012 0.000136 0.203802 -0.007244 [component_container_isolated-3] 0.002272 0.999930 -0.011582 0.059725 [component_container_isolated-3] -0.203789 0.011802 0.978944 0.019661 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.630404241] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.691,11.759,0.133} [component_container_isolated-3] [DEBUG] [1762964992.630435390] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.022,-0.007} {0.541,11.559,-0.152} [component_container_isolated-3] [DEBUG] [1762964992.630483382] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.640727305] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.640794033] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.640834049] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.640877943] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000001 0.000036 -0.000043 [component_container_isolated-3] -0.000001 1.000000 0.000021 0.000022 [component_container_isolated-3] -0.000036 -0.000021 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] [1762964992.640902680] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.058} {0.191,-0.723,-0.107} [component_container_isolated-3] [DEBUG] [1762964992.640982322] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.641031887] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.641070300] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000043 0.185156 -0.006904 [component_container_isolated-3] -0.000143 1.000000 0.000529 0.060072 [component_container_isolated-3] -0.185156 -0.000546 0.982709 0.017508 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.641092543] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.032,10.670,-0.008} [component_container_isolated-3] [DEBUG] [1762964992.641128201] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.202,11.394,0.098} [component_container_isolated-3] [DEBUG] [1762964992.641195169] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.641941083] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.641979887] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.642006779] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.642035534] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000025 -0.000027 0.000256 [component_container_isolated-3] 0.000025 1.000000 -0.000123 -0.000037 [component_container_isolated-3] 0.000027 0.000123 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] [1762964992.642052446] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.168,0.041,-0.195} [component_container_isolated-3] [DEBUG] [1762964992.642082974] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.642109014] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.642130996] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879438 0.000011 0.476014 -0.001149 [component_container_isolated-3] -0.004675 0.999952 0.008613 0.060177 [component_container_isolated-3] -0.475991 -0.009800 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] [1762964992.642146636] [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] [1762964992.642167155] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.365,28.384,-0.083} [component_container_isolated-3] [DEBUG] [1762964992.642198796] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.646034250] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.646093964] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.646134742] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.646179367] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000028 -0.000052 0.000122 [component_container_isolated-3] 0.000028 1.000000 0.000124 -0.000453 [component_container_isolated-3] 0.000052 -0.000124 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] [1762964992.646218863] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.028,-0.024} {0.060,-0.392,-0.229} [component_container_isolated-3] [DEBUG] [1762964992.646271443] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.646315668] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.646359912] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981548 0.000026 0.191218 -0.006936 [component_container_isolated-3] -0.001744 0.999960 0.008815 0.059907 [component_container_isolated-3] -0.191210 -0.008986 0.981508 0.017154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.646379129] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.525,11.023,-0.102} [component_container_isolated-3] [DEBUG] [1762964992.646400921] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.028,0.026} {-0.539,11.418,0.128} [component_container_isolated-3] [DEBUG] [1762964992.646441278] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.648733896] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.648777349] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.648801525] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.648828386] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000025 -0.000027 0.000256 [component_container_isolated-3] 0.000025 1.000000 -0.000123 -0.000037 [component_container_isolated-3] 0.000027 0.000123 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] [1762964992.648844136] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.161,0.040,-0.193} [component_container_isolated-3] [DEBUG] [1762964992.648874044] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.648899392] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.648945791] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879438 0.000011 0.476014 -0.001149 [component_container_isolated-3] -0.004675 0.999952 0.008613 0.060177 [component_container_isolated-3] -0.475991 -0.009800 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] [1762964992.648961611] [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] [1762964992.648980266] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.373,28.386,-0.085} [component_container_isolated-3] [DEBUG] [1762964992.649010935] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.654540094] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.654595681] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.654633062] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.654675333] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000028 -0.000052 0.000122 [component_container_isolated-3] 0.000028 1.000000 0.000124 -0.000453 [component_container_isolated-3] 0.000052 -0.000124 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] [1762964992.654698808] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.027,-0.024} {0.053,-0.395,-0.228} [component_container_isolated-3] [DEBUG] [1762964992.654744745] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.654785142] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.654827664] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981548 0.000026 0.191218 -0.006936 [component_container_isolated-3] -0.001744 0.999960 0.008815 0.059907 [component_container_isolated-3] -0.191210 -0.008986 0.981508 0.017154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.654854074] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.525,11.023,-0.102} [component_container_isolated-3] [DEBUG] [1762964992.654887628] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.027,0.026} {-0.532,11.421,0.126} [component_container_isolated-3] [DEBUG] [1762964992.654942703] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.658485850] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.658550062] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.658589468] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.658637269] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000023 -0.000224 0.000571 [component_container_isolated-3] 0.000023 1.000000 0.000024 0.000058 [component_container_isolated-3] 0.000224 -0.000024 1.000000 -0.001058 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.658663489] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.022,0.007} {0.091,0.189,0.278} [component_container_isolated-3] [DEBUG] [1762964992.658715418] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.658759843] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.658796082] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979058 0.000109 0.203582 -0.007235 [component_container_isolated-3] 0.002292 0.999931 -0.011558 0.059732 [component_container_isolated-3] -0.203569 0.011782 0.978990 0.019450 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.658817243] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.690,11.746,0.134} [component_container_isolated-3] [DEBUG] [1762964992.658846829] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.022,-0.006} {0.541,11.559,-0.152} [component_container_isolated-3] [DEBUG] [1762964992.658898979] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.659319041] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.659365931] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.659398873] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.659434491] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000001 0.000036 -0.000043 [component_container_isolated-3] -0.000001 1.000000 0.000021 0.000022 [component_container_isolated-3] -0.000036 -0.000021 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] [1762964992.659454800] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.057} {0.190,-0.721,-0.107} [component_container_isolated-3] [DEBUG] [1762964992.659494626] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.659531086] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.659558057] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000043 0.185156 -0.006904 [component_container_isolated-3] -0.000143 1.000000 0.000529 0.060072 [component_container_isolated-3] -0.185156 -0.000546 0.982709 0.017508 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.659574769] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.032,10.670,-0.008} [component_container_isolated-3] [DEBUG] [1762964992.659597222] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.201,11.392,0.098} [component_container_isolated-3] [DEBUG] [1762964992.659636838] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.685015816] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.685084186] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.685124764] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.685170732] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000006 -0.000010 -0.000008 [component_container_isolated-3] 0.000006 1.000000 -0.000081 -0.000031 [component_container_isolated-3] 0.000010 0.000081 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] [1762964992.685196621] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.022,0.006} {0.096,0.188,0.278} [component_container_isolated-3] [DEBUG] [1762964992.685245825] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.685287615] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.685327601] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979060 0.000119 0.203572 -0.007229 [component_container_isolated-3] 0.002298 0.999930 -0.011639 0.059732 [component_container_isolated-3] -0.203559 0.011863 0.978991 0.019377 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.685348832] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.694,11.745,0.135} [component_container_isolated-3] [DEBUG] [1762964992.685379741] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.022,-0.006} {0.541,11.559,-0.152} [component_container_isolated-3] [DEBUG] [1762964992.685428544] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.692907066] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.692987359] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.693027817] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.693071139] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000011 -0.000076 0.000181 [component_container_isolated-3] 0.000011 1.000000 -0.000048 0.000119 [component_container_isolated-3] 0.000076 0.000048 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] [1762964992.693094845] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.003} {-0.158,0.035,-0.192} [component_container_isolated-3] [DEBUG] [1762964992.693142355] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.693181981] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.693216367] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879474 0.000024 0.475947 -0.001133 [component_container_isolated-3] -0.004663 0.999953 0.008565 0.060188 [component_container_isolated-3] -0.475924 -0.009752 0.879433 0.018153 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.693238068] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.635,28.420,-0.304} [component_container_isolated-3] [DEBUG] [1762964992.693266683] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.373,28.386,-0.085} [component_container_isolated-3] [DEBUG] [1762964992.693311769] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.698522400] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.698554942] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.698576974] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.698600419] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000074 0.000300 -0.000161 [component_container_isolated-3] 0.000074 1.000000 0.000110 0.000163 [component_container_isolated-3] -0.000300 -0.000110 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] [1762964992.698613384] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.028,-0.023} {0.047,-0.378,-0.223} [component_container_isolated-3] [DEBUG] [1762964992.698637600] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.698660514] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.698678929] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981490 -0.000067 0.191512 -0.006890 [component_container_isolated-3] -0.001673 0.999959 0.008925 0.059908 [component_container_isolated-3] -0.191505 -0.009080 0.981450 0.017413 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.698690471] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.530,11.041,-0.098} [component_container_isolated-3] [DEBUG] [1762964992.698705850] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.028,0.026} {-0.532,11.421,0.126} [component_container_isolated-3] [DEBUG] [1762964992.698730006] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.703707723] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.703740846] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.703760473] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.703782546] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000006 -0.000010 -0.000008 [component_container_isolated-3] 0.000006 1.000000 -0.000081 -0.000031 [component_container_isolated-3] 0.000010 0.000081 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] [1762964992.703795460] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.022,0.006} {0.101,0.188,0.279} [component_container_isolated-3] [DEBUG] [1762964992.703820538] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.703841899] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.703863600] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979060 0.000119 0.203572 -0.007229 [component_container_isolated-3] 0.002298 0.999930 -0.011639 0.059732 [component_container_isolated-3] -0.203559 0.011863 0.978991 0.019377 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.703875403] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.694,11.745,0.135} [component_container_isolated-3] [DEBUG] [1762964992.703890872] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.022,-0.006} {0.536,11.560,-0.152} [component_container_isolated-3] [DEBUG] [1762964992.703932151] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.704730466] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.704773899] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.704809026] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.704850325] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000207 -0.000249 -0.000275 [component_container_isolated-3] 0.000207 1.000000 -0.000024 -0.001113 [component_container_isolated-3] 0.000249 0.000023 1.000000 -0.001070 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.704872477] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.000,-0.059} {0.191,-0.736,-0.095} [component_container_isolated-3] [DEBUG] [1762964992.704915269] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.704977227] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.705010992] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982755 -0.000157 0.184911 -0.007019 [component_container_isolated-3] 0.000064 1.000000 0.000506 0.059715 [component_container_isolated-3] -0.184911 -0.000485 0.982755 0.017207 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.705031771] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.028,10.656,0.004} [component_container_isolated-3] [DEBUG] [1762964992.705059544] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,0.000,0.058} {-0.201,11.392,0.098} [component_container_isolated-3] [DEBUG] [1762964992.705104871] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.733544584] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.733574671] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.733594950] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.733618495] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000215 0.000307 0.000343 [component_container_isolated-3] -0.000215 1.000000 0.000070 0.001145 [component_container_isolated-3] -0.000307 -0.000070 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] [1762964992.733631390] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.058} {0.187,-0.718,-0.107} [component_container_isolated-3] [DEBUG] [1762964992.733655766] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.733677899] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.733696143] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000042 0.185213 -0.006969 [component_container_isolated-3] -0.000151 1.000000 0.000576 0.059832 [component_container_isolated-3] -0.185213 -0.000594 0.982698 0.017278 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.733707485] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.035,10.674,-0.009} [component_container_isolated-3] [DEBUG] [1762964992.733723446] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.201,11.392,0.098} [component_container_isolated-3] [DEBUG] [1762964992.733748654] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.735246745] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.735278275] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.735298784] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.735323651] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000139 0.000153 -0.000276 [component_container_isolated-3] -0.000139 1.000000 0.000065 0.000070 [component_container_isolated-3] -0.000153 -0.000065 1.000000 0.000341 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.735337287] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.162,0.044,-0.200} [component_container_isolated-3] [DEBUG] [1762964992.735362696] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.735384267] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.735403905] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879401 0.000116 0.476081 -0.001124 [component_container_isolated-3] -0.004803 0.999951 0.008630 0.060208 [component_container_isolated-3] -0.476057 -0.009876 0.879359 0.018167 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.735416158] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.643,28.428,-0.313} [component_container_isolated-3] [DEBUG] [1762964992.735432139] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.373,28.386,-0.085} [component_container_isolated-3] [DEBUG] [1762964992.735457407] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.741426146] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.741459039] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.741479718] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.741502912] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000101 -0.000068 -0.000028 [component_container_isolated-3] -0.000101 1.000000 -0.000079 0.000033 [component_container_isolated-3] 0.000068 0.000079 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] [1762964992.741516368] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.028,-0.023} {0.051,-0.382,-0.229} [component_container_isolated-3] [DEBUG] [1762964992.741541426] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.741563899] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.741583075] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 0.000047 0.191445 -0.006884 [component_container_isolated-3] -0.001773 0.999959 0.008846 0.059910 [component_container_isolated-3] -0.191437 -0.009022 0.981463 0.017454 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.741594798] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.527,11.037,-0.104} [component_container_isolated-3] [DEBUG] [1762964992.741610878] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.028,0.026} {-0.532,11.421,0.126} [component_container_isolated-3] [DEBUG] [1762964992.741637129] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.746255238] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.746286578] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.746306115] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.746328618] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000139 0.000153 -0.000276 [component_container_isolated-3] -0.000139 1.000000 0.000065 0.000070 [component_container_isolated-3] -0.000153 -0.000065 1.000000 0.000341 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.746341202] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.166,0.053,-0.208} [component_container_isolated-3] [DEBUG] [1762964992.746365308] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.746386288] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.746404724] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879401 0.000116 0.476081 -0.001124 [component_container_isolated-3] -0.004803 0.999951 0.008630 0.060208 [component_container_isolated-3] -0.476057 -0.009876 0.879359 0.018167 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.746416697] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.643,28.428,-0.313} [component_container_isolated-3] [DEBUG] [1762964992.746431695] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.365,28.377,-0.076} [component_container_isolated-3] [DEBUG] [1762964992.746456182] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.748423419] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.748453597] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.748474557] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.748498362] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000136 0.000290 -0.000858 [component_container_isolated-3] 0.000136 1.000000 0.000068 -0.000234 [component_container_isolated-3] -0.000290 -0.000068 1.000000 0.001767 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.748512078] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.022,0.008} {0.097,0.204,0.287} [component_container_isolated-3] [DEBUG] [1762964992.748537096] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.748558527] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.748577493] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979001 -0.000028 0.203856 -0.007309 [component_container_isolated-3] 0.002437 0.999930 -0.011570 0.059690 [component_container_isolated-3] -0.203841 0.011824 0.978933 0.019937 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.748588524] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.002} {0.692,11.762,0.143} [component_container_isolated-3] [DEBUG] [1762964992.748604665] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.022,-0.007} {0.536,11.560,-0.152} [component_container_isolated-3] [DEBUG] [1762964992.748629923] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.761501986] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.761531522] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.761551981] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.761573903] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000031 -0.000097 -0.000079 [component_container_isolated-3] 0.000031 1.000000 0.000019 -0.000041 [component_container_isolated-3] 0.000097 -0.000019 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] [1762964992.761586878] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.028,-0.024} {0.050,-0.387,-0.228} [component_container_isolated-3] [DEBUG] [1762964992.761610373] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.761631744] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.761649287] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981522 0.000013 0.191350 -0.006919 [component_container_isolated-3] -0.001741 0.999959 0.008865 0.059907 [component_container_isolated-3] -0.191342 -0.009034 0.981482 0.017371 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.761660438] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.527,11.031,-0.102} [component_container_isolated-3] [DEBUG] [1762964992.761676028] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.028,0.026} {-0.532,11.421,0.126} [component_container_isolated-3] [DEBUG] [1762964992.761700615] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.764757353] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.764789073] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.764809112] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.764832336] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000016 -0.000094 -0.000104 [component_container_isolated-3] 0.000016 1.000000 -0.000040 0.000017 [component_container_isolated-3] 0.000094 0.000040 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] [1762964992.764845301] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.058} {0.189,-0.723,-0.106} [component_container_isolated-3] [DEBUG] [1762964992.764875909] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.764898622] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.764917338] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 0.000034 0.185121 -0.006966 [component_container_isolated-3] -0.000135 1.000000 0.000536 0.059869 [component_container_isolated-3] -0.185121 -0.000551 0.982716 0.017314 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.764939160] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.668,-0.008} [component_container_isolated-3] [DEBUG] [1762964992.764954369] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.201,11.392,0.098} [component_container_isolated-3] [DEBUG] [1762964992.764979988] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.790349007] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.790384064] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.790403731] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.790425974] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000019 -0.000508 0.001810 [component_container_isolated-3] -0.000019 1.000000 0.000032 0.000166 [component_container_isolated-3] 0.000508 -0.000032 1.000000 -0.002404 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.790438377] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.006} {0.095,0.175,0.285} [component_container_isolated-3] [DEBUG] [1762964992.790462153] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.790482702] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.790500516] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979104 -0.000016 0.203359 -0.006950 [component_container_isolated-3] 0.002413 0.999931 -0.011539 0.059697 [component_container_isolated-3] -0.203345 0.011789 0.979036 0.019125 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.790511377] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.690,11.733,0.141} [component_container_isolated-3] [DEBUG] [1762964992.790526706] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.005} {0.536,11.560,-0.152} [component_container_isolated-3] [DEBUG] [1762964992.790551253] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.795833952] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.795863288] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.795883917] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.795906841] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000066 -0.000007 0.000333 [component_container_isolated-3] 0.000066 1.000000 -0.000036 -0.000154 [component_container_isolated-3] 0.000008 0.000036 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] [1762964992.795928943] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.164,0.052,-0.205} [component_container_isolated-3] [DEBUG] [1762964992.795954462] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.795976153] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.795994468] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879405 0.000075 0.476074 -0.001083 [component_container_isolated-3] -0.004737 0.999952 0.008594 0.060205 [component_container_isolated-3] -0.476051 -0.009813 0.879363 0.018149 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.796006170] [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] [1762964992.796021249] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.365,28.377,-0.076} [component_container_isolated-3] [DEBUG] [1762964992.796045105] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.802285723] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.802327332] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.802349915] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.802375865] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000016 -0.000094 -0.000104 [component_container_isolated-3] 0.000016 1.000000 -0.000040 0.000017 [component_container_isolated-3] 0.000094 0.000040 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] [1762964992.802391435] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.057} {0.192,-0.729,-0.105} [component_container_isolated-3] [DEBUG] [1762964992.802417725] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.802442132] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.802460637] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 0.000034 0.185121 -0.006966 [component_container_isolated-3] -0.000135 1.000000 0.000536 0.059869 [component_container_isolated-3] -0.185121 -0.000551 0.982716 0.017314 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.802473201] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.668,-0.008} [component_container_isolated-3] [DEBUG] [1762964992.802488781] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.203,11.397,0.097} [component_container_isolated-3] [DEBUG] [1762964992.802514890] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.804320028] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.804348472] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.804369082] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.804391484] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000042 -0.000116 0.000938 [component_container_isolated-3] -0.000042 1.000000 0.000056 0.000306 [component_container_isolated-3] 0.000116 -0.000056 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] [1762964992.804404529] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.028,-0.024} {0.047,-0.394,-0.230} [component_container_isolated-3] [DEBUG] [1762964992.804428565] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.804451158] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.804469333] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 0.000043 0.191236 -0.006698 [component_container_isolated-3] -0.001782 0.999959 0.008921 0.059955 [component_container_isolated-3] -0.191228 -0.009097 0.981503 0.017258 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.804480334] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.531,11.024,-0.104} [component_container_isolated-3] [DEBUG] [1762964992.804495974] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.028,0.027} {-0.532,11.421,0.126} [component_container_isolated-3] [DEBUG] [1762964992.804521042] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.833410263] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.833438397] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.833456602] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.833476971] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000066 -0.000007 0.000333 [component_container_isolated-3] 0.000066 1.000000 -0.000036 -0.000154 [component_container_isolated-3] 0.000008 0.000036 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] [1762964992.833489244] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.162,0.052,-0.201} [component_container_isolated-3] [DEBUG] [1762964992.833511747] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.833531725] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.833548647] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879405 0.000075 0.476074 -0.001083 [component_container_isolated-3] -0.004737 0.999952 0.008594 0.060205 [component_container_isolated-3] -0.476051 -0.009813 0.879363 0.018149 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.833559127] [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] [1762964992.833573886] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.369,28.377,-0.080} [component_container_isolated-3] [DEBUG] [1762964992.833596990] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.834657485] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.834689106] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.834707030] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.834725515] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000106 0.000196 -0.000253 [component_container_isolated-3] -0.000106 1.000000 -0.000004 0.000021 [component_container_isolated-3] -0.000196 0.000004 1.000000 0.000264 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.834735835] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.006} {0.095,0.187,0.279} [component_container_isolated-3] [DEBUG] [1762964992.834755472] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.834771543] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.834784598] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979065 0.000089 0.203551 -0.006900 [component_container_isolated-3] 0.002309 0.999931 -0.011542 0.059699 [component_container_isolated-3] -0.203537 0.011771 0.978997 0.019051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.834792673] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.689,11.744,0.135} [component_container_isolated-3] [DEBUG] [1762964992.834803354] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.536,11.560,-0.152} [component_container_isolated-3] [DEBUG] [1762964992.834821378] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.846838819] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.846886570] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.846908151] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.846953728] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000039 0.000051 -0.000031 [component_container_isolated-3] -0.000039 1.000000 -0.000020 0.000038 [component_container_isolated-3] -0.000051 0.000020 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] [1762964992.846970330] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.058} {0.193,-0.726,-0.108} [component_container_isolated-3] [DEBUG] [1762964992.846996981] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.847020425] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.847038269] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000075 0.185171 -0.006963 [component_container_isolated-3] -0.000174 1.000000 0.000516 0.059901 [component_container_isolated-3] -0.185171 -0.000539 0.982706 0.017334 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.847049811] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.031,10.671,-0.010} [component_container_isolated-3] [DEBUG] [1762964992.847065231] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.203,11.397,0.097} [component_container_isolated-3] [DEBUG] [1762964992.847089758] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.852046374] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.852078826] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.852098503] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.852120175] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000106 0.000196 -0.000253 [component_container_isolated-3] -0.000106 1.000000 -0.000004 0.000021 [component_container_isolated-3] -0.000196 0.000004 1.000000 0.000264 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.852132448] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.006} {0.095,0.198,0.273} [component_container_isolated-3] [DEBUG] [1762964992.852155632] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.852175330] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.852191661] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979065 0.000089 0.203551 -0.006900 [component_container_isolated-3] 0.002309 0.999931 -0.011542 0.059699 [component_container_isolated-3] -0.203537 0.011771 0.978997 0.019051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.852201610] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.689,11.744,0.135} [component_container_isolated-3] [DEBUG] [1762964992.852214605] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.022,-0.006} {0.537,11.549,-0.146} [component_container_isolated-3] [DEBUG] [1762964992.852236797] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.854191560] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.854254571] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.854299226] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.854336758] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000136 0.000223 -0.000115 [component_container_isolated-3] 0.000136 1.000000 -0.000036 -0.000865 [component_container_isolated-3] -0.000223 0.000036 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] [1762964992.854357137] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.027,-0.024} {0.049,-0.381,-0.222} [component_container_isolated-3] [DEBUG] [1762964992.854400169] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.854436588] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.854463380] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981501 -0.000083 0.191455 -0.006654 [component_container_isolated-3] -0.001648 0.999959 0.008885 0.059783 [component_container_isolated-3] -0.191448 -0.009036 0.981461 0.017265 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.854479420] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.527,11.037,-0.096} [component_container_isolated-3] [DEBUG] [1762964992.854500621] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.027,0.026} {-0.532,11.421,0.126} [component_container_isolated-3] [DEBUG] [1762964992.854538323] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.864405346] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.864437538] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.864461854] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.864489858] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000087 -0.000157 -0.000386 [component_container_isolated-3] 0.000087 1.000000 0.000012 -0.000090 [component_container_isolated-3] 0.000157 -0.000012 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] [1762964992.864505447] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.162,0.043,-0.196} [component_container_isolated-3] [DEBUG] [1762964992.864533311] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.864558298] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.864579870] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879480 -0.000008 0.475937 -0.001118 [component_container_isolated-3] -0.004649 0.999952 0.008606 0.060192 [component_container_isolated-3] -0.475914 -0.009782 0.879438 0.018153 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.864594087] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.419,-0.303} [component_container_isolated-3] [DEBUG] [1762964992.864616129] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.369,28.377,-0.080} [component_container_isolated-3] [DEBUG] [1762964992.864647429] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.870286708] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.870328598] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.870352153] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.870378063] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000057 -0.000009 -0.000381 [component_container_isolated-3] -0.000058 1.000000 -0.000204 0.000399 [component_container_isolated-3] 0.000009 0.000204 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] [1762964992.870393212] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.027,-0.024} {0.061,-0.382,-0.225} [component_container_isolated-3] [DEBUG] [1762964992.870422678] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.870449569] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.870470569] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 0.000012 0.191446 -0.006638 [component_container_isolated-3] -0.001706 0.999961 0.008681 0.059771 [component_container_isolated-3] -0.191439 -0.008847 0.981465 0.017286 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.870483975] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.516,11.037,-0.100} [component_container_isolated-3] [DEBUG] [1762964992.870502460] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.028,0.026} {-0.532,11.421,0.126} [component_container_isolated-3] [DEBUG] [1762964992.870531666] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.876554849] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.876608291] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.876641154] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.876680128] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000041 0.000000 0.000075 [component_container_isolated-3] 0.000041 1.000000 -0.000041 0.000017 [component_container_isolated-3] -0.000000 0.000041 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] [1762964992.876702561] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.057} {0.195,-0.726,-0.105} [component_container_isolated-3] [DEBUG] [1762964992.876747036] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.876786291] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.876818102] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000043 0.185171 -0.006954 [component_container_isolated-3] -0.000133 1.000000 0.000475 0.059927 [component_container_isolated-3] -0.185171 -0.000492 0.982706 0.017371 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.876837008] [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] [1762964992.876866674] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.203,11.397,0.097} [component_container_isolated-3] [DEBUG] [1762964992.876912071] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.884490234] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.884552062] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.884590134] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.884632014] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000005 0.000085 -0.000022 [component_container_isolated-3] -0.000005 1.000000 0.000018 -0.000089 [component_container_isolated-3] -0.000085 -0.000018 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] [1762964992.884656511] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.163,0.048,-0.196} [component_container_isolated-3] [DEBUG] [1762964992.884702840] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.884745802] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.884782432] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879439 -0.000012 0.476011 -0.001135 [component_container_isolated-3] -0.004654 0.999952 0.008624 0.060170 [component_container_isolated-3] -0.475988 -0.009800 0.879397 0.018150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.884803462] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.424,-0.303} [component_container_isolated-3] [DEBUG] [1762964992.884833670] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.369,28.377,-0.080} [component_container_isolated-3] [DEBUG] [1762964992.884881731] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.887794985] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.887829571] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.887852545] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.887877082] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000062 -0.000147 0.000345 [component_container_isolated-3] 0.000062 1.000000 0.000108 -0.000131 [component_container_isolated-3] 0.000147 -0.000108 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] [1762964992.887891960] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.006} {0.089,0.189,0.277} [component_container_isolated-3] [DEBUG] [1762964992.887917980] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.887958357] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.887977073] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 0.000006 0.203406 -0.006793 [component_container_isolated-3] 0.002369 0.999932 -0.011434 0.059685 [component_container_isolated-3] -0.203393 0.011677 0.979028 0.018870 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.887988454] [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] [1762964992.888003453] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.022,-0.006} {0.537,11.549,-0.146} [component_container_isolated-3] [DEBUG] [1762964992.888027539] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.897722454] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.897788600] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.897831813] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.897880165] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000004 0.000069 -0.000032 [component_container_isolated-3] 0.000004 1.000000 0.000004 0.000000 [component_container_isolated-3] -0.000069 -0.000004 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] [1762964992.897907327] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.057} {0.195,-0.722,-0.105} [component_container_isolated-3] [DEBUG] [1762964992.897994854] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.898061892] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.898119612] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982694 0.000038 0.185238 -0.006949 [component_container_isolated-3] -0.000129 1.000000 0.000479 0.059951 [component_container_isolated-3] -0.185238 -0.000495 0.982693 0.017391 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.898154118] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.675,-0.008} [component_container_isolated-3] [DEBUG] [1762964992.898192522] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.203,11.397,0.097} [component_container_isolated-3] [DEBUG] [1762964992.898255672] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.901230994] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.901290999] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.901332308] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.901377434] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000161 -0.000165 -0.000730 [component_container_isolated-3] 0.000161 1.000000 -0.000082 -0.000628 [component_container_isolated-3] 0.000165 0.000081 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] [1762964992.901402772] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.027,-0.024} {0.065,-0.391,-0.216} [component_container_isolated-3] [DEBUG] [1762964992.901460663] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.901509997] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.901547409] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981535 -0.000131 0.191285 -0.006828 [component_container_isolated-3] -0.001543 0.999962 0.008599 0.059616 [component_container_isolated-3] -0.191279 -0.008736 0.981497 0.017314 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.901574030] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.510,11.027,-0.090} [component_container_isolated-3] [DEBUG] [1762964992.901607393] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.027,0.026} {-0.532,11.421,0.126} [component_container_isolated-3] [DEBUG] [1762964992.901676165] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.919635643] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.919701008] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.919748659] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.919796600] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000005 0.000085 -0.000022 [component_container_isolated-3] -0.000005 1.000000 0.000018 -0.000089 [component_container_isolated-3] -0.000085 -0.000018 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] [1762964992.919823912] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.164,0.053,-0.196} [component_container_isolated-3] [DEBUG] [1762964992.919875641] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.919949763] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.919992775] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879439 -0.000012 0.476011 -0.001135 [component_container_isolated-3] -0.004654 0.999952 0.008624 0.060170 [component_container_isolated-3] -0.475988 -0.009800 0.879397 0.018150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.920017272] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.424,-0.303} [component_container_isolated-3] [DEBUG] [1762964992.920047469] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.368,28.373,-0.080} [component_container_isolated-3] [DEBUG] [1762964992.920108897] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.927877994] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.927981622] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.928024544] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.928071042] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000031 -0.000020 -0.000314 [component_container_isolated-3] -0.000031 1.000000 -0.000141 0.000014 [component_container_isolated-3] 0.000020 0.000141 1.000000 0.000216 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.928097663] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.022,0.006} {0.097,0.188,0.275} [component_container_isolated-3] [DEBUG] [1762964992.928148160] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.928192504] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.928237100] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979099 0.000065 0.203386 -0.006746 [component_container_isolated-3] 0.002338 0.999930 -0.011576 0.059674 [component_container_isolated-3] -0.203373 0.011809 0.979030 0.018797 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.928266726] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.734,0.137} [component_container_isolated-3] [DEBUG] [1762964992.928306462] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.022,-0.006} {0.537,11.549,-0.146} [component_container_isolated-3] [DEBUG] [1762964992.928377007] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.942434293] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.942492604] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.942534053] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.942582185] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000101 -0.000037 0.000564 [component_container_isolated-3] -0.000101 1.000000 0.000108 0.000457 [component_container_isolated-3] 0.000037 -0.000108 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] [1762964992.942610900] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.027,-0.024} {0.059,-0.393,-0.222} [component_container_isolated-3] [DEBUG] [1762964992.942663360] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.942712093] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.942751699] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 -0.000052 0.191248 -0.006816 [component_container_isolated-3] -0.001643 0.999961 0.008708 0.059606 [component_container_isolated-3] -0.191241 -0.008861 0.981503 0.017287 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.942774262] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.517,11.025,-0.096} [component_container_isolated-3] [DEBUG] [1762964992.942804720] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.028,0.026} {-0.532,11.421,0.126} [component_container_isolated-3] [DEBUG] [1762964992.942854065] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.945024429] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.945086328] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.945126935] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.945173073] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000128 -0.000304 -0.000356 [component_container_isolated-3] 0.000128 1.000000 -0.000039 -0.001122 [component_container_isolated-3] 0.000305 0.000039 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] [1762964992.945199153] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.000,-0.058} {0.197,-0.739,-0.098} [component_container_isolated-3] [DEBUG] [1762964992.945251583] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.945298753] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.945337537] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982750 -0.000080 0.184939 -0.007069 [component_container_isolated-3] -0.000002 1.000000 0.000441 0.059662 [component_container_isolated-3] -0.184939 -0.000433 0.982750 0.017150 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.945360932] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.025,10.658,-0.000} [component_container_isolated-3] [DEBUG] [1762964992.945391801] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,0.000,0.057} {-0.203,11.397,0.097} [component_container_isolated-3] [DEBUG] [1762964992.945441826] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.970358481] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.970397365] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.970422203] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.970459344] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000055 0.000003 -0.000182 [component_container_isolated-3] 0.000055 1.000000 0.000009 0.000020 [component_container_isolated-3] -0.000003 -0.000009 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] [1762964992.970474683] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.165,0.053,-0.193} [component_container_isolated-3] [DEBUG] [1762964992.970503168] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.970528686] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.970550247] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879438 -0.000065 0.476013 -0.001171 [component_container_isolated-3] -0.004600 0.999952 0.008634 0.060157 [component_container_isolated-3] -0.475991 -0.009782 0.879396 0.018181 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.970563863] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.424,-0.300} [component_container_isolated-3] [DEBUG] [1762964992.970582639] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.368,28.373,-0.080} [component_container_isolated-3] [DEBUG] [1762964992.970612346] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.973606574] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.973672420] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.973711264] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.973757673] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 0.999998 0.000902 0.001541 -0.000299 [component_container_isolated-3] -0.000904 0.999999 0.001020 0.004251 [component_container_isolated-3] -0.001540 -0.001021 0.999998 0.004925 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.973782620] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.011} {0.039,0.277,0.223} [component_container_isolated-3] [DEBUG] [1762964992.973847905] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.973893913] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.973954258] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.978958 0.000221 0.204061 -0.006939 [component_container_isolated-3] 0.002096 0.999936 -0.011138 0.060122 [component_container_isolated-3] -0.204050 0.011331 0.978895 0.019808 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.973978244] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.663,11.774,0.123} [component_container_isolated-3] [DEBUG] [1762964992.974008592] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.010} {0.578,11.500,-0.108} [component_container_isolated-3] [DEBUG] [1762964992.974058628] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.980058546] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.980125684] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.980168416] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.980213312] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000049 0.000089 -0.000160 [component_container_isolated-3] -0.000049 1.000000 0.000107 0.000425 [component_container_isolated-3] -0.000089 -0.000107 1.000000 0.000266 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964992.980238500] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.028,-0.024} {0.053,-0.388,-0.225} [component_container_isolated-3] [DEBUG] [1762964992.980287103] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.980331157] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.980371634] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 -0.000024 0.191335 -0.006823 [component_container_isolated-3] -0.001694 0.999960 0.008815 0.059685 [component_container_isolated-3] -0.191328 -0.008976 0.981485 0.017304 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.980395379] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.524,11.030,-0.099} [component_container_isolated-3] [DEBUG] [1762964992.980426559] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.028,0.026} {-0.532,11.421,0.126} [component_container_isolated-3] [DEBUG] [1762964992.980475733] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964992.987006956] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964992.987071870] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964992.987114341] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964992.987161701] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000023 0.000267 0.000687 [component_container_isolated-3] -0.000023 1.000000 0.000052 0.000761 [component_container_isolated-3] -0.000267 -0.000052 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] [1762964992.987187972] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.058} {0.194,-0.724,-0.099} [component_container_isolated-3] [DEBUG] [1762964992.987239189] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964992.987283143] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964992.987319633] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 -0.000067 0.185202 -0.006961 [component_container_isolated-3] -0.000024 1.000000 0.000492 0.059697 [component_container_isolated-3] -0.185202 -0.000488 0.982700 0.017184 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964992.987343068] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.028,10.673,-0.001} [component_container_isolated-3] [DEBUG] [1762964992.987377423] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.203,11.397,0.097} [component_container_isolated-3] [DEBUG] [1762964992.987429463] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.006090932] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.006150145] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.006190672] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.006235107] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000055 0.000003 -0.000182 [component_container_isolated-3] 0.000055 1.000000 0.000009 0.000020 [component_container_isolated-3] -0.000003 -0.000009 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] [1762964993.006260295] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.166,0.053,-0.190} [component_container_isolated-3] [DEBUG] [1762964993.006308016] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.006349075] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.006384883] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879438 -0.000065 0.476013 -0.001171 [component_container_isolated-3] -0.004600 0.999952 0.008634 0.060157 [component_container_isolated-3] -0.475991 -0.009782 0.879396 0.018181 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.006407817] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.424,-0.300} [component_container_isolated-3] [DEBUG] [1762964993.006440158] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.006,-0.004} {-0.369,28.372,-0.083} [component_container_isolated-3] [DEBUG] [1762964993.006491066] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.008117782] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.008170373] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.008211652] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.008261497] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000228 -0.000646 0.000851 [component_container_isolated-3] 0.000228 1.000000 -0.000546 -0.001130 [component_container_isolated-3] 0.000646 0.000545 1.000000 -0.001989 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.008297566] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.009} {0.070,0.240,0.236} [component_container_isolated-3] [DEBUG] [1762964993.008276185] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.008408197] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.008355306] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.008448514] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.008487569] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.008530410] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000049 0.000089 -0.000160 [component_container_isolated-3] -0.000049 1.000000 0.000107 0.000425 [component_container_isolated-3] -0.000089 -0.000107 1.000000 0.000266 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.008637335] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.028,-0.023} {0.047,-0.383,-0.228} [component_container_isolated-3] [DEBUG] [1762964993.008571128] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979090 0.000109 0.203429 -0.006998 [component_container_isolated-3] 0.002317 0.999929 -0.011684 0.060028 [component_container_isolated-3] -0.203416 0.011911 0.979020 0.019460 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.008713680] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.008718860] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.697,11.737,0.136} [component_container_isolated-3] [DEBUG] [1762964993.008779376] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.019,-0.008} {0.578,11.500,-0.108} [component_container_isolated-3] [DEBUG] [1762964993.008772974] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.008828840] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.008863907] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 -0.000024 0.191335 -0.006823 [component_container_isolated-3] -0.001694 0.999960 0.008815 0.059685 [component_container_isolated-3] -0.191328 -0.008976 0.981485 0.017304 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.008889817] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.524,11.030,-0.099} [component_container_isolated-3] [DEBUG] [1762964993.008913642] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.028,0.026} {-0.526,11.416,0.129} [component_container_isolated-3] [DEBUG] [1762964993.008973316] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.014417994] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.014477839] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.014519328] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.014565927] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000120 0.000067 0.000117 [component_container_isolated-3] -0.000120 1.000000 0.000118 0.000232 [component_container_isolated-3] -0.000067 -0.000118 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] [1762964993.014592598] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.057} {0.187,-0.720,-0.106} [component_container_isolated-3] [DEBUG] [1762964993.014643916] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.014689633] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.014726754] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982688 0.000029 0.185267 -0.006880 [component_container_isolated-3] -0.000144 1.000000 0.000611 0.059759 [component_container_isolated-3] -0.185267 -0.000627 0.982688 0.017243 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.014753174] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.677,-0.008} [component_container_isolated-3] [DEBUG] [1762964993.014788883] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.203,11.397,0.097} [component_container_isolated-3] [DEBUG] [1762964993.014843868] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.024088192] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.024149058] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.024187963] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.024230283] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000049 0.000089 -0.000160 [component_container_isolated-3] -0.000049 1.000000 0.000107 0.000425 [component_container_isolated-3] -0.000089 -0.000107 1.000000 0.000266 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.024254450] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.028,-0.023} {0.041,-0.378,-0.230} [component_container_isolated-3] [DEBUG] [1762964993.024301419] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.024347357] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.024387564] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 -0.000024 0.191335 -0.006823 [component_container_isolated-3] -0.001694 0.999960 0.008815 0.059685 [component_container_isolated-3] -0.191328 -0.008976 0.981485 0.017304 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.024411780] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.524,11.030,-0.099} [component_container_isolated-3] [DEBUG] [1762964993.024444432] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.029,0.025} {-0.519,11.410,0.132} [component_container_isolated-3] [DEBUG] [1762964993.024494678] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.029609316] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.029672326] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.029714146] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.029764081] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000055 0.000003 -0.000182 [component_container_isolated-3] 0.000055 1.000000 0.000009 0.000020 [component_container_isolated-3] -0.000003 -0.000009 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] [1762964993.029792095] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.166,0.053,-0.187} [component_container_isolated-3] [DEBUG] [1762964993.029845397] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.029890393] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.029961759] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879438 -0.000065 0.476013 -0.001171 [component_container_isolated-3] -0.004600 0.999952 0.008634 0.060157 [component_container_isolated-3] -0.475991 -0.009782 0.879396 0.018181 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.029987007] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.424,-0.300} [component_container_isolated-3] [DEBUG] [1762964993.030018978] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.006,-0.005} {-0.370,28.372,-0.087} [component_container_isolated-3] [DEBUG] [1762964993.030072080] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.035003918] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.035070866] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.035111494] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.035155879] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 0.000041 -0.000059 [component_container_isolated-3] -0.000027 1.000000 0.000081 -0.000072 [component_container_isolated-3] -0.000041 -0.000081 1.000000 0.000074 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.035181828] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.009} {0.065,0.242,0.235} [component_container_isolated-3] [DEBUG] [1762964993.035232735] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.035274676] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.035309893] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000118 0.203468 -0.007004 [component_container_isolated-3] 0.002290 0.999930 -0.011604 0.059989 [component_container_isolated-3] -0.203456 0.011827 0.979013 0.019387 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.035335271] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.692,11.739,0.134} [component_container_isolated-3] [DEBUG] [1762964993.035369386] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.019,-0.008} {0.578,11.500,-0.108} [component_container_isolated-3] [DEBUG] [1762964993.035420264] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.039740424] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.039795549] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.039832500] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.040014447] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 0.000041 -0.000059 [component_container_isolated-3] -0.000027 1.000000 0.000081 -0.000072 [component_container_isolated-3] -0.000041 -0.000081 1.000000 0.000074 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.040043813] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.009} {0.061,0.244,0.233} [component_container_isolated-3] [DEBUG] [1762964993.040096364] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.040140959] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.040181096] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000118 0.203468 -0.007004 [component_container_isolated-3] 0.002290 0.999930 -0.011604 0.059989 [component_container_isolated-3] -0.203456 0.011827 0.979013 0.019387 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.040203518] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.692,11.739,0.134} [component_container_isolated-3] [DEBUG] [1762964993.040236461] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.019,-0.009} {0.583,11.497,-0.107} [component_container_isolated-3] [DEBUG] [1762964993.040285816] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.051696217] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.051753757] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.051792631] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.051835593] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000012 -0.000054 -0.000223 [component_container_isolated-3] 0.000012 1.000000 0.000025 -0.000038 [component_container_isolated-3] 0.000054 -0.000025 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] [1762964993.051860561] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.057} {0.186,-0.723,-0.105} [component_container_isolated-3] [DEBUG] [1762964993.051908051] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.051984227] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.052026898] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000012 0.185214 -0.006848 [component_container_isolated-3] -0.000133 1.000000 0.000636 0.059783 [component_container_isolated-3] -0.185214 -0.000650 0.982698 0.017317 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.052051886] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.038,10.674,-0.008} [component_container_isolated-3] [DEBUG] [1762964993.052082715] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.203,11.397,0.097} [component_container_isolated-3] [DEBUG] [1762964993.052133091] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.053079759] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.053131397] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.053170492] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.053213424] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000049 0.000089 -0.000160 [component_container_isolated-3] -0.000049 1.000000 0.000107 0.000425 [component_container_isolated-3] -0.000089 -0.000107 1.000000 0.000266 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.053238061] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.023} {0.035,-0.373,-0.233} [component_container_isolated-3] [DEBUG] [1762964993.053285662] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.053329516] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.053367558] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 -0.000024 0.191335 -0.006823 [component_container_isolated-3] -0.001694 0.999960 0.008815 0.059685 [component_container_isolated-3] -0.191328 -0.008976 0.981485 0.017304 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.053391745] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.524,11.030,-0.099} [component_container_isolated-3] [DEBUG] [1762964993.053426190] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.029,0.025} {-0.512,11.405,0.135} [component_container_isolated-3] [DEBUG] [1762964993.053480154] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.058107551] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.058159821] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.058197002] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.058238130] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000012 -0.000054 -0.000223 [component_container_isolated-3] 0.000012 1.000000 0.000025 -0.000038 [component_container_isolated-3] 0.000054 -0.000025 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] [1762964993.058262286] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.057} {0.184,-0.726,-0.105} [component_container_isolated-3] [DEBUG] [1762964993.058308695] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.058350214] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.058389670] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000012 0.185214 -0.006848 [component_container_isolated-3] -0.000133 1.000000 0.000636 0.059783 [component_container_isolated-3] -0.185214 -0.000650 0.982698 0.017317 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.058413114] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.038,10.674,-0.008} [component_container_isolated-3] [DEBUG] [1762964993.058446448] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.056} {-0.202,11.400,0.096} [component_container_isolated-3] [DEBUG] [1762964993.058500391] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.059775195] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.059829649] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.059870127] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.059914662] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000042 -0.000051 0.000182 [component_container_isolated-3] -0.000042 1.000000 0.000004 0.000079 [component_container_isolated-3] 0.000051 -0.000004 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] [1762964993.059984836] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.006,0.004} {-0.166,0.050,-0.189} [component_container_isolated-3] [DEBUG] [1762964993.060034901] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.060077212] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.060113311] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879462 -0.000030 0.475969 -0.001183 [component_container_isolated-3] -0.004641 0.999952 0.008638 0.060152 [component_container_isolated-3] -0.475946 -0.009806 0.879420 0.018178 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.060138008] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.639,28.421,-0.302} [component_container_isolated-3] [DEBUG] [1762964993.060171963] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.005} {-0.370,28.372,-0.087} [component_container_isolated-3] [DEBUG] [1762964993.060223953] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.083147882] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.083201123] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.083239296] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.083283030] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 0.000041 -0.000059 [component_container_isolated-3] -0.000027 1.000000 0.000081 -0.000072 [component_container_isolated-3] -0.000041 -0.000081 1.000000 0.000074 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.083308969] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.009} {0.056,0.246,0.232} [component_container_isolated-3] [DEBUG] [1762964993.083356280] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.083397048] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.083431984] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000118 0.203468 -0.007004 [component_container_isolated-3] 0.002290 0.999930 -0.011604 0.059989 [component_container_isolated-3] -0.203456 0.011827 0.979013 0.019387 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.083455149] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.692,11.739,0.134} [component_container_isolated-3] [DEBUG] [1762964993.083487570] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.019,-0.009} {0.588,11.495,-0.105} [component_container_isolated-3] [DEBUG] [1762964993.083535933] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.088992904] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.089052458] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.089092414] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.089136348] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000042 -0.000051 0.000182 [component_container_isolated-3] -0.000042 1.000000 0.000004 0.000079 [component_container_isolated-3] 0.000051 -0.000004 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] [1762964993.089162047] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.167,0.047,-0.192} [component_container_isolated-3] [DEBUG] [1762964993.089210039] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.089252590] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.089287717] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879462 -0.000030 0.475969 -0.001183 [component_container_isolated-3] -0.004641 0.999952 0.008638 0.060152 [component_container_isolated-3] -0.475946 -0.009806 0.879420 0.018178 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.089309960] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {-0.000,-0.000,-0.000} {-0.639,28.421,-0.302} [component_container_isolated-3] [DEBUG] [1762964993.089339887] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.368,28.375,-0.084} [component_container_isolated-3] [DEBUG] [1762964993.089447232] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.094841714] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.094907911] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.094988234] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.095035244] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000012 -0.000054 -0.000223 [component_container_isolated-3] 0.000012 1.000000 0.000025 -0.000038 [component_container_isolated-3] 0.000054 -0.000025 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] [1762964993.095060853] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.057} {0.183,-0.730,-0.104} [component_container_isolated-3] [DEBUG] [1762964993.095111540] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.095158850] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.095199057] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000012 0.185214 -0.006848 [component_container_isolated-3] -0.000133 1.000000 0.000636 0.059783 [component_container_isolated-3] -0.185214 -0.000650 0.982698 0.017317 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.095222351] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.038,10.674,-0.008} [component_container_isolated-3] [DEBUG] [1762964993.095260193] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.001,0.056} {-0.200,11.404,0.095} [component_container_isolated-3] [DEBUG] [1762964993.095309768] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.100033509] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.100091290] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.100133310] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.100177043] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000049 0.000089 -0.000160 [component_container_isolated-3] -0.000049 1.000000 0.000107 0.000425 [component_container_isolated-3] -0.000089 -0.000107 1.000000 0.000266 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.100202482] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.023} {0.029,-0.368,-0.236} [component_container_isolated-3] [DEBUG] [1762964993.100251185] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.100295770] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.100331869] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 -0.000024 0.191335 -0.006823 [component_container_isolated-3] -0.001694 0.999960 0.008815 0.059685 [component_container_isolated-3] -0.191328 -0.008976 0.981485 0.017304 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.100355254] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.524,11.030,-0.099} [component_container_isolated-3] [DEBUG] [1762964993.100385902] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.025} {-0.506,11.400,0.138} [component_container_isolated-3] [DEBUG] [1762964993.100443061] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.125886562] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.125996893] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.126041278] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.126090071] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 0.000041 -0.000059 [component_container_isolated-3] -0.000027 1.000000 0.000081 -0.000072 [component_container_isolated-3] -0.000041 -0.000081 1.000000 0.000074 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.126116942] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.009} {0.051,0.249,0.230} [component_container_isolated-3] [DEBUG] [1762964993.126166617] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.126212946] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.126252932] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000118 0.203468 -0.007004 [component_container_isolated-3] 0.002290 0.999930 -0.011604 0.059989 [component_container_isolated-3] -0.203456 0.011827 0.979013 0.019387 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.126275685] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.692,11.739,0.134} [component_container_isolated-3] [DEBUG] [1762964993.126306464] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.020,-0.009} {0.593,11.493,-0.104} [component_container_isolated-3] [DEBUG] [1762964993.126356049] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.132038090] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.132094358] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.132135957] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.132181935] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000153 0.000094 0.000248 [component_container_isolated-3] 0.000153 1.000000 -0.000221 -0.000257 [component_container_isolated-3] -0.000094 0.000221 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] [1762964993.132208456] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.154,0.053,-0.183} [component_container_isolated-3] [DEBUG] [1762964993.132257008] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.132299029] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.132337702] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879418 -0.000059 0.476051 -0.001149 [component_container_isolated-3] -0.004489 0.999954 0.008417 0.060102 [component_container_isolated-3] -0.476030 -0.009539 0.879377 0.018193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.132362540] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.621,28.426,-0.292} [component_container_isolated-3] [DEBUG] [1762964993.132392277] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.368,28.375,-0.084} [component_container_isolated-3] [DEBUG] [1762964993.132783995] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.138079889] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.138142258] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.138182885] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.138225948] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000012 -0.000054 -0.000223 [component_container_isolated-3] 0.000012 1.000000 0.000025 -0.000038 [component_container_isolated-3] 0.000054 -0.000025 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] [1762964993.138250765] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.057} {0.181,-0.733,-0.103} [component_container_isolated-3] [DEBUG] [1762964993.138299929] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.138342931] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.138378789] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000012 0.185214 -0.006848 [component_container_isolated-3] -0.000133 1.000000 0.000636 0.059783 [component_container_isolated-3] -0.185214 -0.000650 0.982698 0.017317 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.138404088] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.038,10.674,-0.008} [component_container_isolated-3] [DEBUG] [1762964993.138437482] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.001,0.056} {-0.199,11.407,0.095} [component_container_isolated-3] [DEBUG] [1762964993.138489381] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.149239340] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.149302832] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.149343259] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.149386131] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000032 -0.000096 -0.000047 [component_container_isolated-3] -0.000032 1.000000 -0.000016 -0.000095 [component_container_isolated-3] 0.000096 0.000016 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] [1762964993.149410988] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.023} {0.029,-0.373,-0.238} [component_container_isolated-3] [DEBUG] [1762964993.149460673] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.149504717] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.149540806] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 0.000010 0.191241 -0.006855 [component_container_isolated-3] -0.001725 0.999960 0.008799 0.059705 [component_container_isolated-3] -0.191233 -0.008966 0.981504 0.017229 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.149564531] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.523,11.025,-0.101} [component_container_isolated-3] [DEBUG] [1762964993.149598096] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.029,0.025} {-0.506,11.400,0.138} [component_container_isolated-3] [DEBUG] [1762964993.149652059] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.156263094] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.156346373] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.156388504] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.156436275] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 0.000041 -0.000059 [component_container_isolated-3] -0.000027 1.000000 0.000081 -0.000072 [component_container_isolated-3] -0.000041 -0.000081 1.000000 0.000074 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.156462214] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.010} {0.047,0.251,0.229} [component_container_isolated-3] [DEBUG] [1762964993.156510326] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.156560442] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.156608674] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000118 0.203468 -0.007004 [component_container_isolated-3] 0.002290 0.999930 -0.011604 0.059989 [component_container_isolated-3] -0.203456 0.011827 0.979013 0.019387 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.156634814] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.692,11.739,0.134} [component_container_isolated-3] [DEBUG] [1762964993.156665593] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.020,-0.009} {0.598,11.490,-0.102} [component_container_isolated-3] [DEBUG] [1762964993.156718534] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.164164684] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.164243094] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.164296546] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.164354667] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000153 0.000094 0.000248 [component_container_isolated-3] 0.000153 1.000000 -0.000221 -0.000257 [component_container_isolated-3] -0.000094 0.000221 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] [1762964993.164386177] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.141,0.058,-0.174} [component_container_isolated-3] [DEBUG] [1762964993.164440271] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.164483784] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.164521927] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879418 -0.000059 0.476051 -0.001149 [component_container_isolated-3] -0.004489 0.999954 0.008417 0.060102 [component_container_isolated-3] -0.476030 -0.009539 0.879377 0.018193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.164546153] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.621,28.426,-0.292} [component_container_isolated-3] [DEBUG] [1762964993.164576751] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.386,28.370,-0.094} [component_container_isolated-3] [DEBUG] [1762964993.164626025] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.178774115] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.178836804] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.178876290] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.178952756] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000012 -0.000054 -0.000223 [component_container_isolated-3] 0.000012 1.000000 0.000025 -0.000038 [component_container_isolated-3] 0.000054 -0.000025 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] [1762964993.178979988] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.001,-0.057} {0.180,-0.736,-0.103} [component_container_isolated-3] [DEBUG] [1762964993.179032759] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.179079498] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.179119334] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000012 0.185214 -0.006848 [component_container_isolated-3] -0.000133 1.000000 0.000636 0.059783 [component_container_isolated-3] -0.185214 -0.000650 0.982698 0.017317 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.179143290] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.038,10.674,-0.008} [component_container_isolated-3] [DEBUG] [1762964993.179174028] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.001,0.056} {-0.198,11.410,0.094} [component_container_isolated-3] [DEBUG] [1762964993.179224314] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.188809760] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.188875115] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.188917486] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.189005614] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000026 -0.000136 0.000215 [component_container_isolated-3] -0.000026 1.000000 0.000016 -0.000050 [component_container_isolated-3] 0.000136 -0.000016 1.000000 -0.000519 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.189032726] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.024} {0.029,-0.381,-0.239} [component_container_isolated-3] [DEBUG] [1762964993.189456215] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.189552439] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.189610850] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981569 0.000033 0.191107 -0.006880 [component_container_isolated-3] -0.001750 0.999960 0.008815 0.059718 [component_container_isolated-3] -0.191099 -0.008987 0.981530 0.017040 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.189647861] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.525,11.017,-0.102} [component_container_isolated-3] [DEBUG] [1762964993.189692506] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.029,0.026} {-0.506,11.400,0.138} [component_container_isolated-3] [DEBUG] [1762964993.189765836] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.192342748] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.192416989] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.192457046] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.192502943] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000153 0.000094 0.000248 [component_container_isolated-3] 0.000153 1.000000 -0.000221 -0.000257 [component_container_isolated-3] -0.000094 0.000221 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] [1762964993.192529294] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.129,0.063,-0.166} [component_container_isolated-3] [DEBUG] [1762964993.192578097] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.192620468] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.192657599] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879418 -0.000059 0.476051 -0.001149 [component_container_isolated-3] -0.004489 0.999954 0.008417 0.060102 [component_container_isolated-3] -0.476030 -0.009539 0.879377 0.018193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.192679841] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.621,28.426,-0.292} [component_container_isolated-3] [DEBUG] [1762964993.192713786] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.004} {-0.403,28.364,-0.104} [component_container_isolated-3] [DEBUG] [1762964993.192780243] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.203069142] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.203132042] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.203177209] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.203228296] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000005 0.000023 -0.000170 [component_container_isolated-3] -0.000005 1.000000 0.000024 0.000106 [component_container_isolated-3] -0.000023 -0.000024 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] [1762964993.203256761] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.010} {0.045,0.252,0.229} [component_container_isolated-3] [DEBUG] [1762964993.203309131] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.203355239] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.203392009] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 0.000118 0.203491 -0.007027 [component_container_isolated-3] 0.002286 0.999930 -0.011580 0.059974 [component_container_isolated-3] -0.203478 0.011803 0.979008 0.019351 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.203413931] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.691,11.740,0.134} [component_container_isolated-3] [DEBUG] [1762964993.203443467] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.009} {0.598,11.490,-0.102} [component_container_isolated-3] [DEBUG] [1762964993.203491649] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.215792311] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.215849189] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.215889666] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.215974188] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000036 0.000192 -0.000022 [component_container_isolated-3] 0.000036 1.000000 0.000065 0.000360 [component_container_isolated-3] -0.000192 -0.000065 1.000000 0.000822 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.216001490] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.023} {0.025,-0.370,-0.237} [component_container_isolated-3] [DEBUG] [1762964993.216052367] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.216101401] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.216138612] [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 -0.006866 [component_container_isolated-3] -0.001716 0.999959 0.008880 0.059804 [component_container_isolated-3] -0.191288 -0.009044 0.981492 0.017084 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.216162137] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.528,11.028,-0.100} [component_container_isolated-3] [DEBUG] [1762964993.216193767] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.025} {-0.506,11.400,0.138} [component_container_isolated-3] [DEBUG] [1762964993.216246448] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.216999276] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.217051045] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.217090901] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.217134304] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000005 0.000023 -0.000170 [component_container_isolated-3] -0.000005 1.000000 0.000024 0.000106 [component_container_isolated-3] -0.000023 -0.000024 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] [1762964993.217159472] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.010} {0.044,0.254,0.228} [component_container_isolated-3] [DEBUG] [1762964993.217204698] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.217246337] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.217280873] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 0.000118 0.203491 -0.007027 [component_container_isolated-3] 0.002286 0.999930 -0.011580 0.059974 [component_container_isolated-3] -0.203478 0.011803 0.979008 0.019351 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.217303517] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.691,11.740,0.134} [component_container_isolated-3] [DEBUG] [1762964993.217336670] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.009} {0.600,11.489,-0.102} [component_container_isolated-3] [DEBUG] [1762964993.217387667] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.220038209] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.220098364] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.220138250] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.220182244] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000002 -0.000085 -0.000262 [component_container_isolated-3] -0.000002 1.000000 -0.000040 0.000110 [component_container_isolated-3] 0.000085 0.000040 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] [1762964993.220207913] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.001,-0.057} {0.182,-0.741,-0.103} [component_container_isolated-3] [DEBUG] [1762964993.220258199] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.220305089] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.220344234] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000021 0.185131 -0.006867 [component_container_isolated-3] -0.000134 1.000000 0.000596 0.059823 [component_container_isolated-3] -0.185131 -0.000610 0.982714 0.017357 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.220368750] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964993.220402365] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.001,0.056} {-0.198,11.410,0.094} [component_container_isolated-3] [DEBUG] [1762964993.220454544] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.228797878] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.228847984] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.228887129] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.228957673] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000036 0.000192 -0.000022 [component_container_isolated-3] 0.000036 1.000000 0.000065 0.000360 [component_container_isolated-3] -0.000192 -0.000065 1.000000 0.000822 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.228984565] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.022} {0.021,-0.359,-0.235} [component_container_isolated-3] [DEBUG] [1762964993.229032787] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.229075318] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.229111096] [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 -0.006866 [component_container_isolated-3] -0.001716 0.999959 0.008880 0.059804 [component_container_isolated-3] -0.191288 -0.009044 0.981492 0.017084 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.229132297] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.528,11.028,-0.100} [component_container_isolated-3] [DEBUG] [1762964993.229162965] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.024} {-0.502,11.389,0.136} [component_container_isolated-3] [DEBUG] [1762964993.229211137] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.235038336] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.235106366] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.235147314] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.235194033] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000126 0.000064 -0.000103 [component_container_isolated-3] -0.000126 1.000000 0.000043 0.000214 [component_container_isolated-3] -0.000064 -0.000043 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] [1762964993.235220023] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.131,0.067,-0.173} [component_container_isolated-3] [DEBUG] [1762964993.235269217] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.235312569] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.235353307] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879387 0.000031 0.476108 -0.001134 [component_container_isolated-3] -0.004615 0.999954 0.008460 0.060099 [component_container_isolated-3] -0.476085 -0.009637 0.879346 0.018193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.235378345] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.628,28.430,-0.301} [component_container_isolated-3] [DEBUG] [1762964993.235410056] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.403,28.364,-0.104} [component_container_isolated-3] [DEBUG] [1762964993.235460091] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.253370826] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.253437263] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.253480215] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.253525833] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000020 0.000010 -0.000050 [component_container_isolated-3] 0.000020 1.000000 -0.000030 -0.000102 [component_container_isolated-3] -0.000010 0.000030 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] [1762964993.253552243] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.001,-0.057} {0.184,-0.740,-0.101} [component_container_isolated-3] [DEBUG] [1762964993.253602609] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.253646974] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.253687521] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000007 0.185141 -0.006883 [component_container_isolated-3] -0.000114 1.000000 0.000566 0.059845 [component_container_isolated-3] -0.185141 -0.000578 0.982712 0.017385 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.253712629] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.669,-0.007} [component_container_isolated-3] [DEBUG] [1762964993.253744961] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.001,0.056} {-0.198,11.410,0.094} [component_container_isolated-3] [DEBUG] [1762964993.253795347] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.257133632] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.257203566] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.257244484] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.257291534] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000036 -0.000003 0.000286 [component_container_isolated-3] 0.000036 1.000000 -0.000114 -0.000179 [component_container_isolated-3] 0.000003 0.000114 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] [1762964993.257317133] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.010} {0.051,0.254,0.230} [component_container_isolated-3] [DEBUG] [1762964993.257365786] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.257410611] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.257449916] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 0.000106 0.203488 -0.007013 [component_container_isolated-3] 0.002322 0.999929 -0.011693 0.059931 [component_container_isolated-3] -0.203475 0.011921 0.979008 0.019286 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.257474443] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.698,11.740,0.136} [component_container_isolated-3] [DEBUG] [1762964993.257506865] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.009} {0.600,11.489,-0.102} [component_container_isolated-3] [DEBUG] [1762964993.257555278] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.260386264] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.260423395] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.260447461] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.260475204] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000127 0.000031 -0.000019 [component_container_isolated-3] 0.000127 1.000000 0.000021 -0.000329 [component_container_isolated-3] -0.000031 -0.000021 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] [1762964993.260490553] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.132,0.069,-0.165} [component_container_isolated-3] [DEBUG] [1762964993.260520501] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.260546410] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.260568462] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879372 -0.000091 0.476135 -0.001123 [component_container_isolated-3] -0.004488 0.999954 0.008481 0.060038 [component_container_isolated-3] -0.476114 -0.009595 0.879331 0.018222 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.260584513] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.625,28.432,-0.292} [component_container_isolated-3] [DEBUG] [1762964993.260605904] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.005,-0.005} {-0.403,28.364,-0.104} [component_container_isolated-3] [DEBUG] [1762964993.260639989] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.262330147] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.262367508] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.262392425] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.262419968] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000020 0.000010 -0.000050 [component_container_isolated-3] 0.000020 1.000000 -0.000030 -0.000102 [component_container_isolated-3] -0.000010 0.000030 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] [1762964993.262435448] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.001,-0.057} {0.186,-0.739,-0.100} [component_container_isolated-3] [DEBUG] [1762964993.262464223] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.262490553] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.262512234] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000007 0.185141 -0.006883 [component_container_isolated-3] -0.000114 1.000000 0.000566 0.059845 [component_container_isolated-3] -0.185141 -0.000578 0.982712 0.017385 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.262525860] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.669,-0.007} [component_container_isolated-3] [DEBUG] [1762964993.262544887] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.001,0.056} {-0.200,11.409,0.093} [component_container_isolated-3] [DEBUG] [1762964993.262575535] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.268043688] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.268082833] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.268106749] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.268133419] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000086 0.000174 -0.000484 [component_container_isolated-3] -0.000086 1.000000 0.000033 0.000503 [component_container_isolated-3] -0.000174 -0.000033 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] [1762964993.268148498] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.021} {0.019,-0.349,-0.240} [component_container_isolated-3] [DEBUG] [1762964993.268176862] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.268203403] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.268224624] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981499 0.000064 0.191467 -0.006890 [component_container_isolated-3] -0.001804 0.999959 0.008913 0.060005 [component_container_isolated-3] -0.191458 -0.009093 0.981459 0.017415 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.268238680] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.531,11.038,-0.105} [component_container_isolated-3] [DEBUG] [1762964993.268257316] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.023} {-0.502,11.389,0.136} [component_container_isolated-3] [DEBUG] [1762964993.268286362] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.289116181] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.289152100] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.289176547] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.289202356] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000127 0.000031 -0.000019 [component_container_isolated-3] 0.000127 1.000000 0.000021 -0.000329 [component_container_isolated-3] -0.000031 -0.000021 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] [1762964993.289217355] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.133,0.071,-0.158} [component_container_isolated-3] [DEBUG] [1762964993.289245458] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.289270767] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.289291647] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879372 -0.000091 0.476135 -0.001123 [component_container_isolated-3] -0.004488 0.999954 0.008481 0.060038 [component_container_isolated-3] -0.476114 -0.009595 0.879331 0.018222 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.289304752] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.625,28.432,-0.292} [component_container_isolated-3] [DEBUG] [1762964993.289322225] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.005} {-0.406,28.362,-0.112} [component_container_isolated-3] [DEBUG] [1762964993.289351481] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.291645432] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.291693534] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.291723250] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.291758818] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000116 0.000008 -0.000768 [component_container_isolated-3] -0.000116 1.000000 0.000086 0.000579 [component_container_isolated-3] -0.000008 -0.000086 1.000000 0.000540 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.291780009] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.019,0.010} {0.046,0.254,0.224} [component_container_isolated-3] [DEBUG] [1762964993.291819033] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.291853098] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.291883897] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979076 0.000202 0.203496 -0.007157 [component_container_isolated-3] 0.002206 0.999930 -0.011607 0.060004 [component_container_isolated-3] -0.203484 0.011814 0.979007 0.019341 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.291901561] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.691,11.741,0.129} [component_container_isolated-3] [DEBUG] [1762964993.291950314] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.010} {0.600,11.489,-0.102} [component_container_isolated-3] [DEBUG] [1762964993.291991513] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.314585141] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.314649454] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.314688589] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.314731871] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000006 -0.000169 0.000280 [component_container_isolated-3] -0.000006 1.000000 0.000019 -0.000039 [component_container_isolated-3] 0.000169 -0.000019 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] [1762964993.314756679] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.022} {0.018,-0.359,-0.241} [component_container_isolated-3] [DEBUG] [1762964993.314803618] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.314848033] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.314887388] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000066 0.191301 -0.006894 [component_container_isolated-3] -0.001808 0.999958 0.008932 0.060074 [component_container_isolated-3] -0.191292 -0.009113 0.981491 0.017465 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.314910783] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.532,11.028,-0.106} [component_container_isolated-3] [DEBUG] [1762964993.314976769] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.024} {-0.502,11.389,0.136} [component_container_isolated-3] [DEBUG] [1762964993.315029680] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.320572576] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.320643661] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.320684319] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.320729135] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000023 -0.000066 0.000258 [component_container_isolated-3] 0.000023 1.000000 -0.000079 -0.000024 [component_container_isolated-3] 0.000066 0.000079 1.000000 -0.000356 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.320754443] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.001,-0.057} {0.190,-0.743,-0.099} [component_container_isolated-3] [DEBUG] [1762964993.320803106] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.320846609] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.320886144] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982724 -0.000001 0.185076 -0.006874 [component_container_isolated-3] -0.000091 1.000000 0.000487 0.059858 [component_container_isolated-3] -0.185076 -0.000496 0.982724 0.017357 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.320911242] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.666,-0.005} [component_container_isolated-3] [DEBUG] [1762964993.320972820] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.200,11.409,0.093} [component_container_isolated-3] [DEBUG] [1762964993.321031191] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.342466177] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.342546681] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.342587839] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.342635120] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000377 -0.000220 0.000062 [component_container_isolated-3] -0.000377 1.000000 0.000338 0.000737 [component_container_isolated-3] 0.000220 -0.000338 1.000000 -0.000439 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.342661440] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.004} {-0.153,0.058,-0.180} [component_container_isolated-3] [DEBUG] [1762964993.342710574] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.342758074] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.342799353] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879477 0.000079 0.475942 -0.001130 [component_container_isolated-3] -0.004863 0.999949 0.008820 0.060153 [component_container_isolated-3] -0.475917 -0.010071 0.879433 0.018153 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.342823539] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.656,28.419,-0.317} [component_container_isolated-3] [DEBUG] [1762964993.342854088] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.406,28.362,-0.112} [component_container_isolated-3] [DEBUG] [1762964993.342903362] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.343971682] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.344022880] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.344060863] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.344104406] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000006 -0.000169 0.000280 [component_container_isolated-3] -0.000006 1.000000 0.000019 -0.000039 [component_container_isolated-3] 0.000169 -0.000019 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] [1762964993.344129504] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.022} {0.017,-0.369,-0.241} [component_container_isolated-3] [DEBUG] [1762964993.344176043] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.344224084] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.344264592] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000066 0.191301 -0.006894 [component_container_isolated-3] -0.001808 0.999958 0.008932 0.060074 [component_container_isolated-3] -0.191292 -0.009113 0.981491 0.017465 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.344288728] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.532,11.028,-0.106} [component_container_isolated-3] [DEBUG] [1762964993.344319887] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.024} {-0.501,11.399,0.137} [component_container_isolated-3] [DEBUG] [1762964993.344369712] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.351594019] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.351663361] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.351702937] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.351747652] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000167 -0.000111 0.000860 [component_container_isolated-3] 0.000167 1.000000 0.000033 -0.000532 [component_container_isolated-3] 0.000111 -0.000033 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] [1762964993.351773361] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.010} {0.044,0.248,0.233} [component_container_isolated-3] [DEBUG] [1762964993.351821423] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.351864315] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.351904452] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 0.000031 0.203387 -0.007085 [component_container_isolated-3] 0.002373 0.999930 -0.011575 0.059947 [component_container_isolated-3] -0.203374 0.011815 0.979030 0.019215 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.351964446] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.691,11.734,0.139} [component_container_isolated-3] [DEBUG] [1762964993.351995937] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.019,-0.009} {0.600,11.489,-0.102} [component_container_isolated-3] [DEBUG] [1762964993.352046714] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.359781024] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.359835098] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.359810320] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.359909660] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.359986457] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.360031593] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000167 -0.000111 0.000860 [component_container_isolated-3] 0.000167 1.000000 0.000033 -0.000532 [component_container_isolated-3] 0.000111 -0.000033 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] [1762964993.360056270] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.020,0.009} {0.042,0.241,0.243} [component_container_isolated-3] [DEBUG] [1762964993.360105604] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.360146793] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.360184044] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 0.000031 0.203387 -0.007085 [component_container_isolated-3] 0.002373 0.999930 -0.011575 0.059947 [component_container_isolated-3] -0.203374 0.011815 0.979030 0.019215 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.360205976] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.691,11.734,0.139} [component_container_isolated-3] [DEBUG] [1762964993.360236163] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.020,-0.008} {0.600,11.496,-0.112} [component_container_isolated-3] [DEBUG] [1762964993.360367765] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.359860366] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.360572826] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000109 -0.000256 -0.000513 [component_container_isolated-3] 0.000109 1.000000 -0.000036 -0.000910 [component_container_isolated-3] 0.000256 0.000036 1.000000 -0.000722 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.360588707] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,-0.000,-0.058} {0.192,-0.758,-0.093} [component_container_isolated-3] [DEBUG] [1762964993.360620337] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.360644363] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.360661736] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982771 -0.000101 0.184825 -0.007008 [component_container_isolated-3] 0.000018 1.000000 0.000451 0.059634 [component_container_isolated-3] -0.184825 -0.000440 0.982771 0.017154 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.360672186] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.026,10.651,0.001} [component_container_isolated-3] [DEBUG] [1762964993.360685732] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,0.000,0.057} {-0.200,11.409,0.093} [component_container_isolated-3] [DEBUG] [1762964993.360709077] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.360911693] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.360989953] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.361030310] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.361073863] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000006 -0.000169 0.000280 [component_container_isolated-3] -0.000006 1.000000 0.000019 -0.000039 [component_container_isolated-3] 0.000169 -0.000019 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] [1762964993.361098109] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.022} {0.016,-0.378,-0.241} [component_container_isolated-3] [DEBUG] [1762964993.361146322] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.361190336] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.361225713] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000066 0.191301 -0.006894 [component_container_isolated-3] -0.001808 0.999958 0.008932 0.060074 [component_container_isolated-3] -0.191292 -0.009113 0.981491 0.017465 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.361248276] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.532,11.028,-0.106} [component_container_isolated-3] [DEBUG] [1762964993.361282361] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.025} {-0.500,11.409,0.137} [component_container_isolated-3] [DEBUG] [1762964993.361332848] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.368808204] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.368875883] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.368916190] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.368984260] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000205 0.000090 0.000043 [component_container_isolated-3] 0.000205 1.000000 -0.000335 -0.000367 [component_container_isolated-3] -0.000090 0.000335 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] [1762964993.369010580] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.134,0.063,-0.168} [component_container_isolated-3] [DEBUG] [1762964993.369062009] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.369108297] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.369146330] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879434 0.000058 0.476021 -0.001120 [component_container_isolated-3] -0.004659 0.999953 0.008485 0.060140 [component_container_isolated-3] -0.475998 -0.009680 0.879393 0.018166 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.369168803] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.631,28.424,-0.304} [component_container_isolated-3] [DEBUG] [1762964993.369198710] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.005,-0.004} {-0.406,28.362,-0.112} [component_container_isolated-3] [DEBUG] [1762964993.369247653] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.383431130] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.383474543] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.383500042] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.383527254] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000161 0.000153 0.000213 [component_container_isolated-3] -0.000161 1.000000 0.000122 0.001026 [component_container_isolated-3] -0.000153 -0.000122 1.000000 0.000846 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.383543184] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.001,-0.057} {0.185,-0.749,-0.102} [component_container_isolated-3] [DEBUG] [1762964993.383573362] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.383599582] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.383622486] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982743 0.000034 0.184975 -0.007003 [component_container_isolated-3] -0.000143 1.000000 0.000573 0.059770 [component_container_isolated-3] -0.184975 -0.000590 0.982743 0.017205 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.383636913] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.660,-0.008} [component_container_isolated-3] [DEBUG] [1762964993.383655669] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.001,0.056} {-0.200,11.409,0.093} [component_container_isolated-3] [DEBUG] [1762964993.383686468] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.388056333] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.388125024] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.388166383] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.388211720] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000282 0.000279 -0.000912 [component_container_isolated-3] -0.000282 1.000000 -0.000066 0.000477 [component_container_isolated-3] -0.000279 0.000066 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] [1762964993.388237850] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.010} {0.046,0.257,0.227} [component_container_isolated-3] [DEBUG] [1762964993.388287926] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.388330968] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.388369030] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979076 0.000063 0.203494 -0.007068 [component_container_isolated-3] 0.002309 0.999932 -0.011419 0.059933 [component_container_isolated-3] -0.203481 0.011649 0.979010 0.019169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.388397284] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.682,11.741,0.135} [component_container_isolated-3] [DEBUG] [1762964993.388434145] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.009} {0.589,11.486,-0.099} [component_container_isolated-3] [DEBUG] [1762964993.388493829] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.400983601] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.401049757] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.401090776] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.401134780] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000069 0.000045 -0.000107 [component_container_isolated-3] 0.000069 1.000000 -0.000212 -0.000480 [component_container_isolated-3] -0.000045 0.000212 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] [1762964993.401162192] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.022} {0.028,-0.376,-0.237} [component_container_isolated-3] [DEBUG] [1762964993.401213881] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.401260710] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.401300256] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981523 0.000039 0.191345 -0.006908 [component_container_isolated-3] -0.001740 0.999960 0.008719 0.060093 [component_container_isolated-3] -0.191337 -0.008891 0.981484 0.017506 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.401322969] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.519,11.031,-0.102} [component_container_isolated-3] [DEBUG] [1762964993.401354560] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.025} {-0.500,11.409,0.137} [component_container_isolated-3] [DEBUG] [1762964993.401404275] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.403018718] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.403074665] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.403116194] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.403162633] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000007 -0.000017 0.000037 [component_container_isolated-3] 0.000007 1.000000 0.000081 -0.000041 [component_container_isolated-3] 0.000017 -0.000081 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] [1762964993.403189424] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.138,0.062,-0.168} [component_container_isolated-3] [DEBUG] [1762964993.403239028] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.403282872] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.403319232] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879442 0.000013 0.476006 -0.001112 [component_container_isolated-3] -0.004651 0.999952 0.008566 0.060133 [component_container_isolated-3] -0.475984 -0.009748 0.879400 0.018152 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.403342346] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.635,28.423,-0.303} [component_container_isolated-3] [DEBUG] [1762964993.403374487] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.005,-0.004} {-0.406,28.362,-0.112} [component_container_isolated-3] [DEBUG] [1762964993.403427218] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.409960876] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.410017884] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.410058272] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.410102987] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000031 0.000150 0.000383 [component_container_isolated-3] -0.000031 1.000000 0.000040 0.000219 [component_container_isolated-3] -0.000150 -0.000040 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] [1762964993.410128035] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.001,-0.057} {0.183,-0.740,-0.104} [component_container_isolated-3] [DEBUG] [1762964993.410178010] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.410221193] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.410259606] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982715 0.000057 0.185123 -0.006941 [component_container_isolated-3] -0.000174 1.000000 0.000614 0.059869 [component_container_isolated-3] -0.185123 -0.000635 0.982715 0.017232 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.410284534] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.668,-0.010} [component_container_isolated-3] [DEBUG] [1762964993.410318148] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.001,0.056} {-0.200,11.409,0.093} [component_container_isolated-3] [DEBUG] [1762964993.410374085] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.440954736] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.441016565] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.441055218] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.441098771] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000006 0.000026 -0.000017 [component_container_isolated-3] -0.000006 1.000000 0.000002 0.000061 [component_container_isolated-3] -0.000026 -0.000002 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] [1762964993.441123709] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.138,0.064,-0.168} [component_container_isolated-3] [DEBUG] [1762964993.441184545] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.441231174] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.441270229] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879430 0.000018 0.476029 -0.001103 [component_container_isolated-3] -0.004658 0.999952 0.008568 0.060133 [component_container_isolated-3] -0.476006 -0.009752 0.879388 0.018146 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.441293223] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.635,28.425,-0.303} [component_container_isolated-3] [DEBUG] [1762964993.441323911] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.005,-0.004} {-0.406,28.362,-0.112} [component_container_isolated-3] [DEBUG] [1762964993.441375099] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.441985375] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.442036633] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.442079244] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.442128969] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000041 0.000085 -0.000177 [component_container_isolated-3] 0.000041 1.000000 0.000003 -0.000033 [component_container_isolated-3] -0.000085 -0.000003 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] [1762964993.442156000] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.010} {0.045,0.262,0.229} [component_container_isolated-3] [DEBUG] [1762964993.442204112] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.442244740] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.442280228] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979059 0.000022 0.203578 -0.007072 [component_container_isolated-3] 0.002351 0.999932 -0.011415 0.059912 [component_container_isolated-3] -0.203564 0.011654 0.978992 0.019152 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.442300887] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.682,11.745,0.138} [component_container_isolated-3] [DEBUG] [1762964993.442330534] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.020,-0.009} {0.589,11.486,-0.099} [component_container_isolated-3] [DEBUG] [1762964993.442383355] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.452011262] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.452069292] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.452111643] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.452156850] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000046 0.000084 0.000065 [component_container_isolated-3] 0.000046 1.000000 -0.000052 -0.000364 [component_container_isolated-3] -0.000084 0.000052 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] [1762964993.452181978] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.001,-0.057} {0.186,-0.736,-0.101} [component_container_isolated-3] [DEBUG] [1762964993.452232394] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.452276137] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.452313008] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982700 0.000022 0.185205 -0.006901 [component_container_isolated-3] -0.000128 1.000000 0.000562 0.059884 [component_container_isolated-3] -0.185205 -0.000576 0.982700 0.017262 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.452337164] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.673,-0.007} [component_container_isolated-3] [DEBUG] [1762964993.452371369] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.200,11.409,0.093} [component_container_isolated-3] [DEBUG] [1762964993.452423679] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.458643989] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.458713091] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.458754169] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.458798664] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000021 0.000145 0.000072 [component_container_isolated-3] 0.000021 1.000000 0.000124 0.000056 [component_container_isolated-3] -0.000145 -0.000124 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] [1762964993.458824724] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.022} {0.021,-0.367,-0.236} [component_container_isolated-3] [DEBUG] [1762964993.458872796] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.458963078] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.459006792] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981495 -0.000006 0.191487 -0.006913 [component_container_isolated-3] -0.001719 0.999959 0.008843 0.060108 [component_container_isolated-3] -0.191480 -0.009009 0.981455 0.017522 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.459031399] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.526,11.039,-0.100} [component_container_isolated-3] [DEBUG] [1762964993.459065113] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.025} {-0.500,11.409,0.137} [component_container_isolated-3] [DEBUG] [1762964993.459118074] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.460058510] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.460106341] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.460143512] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.460185973] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000006 0.000026 -0.000017 [component_container_isolated-3] -0.000006 1.000000 0.000002 0.000061 [component_container_isolated-3] -0.000026 -0.000002 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] [1762964993.460211883] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.139,0.065,-0.168} [component_container_isolated-3] [DEBUG] [1762964993.460259203] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.460304400] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.460343725] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879430 0.000018 0.476029 -0.001103 [component_container_isolated-3] -0.004658 0.999952 0.008568 0.060133 [component_container_isolated-3] -0.476006 -0.009752 0.879388 0.018146 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.460367600] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.635,28.425,-0.303} [component_container_isolated-3] [DEBUG] [1762964993.460400102] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.005,-0.004} {-0.406,28.361,-0.112} [component_container_isolated-3] [DEBUG] [1762964993.460451961] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.466328594] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.466387577] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.466425900] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.466468111] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000070 0.000040 -0.000452 [component_container_isolated-3] -0.000070 1.000000 -0.000178 0.000153 [component_container_isolated-3] -0.000040 0.000178 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] [1762964993.466492838] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.019,0.010} {0.056,0.264,0.225} [component_container_isolated-3] [DEBUG] [1762964993.466540118] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.466580105] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.466615482] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979051 0.000127 0.203617 -0.007153 [component_container_isolated-3] 0.002281 0.999930 -0.011593 0.059907 [component_container_isolated-3] -0.203604 0.011814 0.978982 0.019197 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.466637404] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.691,11.748,0.134} [component_container_isolated-3] [DEBUG] [1762964993.466667441] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.009} {0.589,11.486,-0.099} [component_container_isolated-3] [DEBUG] [1762964993.466715112] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.466802760] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.466851483] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.466891680] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.466966062] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000021 0.000145 0.000072 [component_container_isolated-3] 0.000021 1.000000 0.000124 0.000056 [component_container_isolated-3] -0.000145 -0.000124 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] [1762964993.466994516] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.022} {0.014,-0.359,-0.235} [component_container_isolated-3] [DEBUG] [1762964993.467042989] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.467097072] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.467136828] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981495 -0.000006 0.191487 -0.006913 [component_container_isolated-3] -0.001719 0.999959 0.008843 0.060108 [component_container_isolated-3] -0.191480 -0.009009 0.981455 0.017522 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.467159591] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.526,11.039,-0.100} [component_container_isolated-3] [DEBUG] [1762964993.467190360] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.025} {-0.493,11.400,0.136} [component_container_isolated-3] [DEBUG] [1762964993.467240816] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.471847905] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.471904152] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.471977322] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.472023180] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000046 0.000084 0.000065 [component_container_isolated-3] 0.000046 1.000000 -0.000052 -0.000364 [component_container_isolated-3] -0.000084 0.000052 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] [1762964993.472047736] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.189,-0.731,-0.099} [component_container_isolated-3] [DEBUG] [1762964993.472097161] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.472143469] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.472183516] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982700 0.000022 0.185205 -0.006901 [component_container_isolated-3] -0.000128 1.000000 0.000562 0.059884 [component_container_isolated-3] -0.185205 -0.000576 0.982700 0.017262 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.472207151] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.673,-0.007} [component_container_isolated-3] [DEBUG] [1762964993.472240064] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.203,11.404,0.090} [component_container_isolated-3] [DEBUG] [1762964993.472289007] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.496013586] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.496067308] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.496106343] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.496150477] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000021 0.000145 0.000072 [component_container_isolated-3] 0.000021 1.000000 0.000124 0.000056 [component_container_isolated-3] -0.000145 -0.000124 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] [1762964993.496175986] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.022} {0.007,-0.351,-0.234} [component_container_isolated-3] [DEBUG] [1762964993.496223516] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.496271228] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.496311755] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981495 -0.000006 0.191487 -0.006913 [component_container_isolated-3] -0.001719 0.999959 0.008843 0.060108 [component_container_isolated-3] -0.191480 -0.009009 0.981455 0.017522 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.496334649] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.526,11.039,-0.100} [component_container_isolated-3] [DEBUG] [1762964993.496364977] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.025} {-0.486,11.392,0.135} [component_container_isolated-3] [DEBUG] [1762964993.496414641] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.498778506] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.498840705] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.498884979] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.498961084] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000076 -0.000122 0.000516 [component_container_isolated-3] 0.000076 1.000000 0.000052 -0.000112 [component_container_isolated-3] 0.000122 -0.000052 1.000000 -0.000399 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.498989809] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.010} {0.053,0.257,0.229} [component_container_isolated-3] [DEBUG] [1762964993.499041498] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.499084109] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.499119617] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979075 0.000042 0.203497 -0.007139 [component_container_isolated-3] 0.002355 0.999931 -0.011541 0.059892 [component_container_isolated-3] -0.203484 0.011779 0.979007 0.019133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.499143062] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.689,11.741,0.138} [component_container_isolated-3] [DEBUG] [1762964993.499175494] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.009} {0.589,11.486,-0.099} [component_container_isolated-3] [DEBUG] [1762964993.499225119] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.502254043] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.502313978] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.502356228] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.502401846] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000091 -0.000088 -0.000068 [component_container_isolated-3] -0.000091 1.000000 0.000149 0.000182 [component_container_isolated-3] 0.000088 -0.000149 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] [1762964993.502428376] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.147,0.060,-0.173} [component_container_isolated-3] [DEBUG] [1762964993.502477710] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.502525161] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.502565358] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879472 0.000027 0.475952 -0.001104 [component_container_isolated-3] -0.004748 0.999951 0.008717 0.060161 [component_container_isolated-3] -0.475928 -0.009927 0.879428 0.018130 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.502589885] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.647,28.420,-0.309} [component_container_isolated-3] [DEBUG] [1762964993.502622297] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.406,28.361,-0.112} [component_container_isolated-3] [DEBUG] [1762964993.502672502] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.518107429] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.518168316] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.518208152] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.518251404] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000091 -0.000088 -0.000068 [component_container_isolated-3] -0.000091 1.000000 0.000149 0.000182 [component_container_isolated-3] 0.000088 -0.000149 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] [1762964993.518275861] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.156,0.055,-0.179} [component_container_isolated-3] [DEBUG] [1762964993.518323702] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.518366875] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.518401822] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879472 0.000027 0.475952 -0.001104 [component_container_isolated-3] -0.004748 0.999951 0.008717 0.060161 [component_container_isolated-3] -0.475928 -0.009927 0.879428 0.018130 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.518425457] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.647,28.420,-0.309} [component_container_isolated-3] [DEBUG] [1762964993.518457789] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.004} {-0.394,28.366,-0.106} [component_container_isolated-3] [DEBUG] [1762964993.518512603] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.521478798] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.521537350] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.521578689] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.521624606] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000079 -0.000188 -0.000037 [component_container_isolated-3] -0.000079 1.000000 0.000117 0.000512 [component_container_isolated-3] 0.000188 -0.000117 1.000000 -0.000333 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.521650386] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.001,-0.057} {0.182,-0.742,-0.103} [component_container_isolated-3] [DEBUG] [1762964993.521700331] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.521745167] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.521784201] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982735 0.000078 0.185020 -0.006882 [component_container_isolated-3] -0.000207 1.000000 0.000679 0.060006 [component_container_isolated-3] -0.185020 -0.000706 0.982734 0.017236 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.521809560] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.041,10.662,-0.012} [component_container_isolated-3] [DEBUG] [1762964993.521844085] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.203,11.404,0.090} [component_container_isolated-3] [DEBUG] [1762964993.521898289] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.531082980] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.531145439] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.531182009] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.531223748] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000035 0.000070 -0.000605 [component_container_isolated-3] 0.000035 1.000000 0.000037 0.000068 [component_container_isolated-3] -0.000070 -0.000037 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] [1762964993.531248636] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.019,0.010} {0.051,0.262,0.231} [component_container_isolated-3] [DEBUG] [1762964993.531295014] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.531336223] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.531372062] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979061 0.000000 0.203566 -0.007228 [component_container_isolated-3] 0.002392 0.999931 -0.011504 0.059887 [component_container_isolated-3] -0.203552 0.011750 0.978994 0.019219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.531395707] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.688,11.745,0.140} [component_container_isolated-3] [DEBUG] [1762964993.531428840] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.010} {0.589,11.486,-0.099} [component_container_isolated-3] [DEBUG] [1762964993.531480809] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.542684446] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.542742607] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.542786050] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.542829994] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000044 -0.000229 0.000812 [component_container_isolated-3] 0.000044 1.000000 0.000065 -0.000182 [component_container_isolated-3] 0.000229 -0.000065 1.000000 -0.000874 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.542855402] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.030,-0.023} {0.003,-0.364,-0.231} [component_container_isolated-3] [DEBUG] [1762964993.542904516] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.542979940] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.543018944] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981539 -0.000062 0.191262 -0.006757 [component_container_isolated-3] -0.001673 0.999959 0.008908 0.060099 [component_container_isolated-3] -0.191255 -0.009064 0.981499 0.017293 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.543043191] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.529,11.026,-0.098} [component_container_isolated-3] [DEBUG] [1762964993.543075272] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.026} {-0.486,11.392,0.135} [component_container_isolated-3] [DEBUG] [1762964993.543126540] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.547171224] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.547234715] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.547274081] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.547318606] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000026 0.000113 -0.000298 [component_container_isolated-3] 0.000026 1.000000 -0.000091 -0.000322 [component_container_isolated-3] -0.000113 0.000091 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] [1762964993.547344445] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.187,-0.735,-0.102} [component_container_isolated-3] [DEBUG] [1762964993.547394170] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.547441430] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.547481076] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000070 0.185131 -0.006889 [component_container_isolated-3] -0.000182 1.000000 0.000588 0.060027 [component_container_isolated-3] -0.185131 -0.000612 0.982714 0.017296 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.547505362] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.036,10.669,-0.011} [component_container_isolated-3] [DEBUG] [1762964993.547536993] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.203,11.404,0.090} [component_container_isolated-3] [DEBUG] [1762964993.547588140] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.561068094] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.561137086] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.561178314] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.561223691] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000060 -0.000086 0.000640 [component_container_isolated-3] 0.000060 1.000000 0.000152 -0.000068 [component_container_isolated-3] 0.000086 -0.000152 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] [1762964993.561249350] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.010} {0.042,0.257,0.235} [component_container_isolated-3] [DEBUG] [1762964993.561298474] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.561344762] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.561385590] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 -0.000089 0.203482 -0.007184 [component_container_isolated-3] 0.002451 0.999933 -0.011352 0.059877 [component_container_isolated-3] -0.203467 0.011614 0.979013 0.019147 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.561409536] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.680,11.740,0.143} [component_container_isolated-3] [DEBUG] [1762964993.561441737] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.019,-0.009} {0.589,11.486,-0.099} [component_container_isolated-3] [DEBUG] [1762964993.561490751] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.563049448] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.563210796] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.563252385] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.563297251] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000123 -0.000010 -0.000265 [component_container_isolated-3] 0.000123 1.000000 -0.000099 -0.000232 [component_container_isolated-3] 0.000010 0.000099 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] [1762964993.563322459] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.150,0.055,-0.172} [component_container_isolated-3] [DEBUG] [1762964993.563371413] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.563418042] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.563457327] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879477 -0.000034 0.475942 -0.001143 [component_container_isolated-3] -0.004626 0.999952 0.008618 0.060147 [component_container_isolated-3] -0.475920 -0.009781 0.879434 0.018152 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.563481222] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.419,-0.301} [component_container_isolated-3] [DEBUG] [1762964993.563512011] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.005} {-0.394,28.366,-0.106} [component_container_isolated-3] [DEBUG] [1762964993.563561265] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.573603564] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.573670421] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.573710909] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.573754121] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000019 0.000009 -0.000097 [component_container_isolated-3] -0.000019 1.000000 0.000053 -0.000000 [component_container_isolated-3] -0.000009 -0.000053 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] [1762964993.573779029] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.184,-0.735,-0.103} [component_container_isolated-3] [DEBUG] [1762964993.573827261] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.573869461] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.573906011] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000079 0.185140 -0.006905 [component_container_isolated-3] -0.000201 1.000000 0.000641 0.060041 [component_container_isolated-3] -0.185140 -0.000667 0.982712 0.017340 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.573963571] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.039,10.669,-0.012} [component_container_isolated-3] [DEBUG] [1762964993.573997065] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.203,11.404,0.090} [component_container_isolated-3] [DEBUG] [1762964993.574050136] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.596589651] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.596655858] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.596698028] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.596742794] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000064 0.000062 0.000085 [component_container_isolated-3] -0.000064 1.000000 -0.000003 0.000064 [component_container_isolated-3] -0.000062 0.000003 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] [1762964993.596768824] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.150,0.058,-0.175} [component_container_isolated-3] [DEBUG] [1762964993.596817667] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.596861070] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.596896427] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879447 0.000024 0.475997 -0.001149 [component_container_isolated-3] -0.004690 0.999952 0.008616 0.060147 [component_container_isolated-3] -0.475974 -0.009809 0.879405 0.018157 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.596951372] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.423,-0.306} [component_container_isolated-3] [DEBUG] [1762964993.596986349] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.005} {-0.394,28.366,-0.106} [component_container_isolated-3] [DEBUG] [1762964993.597046484] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.597080399] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.597133560] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.597175470] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.597223823] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000051 -0.000001 0.000140 [component_container_isolated-3] -0.000051 1.000000 -0.000216 -0.000116 [component_container_isolated-3] 0.000001 0.000216 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] [1762964993.597251375] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.009} {0.054,0.257,0.232} [component_container_isolated-3] [DEBUG] [1762964993.597308374] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.597361485] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.597405489] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 0.000004 0.203481 -0.007136 [component_container_isolated-3] 0.002400 0.999930 -0.011568 0.059848 [component_container_isolated-3] -0.203467 0.011815 0.979011 0.019105 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.597431329] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.691,11.740,0.140} [component_container_isolated-3] [DEBUG] [1762964993.597467267] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.009} {0.589,11.486,-0.099} [component_container_isolated-3] [DEBUG] [1762964993.597541559] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.599648533] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.599700362] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.599740309] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.599784994] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000126 0.000167 -0.001323 [component_container_isolated-3] 0.000126 1.000000 -0.000235 -0.000519 [component_container_isolated-3] -0.000167 0.000235 1.000000 0.000964 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.599810553] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.022} {0.016,-0.354,-0.224} [component_container_isolated-3] [DEBUG] [1762964993.599859516] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.599907919] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.599976660] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981507 -0.000140 0.191427 -0.006986 [component_container_isolated-3] -0.001549 0.999961 0.008673 0.059973 [component_container_isolated-3] -0.191420 -0.008809 0.981468 0.017483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.600001848] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.514,11.036,-0.090} [component_container_isolated-3] [DEBUG] [1762964993.600034520] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.029,0.025} {-0.486,11.392,0.135} [component_container_isolated-3] [DEBUG] [1762964993.600086249] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.603525627] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.603594289] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.603636038] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.603685453] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000051 -0.000001 0.000140 [component_container_isolated-3] -0.000051 1.000000 -0.000216 -0.000116 [component_container_isolated-3] 0.000001 0.000216 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] [1762964993.603716732] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.009} {0.067,0.256,0.229} [component_container_isolated-3] [DEBUG] [1762964993.603776076] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.603826562] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.603868693] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 0.000004 0.203481 -0.007136 [component_container_isolated-3] 0.002400 0.999930 -0.011568 0.059848 [component_container_isolated-3] -0.203467 0.011815 0.979011 0.019105 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.603896446] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.691,11.740,0.140} [component_container_isolated-3] [DEBUG] [1762964993.603969405] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.009} {0.578,11.486,-0.096} [component_container_isolated-3] [DEBUG] [1762964993.604032806] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.605100866] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.605149118] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.605188674] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.605232267] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000126 0.000167 -0.001323 [component_container_isolated-3] 0.000126 1.000000 -0.000235 -0.000519 [component_container_isolated-3] -0.000167 0.000235 1.000000 0.000964 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.605256583] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.010,0.029,-0.021} {0.030,-0.345,-0.217} [component_container_isolated-3] [DEBUG] [1762964993.605302882] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.605345333] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.605380760] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981507 -0.000140 0.191427 -0.006986 [component_container_isolated-3] -0.001549 0.999961 0.008673 0.059973 [component_container_isolated-3] -0.191420 -0.008809 0.981468 0.017483 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.605402843] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.514,11.036,-0.090} [component_container_isolated-3] [DEBUG] [1762964993.605435305] [zed_multi.right]: +++ Diff [map -> odom] - {-0.005,-0.029,0.023} {-0.501,11.382,0.127} [component_container_isolated-3] [DEBUG] [1762964993.605487354] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.610737891] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.610798316] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.610837191] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.610880644] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000072 0.000087 0.000164 [component_container_isolated-3] 0.000072 1.000000 -0.000099 -0.000036 [component_container_isolated-3] -0.000087 0.000099 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] [1762964993.610905862] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.190,-0.730,-0.099} [component_container_isolated-3] [DEBUG] [1762964993.611015962] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.611064775] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.611105964] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 0.000027 0.185226 -0.006902 [component_container_isolated-3] -0.000129 1.000000 0.000542 0.060047 [component_container_isolated-3] -0.185226 -0.000556 0.982696 0.017368 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.611129900] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.032,10.674,-0.008} [component_container_isolated-3] [DEBUG] [1762964993.611161210] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.203,11.404,0.090} [component_container_isolated-3] [DEBUG] [1762964993.611211826] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.628626965] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.628685817] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.628728920] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.628773405] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000012 0.000075 -0.000037 [component_container_isolated-3] 0.000012 1.000000 0.000114 0.000006 [component_container_isolated-3] -0.000075 -0.000114 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] [1762964993.628799274] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.156,0.062,-0.175} [component_container_isolated-3] [DEBUG] [1762964993.628878726] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.628962866] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.629002893] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 -0.000041 0.476063 -0.001151 [component_container_isolated-3] -0.004679 0.999951 0.008729 0.060150 [component_container_isolated-3] -0.476040 -0.009904 0.879368 0.018185 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.629028101] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.427,-0.305} [component_container_isolated-3] [DEBUG] [1762964993.629062006] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.005} {-0.394,28.366,-0.106} [component_container_isolated-3] [DEBUG] [1762964993.629115799] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.639879865] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.639964256] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.640007439] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.640052555] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000112 -0.000023 0.000854 [component_container_isolated-3] -0.000112 1.000000 0.000348 0.000375 [component_container_isolated-3] 0.000023 -0.000348 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] [1762964993.640078555] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.022} {0.010,-0.346,-0.223} [component_container_isolated-3] [DEBUG] [1762964993.640127007] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.640170761] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.640206579] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 -0.000097 0.191404 -0.006901 [component_container_isolated-3] -0.001661 0.999958 0.009022 0.059968 [component_container_isolated-3] -0.191397 -0.009173 0.981470 0.017460 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.640228661] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.535,11.034,-0.097} [component_container_isolated-3] [DEBUG] [1762964993.640260652] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.029,0.024} {-0.501,11.382,0.127} [component_container_isolated-3] [DEBUG] [1762964993.640313543] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.651971157] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.652025220] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.652064214] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.652112386] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000074 -0.000033 -0.000372 [component_container_isolated-3] -0.000074 1.000000 0.000092 0.000228 [component_container_isolated-3] 0.000033 -0.000092 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] [1762964993.652138637] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.010} {0.061,0.255,0.225} [component_container_isolated-3] [DEBUG] [1762964993.652187800] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.652228929] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.652264317] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 0.000057 0.203448 -0.007150 [component_container_isolated-3] 0.002326 0.999931 -0.011477 0.059856 [component_container_isolated-3] -0.203435 0.011710 0.979019 0.019091 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.652286589] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.685,11.738,0.136} [component_container_isolated-3] [DEBUG] [1762964993.652317127] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.009} {0.578,11.486,-0.096} [component_container_isolated-3] [DEBUG] [1762964993.652367193] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.653141812] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.653194112] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.653232576] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.653276149] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000012 0.000075 -0.000037 [component_container_isolated-3] 0.000012 1.000000 0.000114 0.000006 [component_container_isolated-3] -0.000075 -0.000114 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] [1762964993.653300265] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.163,0.067,-0.174} [component_container_isolated-3] [DEBUG] [1762964993.653347866] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.653389526] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.653425073] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 -0.000041 0.476063 -0.001151 [component_container_isolated-3] -0.004679 0.999951 0.008729 0.060150 [component_container_isolated-3] -0.476040 -0.009904 0.879368 0.018185 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.653448478] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.427,-0.305} [component_container_isolated-3] [DEBUG] [1762964993.653481702] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.005} {-0.388,28.362,-0.106} [component_container_isolated-3] [DEBUG] [1762964993.653533951] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.656498833] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.656577604] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.656620696] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.656667415] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000068 -0.000094 -0.000074 [component_container_isolated-3] -0.000068 1.000000 0.000150 -0.000011 [component_container_isolated-3] 0.000094 -0.000150 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] [1762964993.656693986] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.182,-0.735,-0.102} [component_container_isolated-3] [DEBUG] [1762964993.656743701] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.656789509] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.656830156] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 0.000066 0.185133 -0.006907 [component_container_isolated-3] -0.000197 1.000000 0.000692 0.060055 [component_container_isolated-3] -0.185133 -0.000716 0.982713 0.017371 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.656853841] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.042,10.669,-0.012} [component_container_isolated-3] [DEBUG] [1762964993.656884891] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.203,11.404,0.090} [component_container_isolated-3] [DEBUG] [1762964993.656963591] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.676225607] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.676288818] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.676328353] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.676372818] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000140 -0.000104 -0.000736 [component_container_isolated-3] 0.000140 1.000000 -0.000150 -0.000870 [component_container_isolated-3] 0.000104 0.000150 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] [1762964993.676397405] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.010,0.028,-0.022} {0.018,-0.352,-0.215} [component_container_isolated-3] [DEBUG] [1762964993.676447881] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.676494741] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.676533966] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981531 -0.000205 0.191302 -0.007020 [component_container_isolated-3] -0.001520 0.999959 0.008872 0.059713 [component_container_isolated-3] -0.191297 -0.008999 0.981491 0.017495 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.676557641] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.525,11.028,-0.089} [component_container_isolated-3] [DEBUG] [1762964993.676590183] [zed_multi.right]: +++ Diff [map -> odom] - {-0.005,-0.029,0.024} {-0.501,11.382,0.127} [component_container_isolated-3] [DEBUG] [1762964993.676641471] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.681688860] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.681748083] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.681789583] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.681834188] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000016 -0.000054 0.000326 [component_container_isolated-3] 0.000016 1.000000 -0.000056 -0.000159 [component_container_isolated-3] 0.000054 0.000056 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] [1762964993.681860849] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.185,-0.738,-0.102} [component_container_isolated-3] [DEBUG] [1762964993.681914351] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.681998762] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.682039570] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982723 0.000061 0.185080 -0.006867 [component_container_isolated-3] -0.000182 1.000000 0.000636 0.060039 [component_container_isolated-3] -0.185080 -0.000658 0.982723 0.017346 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.682064408] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,0.000,-0.000} {-0.038,10.666,-0.011} [component_container_isolated-3] [DEBUG] [1762964993.682096829] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,0.000,0.056} {-0.203,11.404,0.090} [component_container_isolated-3] [DEBUG] [1762964993.682146635] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.684170951] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.684224072] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.684264429] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.684308153] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000012 0.000075 -0.000037 [component_container_isolated-3] 0.000012 1.000000 0.000114 0.000006 [component_container_isolated-3] -0.000075 -0.000114 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] [1762964993.684333691] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.169,0.071,-0.173} [component_container_isolated-3] [DEBUG] [1762964993.684381192] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.684422341] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.684458299] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 -0.000041 0.476063 -0.001151 [component_container_isolated-3] -0.004679 0.999951 0.008729 0.060150 [component_container_isolated-3] -0.476040 -0.009904 0.879368 0.018185 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.684481183] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.427,-0.305} [component_container_isolated-3] [DEBUG] [1762964993.684514437] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.005} {-0.382,28.357,-0.107} [component_container_isolated-3] [DEBUG] [1762964993.684603727] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.690337106] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.690403413] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.690444441] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.690489638] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000028 -0.000002 -0.000101 [component_container_isolated-3] 0.000028 1.000000 -0.000113 -0.000041 [component_container_isolated-3] 0.000002 0.000113 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] [1762964993.690515297] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.010} {0.068,0.254,0.226} [component_container_isolated-3] [DEBUG] [1762964993.690564911] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.690607172] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.690646267] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 0.000053 0.203446 -0.007170 [component_container_isolated-3] 0.002355 0.999930 -0.011590 0.059853 [component_container_isolated-3] -0.203433 0.011826 0.979018 0.019109 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.690670092] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.692,11.738,0.138} [component_container_isolated-3] [DEBUG] [1762964993.690702865] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.009} {0.578,11.486,-0.096} [component_container_isolated-3] [DEBUG] [1762964993.690753181] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.707320601] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.707385585] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.707425752] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.707469625] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000200 -0.000035 0.001114 [component_container_isolated-3] -0.000200 1.000000 0.000152 0.000866 [component_container_isolated-3] 0.000035 -0.000152 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] [1762964993.707494934] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.022} {0.010,-0.354,-0.227} [component_container_isolated-3] [DEBUG] [1762964993.707543797] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.707586659] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.707622117] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 -0.000038 0.191268 -0.006821 [component_container_isolated-3] -0.001720 0.999958 0.009024 0.059765 [component_container_isolated-3] -0.191261 -0.009186 0.981496 0.017284 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.707643948] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.536,11.026,-0.100} [component_container_isolated-3] [DEBUG] [1762964993.707677412] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.029,0.024} {-0.501,11.382,0.127} [component_container_isolated-3] [DEBUG] [1762964993.707729071] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.714550198] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.714617957] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.714660699] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.714708480] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000011 -0.000008 -0.000183 [component_container_isolated-3] 0.000011 1.000000 -0.000030 0.000193 [component_container_isolated-3] 0.000008 0.000030 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] [1762964993.714735792] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.186,-0.739,-0.101} [component_container_isolated-3] [DEBUG] [1762964993.714786349] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.714832898] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.714873726] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982725 0.000056 0.185073 -0.006859 [component_container_isolated-3] -0.000171 1.000000 0.000606 0.060052 [component_container_isolated-3] -0.185073 -0.000627 0.982725 0.017368 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.714898052] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.037,10.665,-0.010} [component_container_isolated-3] [DEBUG] [1762964993.714964088] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.203,11.404,0.090} [component_container_isolated-3] [DEBUG] [1762964993.715019394] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.716293948] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.716342270] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.716381054] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.716423174] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000012 0.000075 -0.000037 [component_container_isolated-3] 0.000012 1.000000 0.000114 0.000006 [component_container_isolated-3] -0.000075 -0.000114 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] [1762964993.716448112] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.176,0.075,-0.173} [component_container_isolated-3] [DEBUG] [1762964993.716493619] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.716534457] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.716569263] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 -0.000041 0.476063 -0.001151 [component_container_isolated-3] -0.004679 0.999951 0.008729 0.060150 [component_container_isolated-3] -0.476040 -0.009904 0.879368 0.018185 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.716590554] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.427,-0.305} [component_container_isolated-3] [DEBUG] [1762964993.716622004] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.006,-0.005} {-0.376,28.353,-0.108} [component_container_isolated-3] [DEBUG] [1762964993.716674595] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.719684533] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.719749457] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.719789774] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.719833357] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000025 0.000003 0.000278 [component_container_isolated-3] 0.000025 1.000000 0.000052 -0.000063 [component_container_isolated-3] -0.000003 -0.000052 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] [1762964993.719858746] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.009} {0.065,0.255,0.228} [component_container_isolated-3] [DEBUG] [1762964993.719906707] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.719980899] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.720017980] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 0.000018 0.203449 -0.007154 [component_container_isolated-3] 0.002379 0.999931 -0.011538 0.059846 [component_container_isolated-3] -0.203435 0.011781 0.979017 0.019083 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.720041505] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.689,11.738,0.139} [component_container_isolated-3] [DEBUG] [1762964993.720075840] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.009} {0.578,11.486,-0.096} [component_container_isolated-3] [DEBUG] [1762964993.720128962] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.722309175] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.722367667] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.722407623] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.722452038] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000200 -0.000035 0.001114 [component_container_isolated-3] -0.000200 1.000000 0.000152 0.000866 [component_container_isolated-3] 0.000035 -0.000152 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] [1762964993.722476565] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.030,-0.023} {0.001,-0.356,-0.238} [component_container_isolated-3] [DEBUG] [1762964993.722525248] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.722569242] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.722603688] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981538 -0.000038 0.191268 -0.006821 [component_container_isolated-3] -0.001720 0.999958 0.009024 0.059765 [component_container_isolated-3] -0.191261 -0.009186 0.981496 0.017284 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.722625960] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.536,11.026,-0.100} [component_container_isolated-3] [DEBUG] [1762964993.722659424] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.025} {-0.490,11.384,0.139} [component_container_isolated-3] [DEBUG] [1762964993.722709750] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.745225340] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.745280415] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.745323046] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.745368764] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000010 0.000037 -0.000007 [component_container_isolated-3] -0.000010 1.000000 0.000050 -0.000053 [component_container_isolated-3] -0.000037 -0.000050 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] [1762964993.745393842] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.184,-0.736,-0.102} [component_container_isolated-3] [DEBUG] [1762964993.745443476] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.745486008] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.745522527] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 0.000056 0.185109 -0.006852 [component_container_isolated-3] -0.000181 1.000000 0.000656 0.060056 [component_container_isolated-3] -0.185109 -0.000678 0.982718 0.017389 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.745544980] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.040,10.667,-0.011} [component_container_isolated-3] [DEBUG] [1762964993.745578204] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.203,11.404,0.090} [component_container_isolated-3] [DEBUG] [1762964993.745638128] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.752256247] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.752310190] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.752353833] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.752398629] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000016 -0.000008 -0.000022 [component_container_isolated-3] -0.000016 1.000000 -0.000071 -0.000020 [component_container_isolated-3] 0.000008 0.000071 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] [1762964993.752423577] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.010} {0.069,0.254,0.227} [component_container_isolated-3] [DEBUG] [1762964993.752472590] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.752514711] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.752549106] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 0.000048 0.203441 -0.007145 [component_container_isolated-3] 0.002363 0.999930 -0.011609 0.059837 [component_container_isolated-3] -0.203428 0.011847 0.979018 0.019078 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.752571028] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.693,11.737,0.138} [component_container_isolated-3] [DEBUG] [1762964993.752602548] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.009} {0.578,11.486,-0.096} [component_container_isolated-3] [DEBUG] [1762964993.752654077] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.756358141] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.756421171] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.756461919] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.756507796] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000012 0.000075 -0.000037 [component_container_isolated-3] 0.000012 1.000000 0.000114 0.000006 [component_container_isolated-3] -0.000075 -0.000114 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] [1762964993.756535489] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.006} {-0.183,0.080,-0.172} [component_container_isolated-3] [DEBUG] [1762964993.756588360] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.756635621] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.756674064] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879411 -0.000041 0.476063 -0.001151 [component_container_isolated-3] -0.004679 0.999951 0.008729 0.060150 [component_container_isolated-3] -0.476040 -0.009904 0.879368 0.018185 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.756696116] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.427,-0.305} [component_container_isolated-3] [DEBUG] [1762964993.756727025] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.006} {-0.370,28.349,-0.109} [component_container_isolated-3] [DEBUG] [1762964993.756776680] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.778975695] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.779036270] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.779079112] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.779127024] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000055 -0.000034 -0.000626 [component_container_isolated-3] 0.000055 1.000000 -0.000121 -0.000209 [component_container_isolated-3] 0.000034 0.000121 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] [1762964993.779153975] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.023} {0.008,-0.358,-0.235} [component_container_isolated-3] [DEBUG] [1762964993.779206165] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.779512069] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.779558618] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 -0.000069 0.191235 -0.006852 [component_container_isolated-3] -0.001664 0.999959 0.008903 0.059754 [component_container_isolated-3] -0.191227 -0.009057 0.981504 0.017260 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.779578296] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.529,11.024,-0.097} [component_container_isolated-3] [DEBUG] [1762964993.779601249] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.025} {-0.490,11.384,0.139} [component_container_isolated-3] [DEBUG] [1762964993.779641887] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.785377451] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.785436243] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.785479115] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.785524121] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000172 -0.000215 -0.000716 [component_container_isolated-3] 0.000172 1.000000 -0.000072 -0.000808 [component_container_isolated-3] 0.000215 0.000072 1.000000 -0.000936 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.785549589] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,-0.001,-0.058} {0.188,-0.749,-0.092} [component_container_isolated-3] [DEBUG] [1762964993.785612840] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.785659750] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.785697612] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982758 -0.000100 0.184898 -0.007074 [component_container_isolated-3] -0.000008 1.000000 0.000584 0.059844 [component_container_isolated-3] -0.184898 -0.000575 0.982758 0.017209 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.785724874] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.655,-0.000} [component_container_isolated-3] [DEBUG] [1762964993.785755963] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,0.001,0.056} {-0.203,11.404,0.090} [component_container_isolated-3] [DEBUG] [1762964993.785806911] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.792510543] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.792569816] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.792608250] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.792653386] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000016 0.000003 0.000122 [component_container_isolated-3] 0.000016 1.000000 0.000067 -0.000013 [component_container_isolated-3] -0.000003 -0.000067 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] [1762964993.792677943] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.009} {0.065,0.254,0.228} [component_container_isolated-3] [DEBUG] [1762964993.792724932] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.792767864] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.792803122] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 0.000019 0.203444 -0.007124 [component_container_isolated-3] 0.002379 0.999931 -0.011542 0.059830 [component_container_isolated-3] -0.203430 0.011785 0.979018 0.019054 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.792826356] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.690,11.738,0.139} [component_container_isolated-3] [DEBUG] [1762964993.792858788] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.020,-0.009} {0.578,11.486,-0.096} [component_container_isolated-3] [DEBUG] [1762964993.792910316] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.797610643] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.797673984] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.797711726] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.797754508] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000055 -0.000034 -0.000626 [component_container_isolated-3] 0.000055 1.000000 -0.000121 -0.000209 [component_container_isolated-3] 0.000034 0.000121 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] [1762964993.797779375] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.023} {0.015,-0.360,-0.232} [component_container_isolated-3] [DEBUG] [1762964993.797826676] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.797870069] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.797909394] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 -0.000069 0.191235 -0.006852 [component_container_isolated-3] -0.001664 0.999959 0.008903 0.059754 [component_container_isolated-3] -0.191227 -0.009057 0.981504 0.017260 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.797983525] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.529,11.024,-0.097} [component_container_isolated-3] [DEBUG] [1762964993.798014414] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.025} {-0.498,11.386,0.136} [component_container_isolated-3] [DEBUG] [1762964993.798071243] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.803587377] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.803650568] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.803692578] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.803738606] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000006 -0.000101 0.000228 [component_container_isolated-3] 0.000005 1.000000 -0.000380 -0.000044 [component_container_isolated-3] 0.000101 0.000380 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] [1762964993.803764716] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.161,0.074,-0.172} [component_container_isolated-3] [DEBUG] [1762964993.803813559] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.803856100] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.803895245] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 0.000135 0.475974 -0.001131 [component_container_isolated-3] -0.004673 0.999954 0.008350 0.060140 [component_container_isolated-3] -0.475951 -0.009567 0.879420 0.018193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.803944850] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.623,28.421,-0.304} [component_container_isolated-3] [DEBUG] [1762964993.803980428] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.370,28.349,-0.109} [component_container_isolated-3] [DEBUG] [1762964993.804033148] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.818652207] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.818706661] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.818746828] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.818791203] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000160 0.000285 0.000637 [component_container_isolated-3] -0.000160 1.000000 0.000045 0.000797 [component_container_isolated-3] -0.000285 -0.000045 1.000000 0.000954 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.818816211] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.185,-0.732,-0.101} [component_container_isolated-3] [DEBUG] [1762964993.818863882] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.818905732] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.818980334] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 0.000050 0.185178 -0.007016 [component_container_isolated-3] -0.000169 1.000000 0.000628 0.059902 [component_container_isolated-3] -0.185178 -0.000649 0.982705 0.017311 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.819006013] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.038,10.672,-0.010} [component_container_isolated-3] [DEBUG] [1762964993.819039317] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.203,11.404,0.090} [component_container_isolated-3] [DEBUG] [1762964993.819093019] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.822634242] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.822695509] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.822733822] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.822775422] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000006 -0.000101 0.000228 [component_container_isolated-3] 0.000005 1.000000 -0.000380 -0.000044 [component_container_isolated-3] 0.000101 0.000380 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] [1762964993.822799367] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.139,0.068,-0.171} [component_container_isolated-3] [DEBUG] [1762964993.822845946] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.822886834] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.822960595] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 0.000135 0.475974 -0.001131 [component_container_isolated-3] -0.004673 0.999954 0.008350 0.060140 [component_container_isolated-3] -0.475951 -0.009567 0.879420 0.018193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.822986465] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.623,28.421,-0.304} [component_container_isolated-3] [DEBUG] [1762964993.823019658] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.392,28.355,-0.109} [component_container_isolated-3] [DEBUG] [1762964993.823073100] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.833802260] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.833864980] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.833904696] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.833996010] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000011 0.000019 -0.000082 [component_container_isolated-3] -0.000011 1.000000 -0.000051 0.000029 [component_container_isolated-3] -0.000019 0.000051 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] [1762964993.834021960] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.009} {0.068,0.255,0.227} [component_container_isolated-3] [DEBUG] [1762964993.834071765] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.834113324] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.834152559] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 0.000040 0.203463 -0.007114 [component_container_isolated-3] 0.002369 0.999930 -0.011594 0.059824 [component_container_isolated-3] -0.203449 0.011833 0.979014 0.019046 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.834177306] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.692,11.739,0.139} [component_container_isolated-3] [DEBUG] [1762964993.834209788] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.019,-0.009} {0.578,11.486,-0.096} [component_container_isolated-3] [DEBUG] [1762964993.834258502] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.844596425] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.844664424] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.844706164] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.844751340] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000015 -0.000021 -0.000023 [component_container_isolated-3] 0.000015 1.000000 -0.000091 -0.000025 [component_container_isolated-3] 0.000021 0.000091 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] [1762964993.844776548] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.190,-0.734,-0.100} [component_container_isolated-3] [DEBUG] [1762964993.844827476] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.844872432] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.844912498] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000052 0.185158 -0.007003 [component_container_isolated-3] -0.000154 1.000000 0.000537 0.059917 [component_container_isolated-3] -0.185158 -0.000556 0.982709 0.017352 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.844968415] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.670,-0.009} [component_container_isolated-3] [DEBUG] [1762964993.845000296] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.203,11.404,0.090} [component_container_isolated-3] [DEBUG] [1762964993.845055120] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.852048256] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.852122638] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.852162534] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.852206378] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000043 0.000020 0.000015 [component_container_isolated-3] 0.000043 1.000000 0.000093 -0.000193 [component_container_isolated-3] -0.000020 -0.000093 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] [1762964993.852231145] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.023} {0.010,-0.359,-0.229} [component_container_isolated-3] [DEBUG] [1762964993.852278115] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.852324533] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.852364179] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981540 -0.000129 0.191254 -0.006868 [component_container_isolated-3] -0.001621 0.999958 0.008995 0.059718 [component_container_isolated-3] -0.191248 -0.009139 0.981499 0.017227 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.852387443] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.534,11.026,-0.095} [component_container_isolated-3] [DEBUG] [1762964993.852420857] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.025} {-0.498,11.386,0.136} [component_container_isolated-3] [DEBUG] [1762964993.852471394] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.853132767] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.853180418] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.853219332] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.853261994] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000011 0.000019 -0.000082 [component_container_isolated-3] -0.000011 1.000000 -0.000051 0.000029 [component_container_isolated-3] -0.000019 0.000051 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] [1762964993.853286330] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.010} {0.071,0.257,0.227} [component_container_isolated-3] [DEBUG] [1762964993.853332769] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.853374178] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.853408834] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 0.000040 0.203463 -0.007114 [component_container_isolated-3] 0.002369 0.999930 -0.011594 0.059824 [component_container_isolated-3] -0.203449 0.011833 0.979014 0.019046 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.853429684] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.692,11.739,0.139} [component_container_isolated-3] [DEBUG] [1762964993.853462256] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.009} {0.575,11.485,-0.095} [component_container_isolated-3] [DEBUG] [1762964993.853512823] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.865858921] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.865917683] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.865988017] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.866031380] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000015 -0.000021 -0.000023 [component_container_isolated-3] 0.000015 1.000000 -0.000091 -0.000025 [component_container_isolated-3] 0.000021 0.000091 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] [1762964993.866056558] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.196,-0.735,-0.099} [component_container_isolated-3] [DEBUG] [1762964993.866106273] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.866156148] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.866195814] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000052 0.185158 -0.007003 [component_container_isolated-3] -0.000154 1.000000 0.000537 0.059917 [component_container_isolated-3] -0.185158 -0.000556 0.982709 0.017352 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.866219730] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.670,-0.009} [component_container_isolated-3] [DEBUG] [1762964993.866253063] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.209,11.406,0.089} [component_container_isolated-3] [DEBUG] [1762964993.866304091] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.872636264] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.872691309] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.872732598] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.872776562] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000008 0.000024 -0.000059 [component_container_isolated-3] -0.000008 1.000000 0.000050 -0.000017 [component_container_isolated-3] -0.000024 -0.000050 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] [1762964993.872802070] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.142,0.069,-0.172} [component_container_isolated-3] [DEBUG] [1762964993.872850723] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.872892884] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.872960513] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879448 0.000118 0.475995 -0.001135 [component_container_isolated-3] -0.004680 0.999954 0.008399 0.060135 [component_container_isolated-3] -0.475972 -0.009615 0.879408 0.018177 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.872986042] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.626,28.423,-0.305} [component_container_isolated-3] [DEBUG] [1762964993.873018123] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.392,28.355,-0.109} [component_container_isolated-3] [DEBUG] [1762964993.873071385] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.890410418] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.890473388] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.890511371] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.890554483] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000030 0.000159 0.000333 [component_container_isolated-3] -0.000030 1.000000 -0.000170 0.000108 [component_container_isolated-3] -0.000159 0.000170 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] [1762964993.890578529] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.022} {0.020,-0.350,-0.231} [component_container_isolated-3] [DEBUG] [1762964993.890625068] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.890670635] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.890709640] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981510 -0.000067 0.191411 -0.006802 [component_container_isolated-3] -0.001652 0.999960 0.008825 0.059704 [component_container_isolated-3] -0.191404 -0.008978 0.981470 0.017303 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.890733445] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.524,11.035,-0.096} [component_container_isolated-3] [DEBUG] [1762964993.890767099] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.024} {-0.498,11.386,0.136} [component_container_isolated-3] [DEBUG] [1762964993.890823006] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.902884060] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.902976737] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.903016402] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.903066769] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000015 -0.000021 -0.000023 [component_container_isolated-3] 0.000015 1.000000 -0.000091 -0.000025 [component_container_isolated-3] 0.000021 0.000091 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] [1762964993.903095884] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.201,-0.736,-0.098} [component_container_isolated-3] [DEBUG] [1762964993.903156049] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.903211846] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.903256160] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000052 0.185158 -0.007003 [component_container_isolated-3] -0.000154 1.000000 0.000537 0.059917 [component_container_isolated-3] -0.185158 -0.000556 0.982709 0.017352 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.903281819] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.670,-0.009} [component_container_isolated-3] [DEBUG] [1762964993.903319040] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.214,11.407,0.088} [component_container_isolated-3] [DEBUG] [1762964993.903374777] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.906532417] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.906586941] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.906626547] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.906669309] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000036 0.000025 0.000022 [component_container_isolated-3] 0.000036 1.000000 0.000238 -0.000103 [component_container_isolated-3] -0.000025 -0.000238 1.000000 0.000074 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.906695128] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.155,0.071,-0.170} [component_container_isolated-3] [DEBUG] [1762964993.906742759] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.906787685] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.906826669] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879436 -0.000027 0.476017 -0.001140 [component_container_isolated-3] -0.004645 0.999952 0.008638 0.060120 [component_container_isolated-3] -0.475995 -0.009807 0.879394 0.018163 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.906848130] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.639,28.424,-0.303} [component_container_isolated-3] [DEBUG] [1762964993.906878067] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.005} {-0.392,28.355,-0.109} [component_container_isolated-3] [DEBUG] [1762964993.906953281] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.909279423] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.909339127] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.909378322] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.909423248] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000057 0.000057 -0.000022 [component_container_isolated-3] -0.000057 1.000000 0.000040 -0.000057 [component_container_isolated-3] -0.000057 -0.000040 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] [1762964993.909448957] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.010} {0.069,0.260,0.223} [component_container_isolated-3] [DEBUG] [1762964993.909503762] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.909550040] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.909589225] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 0.000087 0.203519 -0.007102 [component_container_isolated-3] 0.002312 0.999931 -0.011553 0.059815 [component_container_isolated-3] -0.203506 0.011782 0.979003 0.019048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.909612299] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.690,11.742,0.135} [component_container_isolated-3] [DEBUG] [1762964993.909645663] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.020,-0.009} {0.575,11.485,-0.095} [component_container_isolated-3] [DEBUG] [1762964993.909696830] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.916209428] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.916264102] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.916302856] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.916347752] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000057 0.000057 -0.000022 [component_container_isolated-3] -0.000057 1.000000 0.000040 -0.000057 [component_container_isolated-3] -0.000057 -0.000040 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] [1762964993.916372990] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.019,0.010} {0.066,0.263,0.220} [component_container_isolated-3] [DEBUG] [1762964993.916420822] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.916466810] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.916501556] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 0.000087 0.203519 -0.007102 [component_container_isolated-3] 0.002312 0.999931 -0.011553 0.059815 [component_container_isolated-3] -0.203506 0.011782 0.979003 0.019048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.916526063] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.690,11.742,0.135} [component_container_isolated-3] [DEBUG] [1762964993.916560218] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.020,-0.009} {0.578,11.481,-0.092} [component_container_isolated-3] [DEBUG] [1762964993.916612357] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.927387976] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.927456177] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.927498618] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.927543644] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000032 -0.000082 0.000789 [component_container_isolated-3] -0.000032 1.000000 0.000164 -0.000083 [component_container_isolated-3] 0.000082 -0.000164 1.000000 -0.000951 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.927569243] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.029,-0.023} {0.010,-0.354,-0.233} [component_container_isolated-3] [DEBUG] [1762964993.927617785] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.927662260] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.927699181] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981526 -0.000067 0.191331 -0.006569 [component_container_isolated-3] -0.001684 0.999958 0.008989 0.059684 [component_container_isolated-3] -0.191323 -0.009145 0.981484 0.017053 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.927723126] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.534,11.030,-0.098} [component_container_isolated-3] [DEBUG] [1762964993.927753985] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.025} {-0.498,11.386,0.136} [component_container_isolated-3] [DEBUG] [1762964993.927803510] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.928888312] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.928977562] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.929019883] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.929065249] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000023 0.000007 0.000122 [component_container_isolated-3] 0.000023 1.000000 -0.000150 -0.000050 [component_container_isolated-3] -0.000007 0.000150 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] [1762964993.929092602] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.147,0.071,-0.168} [component_container_isolated-3] [DEBUG] [1762964993.929142577] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.929187463] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.929227359] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879432 0.000024 0.476024 -0.001117 [component_container_isolated-3] -0.004622 0.999953 0.008487 0.060097 [component_container_isolated-3] -0.476002 -0.009664 0.879391 0.018163 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.929251525] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.630,28.425,-0.301} [component_container_isolated-3] [DEBUG] [1762964993.929282084] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.005} {-0.392,28.355,-0.109} [component_container_isolated-3] [DEBUG] [1762964993.929332630] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.934884733] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.934960338] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.934999943] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.935042965] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000032 -0.000082 0.000789 [component_container_isolated-3] -0.000032 1.000000 0.000164 -0.000083 [component_container_isolated-3] 0.000082 -0.000164 1.000000 -0.000951 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964993.935068424] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.029,-0.024} {0.001,-0.359,-0.235} [component_container_isolated-3] [DEBUG] [1762964993.935117698] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.935161512] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.935201218] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981526 -0.000067 0.191331 -0.006569 [component_container_isolated-3] -0.001684 0.999958 0.008989 0.059684 [component_container_isolated-3] -0.191323 -0.009145 0.981484 0.017053 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.935225464] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,-0.000} {-0.534,11.030,-0.098} [component_container_isolated-3] [DEBUG] [1762964993.935256854] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.026} {-0.488,11.391,0.138} [component_container_isolated-3] [DEBUG] [1762964993.935306910] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.935575362] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.935628604] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.935666787] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.935709188] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000015 -0.000021 -0.000023 [component_container_isolated-3] 0.000015 1.000000 -0.000091 -0.000025 [component_container_isolated-3] 0.000021 0.000091 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] [1762964993.935733224] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.206,-0.737,-0.098} [component_container_isolated-3] [DEBUG] [1762964993.935781045] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.935829187] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.935868732] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000052 0.185158 -0.007003 [component_container_isolated-3] -0.000154 1.000000 0.000537 0.059917 [component_container_isolated-3] -0.185158 -0.000556 0.982709 0.017352 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.935892287] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.670,-0.009} [component_container_isolated-3] [DEBUG] [1762964993.935956340] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.219,11.408,0.087} [component_container_isolated-3] [DEBUG] [1762964993.936011535] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.946824976] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.946879420] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.946948192] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.946993759] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000138 0.000012 -0.000001 [component_container_isolated-3] -0.000138 1.000000 0.000198 0.001046 [component_container_isolated-3] -0.000012 -0.000198 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] [1762964993.947018826] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.018,0.010} {0.055,0.264,0.212} [component_container_isolated-3] [DEBUG] [1762964993.947066988] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.947109159] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.947146851] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979068 0.000183 0.203531 -0.007095 [component_container_isolated-3] 0.002174 0.999933 -0.011355 0.060111 [component_container_isolated-3] -0.203520 0.011560 0.979002 0.019024 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.947170045] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.677,11.743,0.127} [component_container_isolated-3] [DEBUG] [1762964993.947202507] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.019,-0.009} {0.578,11.481,-0.092} [component_container_isolated-3] [DEBUG] [1762964993.947253675] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.951133835] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.951194541] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.951232143] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.951274985] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000023 0.000007 0.000122 [component_container_isolated-3] 0.000023 1.000000 -0.000150 -0.000050 [component_container_isolated-3] -0.000007 0.000150 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] [1762964993.951301676] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.138,0.072,-0.167} [component_container_isolated-3] [DEBUG] [1762964993.951354006] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.951400264] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.951439769] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879432 0.000024 0.476024 -0.001117 [component_container_isolated-3] -0.004622 0.999953 0.008487 0.060097 [component_container_isolated-3] -0.476002 -0.009664 0.879391 0.018163 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.951462833] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.630,28.425,-0.301} [component_container_isolated-3] [DEBUG] [1762964993.951494474] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.005} {-0.401,28.354,-0.111} [component_container_isolated-3] [DEBUG] [1762964993.951549489] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.962459204] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.962518237] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.962558243] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.962601886] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000015 -0.000021 -0.000023 [component_container_isolated-3] 0.000015 1.000000 -0.000091 -0.000025 [component_container_isolated-3] 0.000021 0.000091 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] [1762964993.962627445] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.211,-0.738,-0.097} [component_container_isolated-3] [DEBUG] [1762964993.962679855] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.962877593] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.962953147] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000052 0.185158 -0.007003 [component_container_isolated-3] -0.000154 1.000000 0.000537 0.059917 [component_container_isolated-3] -0.185158 -0.000556 0.982709 0.017352 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.962978616] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.670,-0.009} [component_container_isolated-3] [DEBUG] [1762964993.963010116] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.056} {-0.225,11.409,0.086} [component_container_isolated-3] [DEBUG] [1762964993.963064640] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.973916895] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.974004933] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.974044118] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.974087030] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000035 0.000061 -0.000548 [component_container_isolated-3] -0.000035 1.000000 -0.000008 0.000022 [component_container_isolated-3] -0.000061 0.000008 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] [1762964993.974111096] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.029,-0.023} {0.001,-0.355,-0.237} [component_container_isolated-3] [DEBUG] [1762964993.974159939] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.974204555] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.974239792] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981514 -0.000032 0.191391 -0.006515 [component_container_isolated-3] -0.001719 0.999958 0.008981 0.059672 [component_container_isolated-3] -0.191383 -0.009144 0.981473 0.017126 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.974263347] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.534,11.034,-0.100} [component_container_isolated-3] [DEBUG] [1762964993.974296961] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.025} {-0.488,11.391,0.138} [component_container_isolated-3] [DEBUG] [1762964993.974349371] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964993.985013467] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964993.985067580] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964993.985105844] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964993.985151100] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000138 0.000012 -0.000001 [component_container_isolated-3] -0.000138 1.000000 0.000198 0.001046 [component_container_isolated-3] -0.000012 -0.000198 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] [1762964993.985176519] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.017,0.009} {0.044,0.265,0.204} [component_container_isolated-3] [DEBUG] [1762964993.985223398] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964993.985268945] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964993.985308541] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979068 0.000183 0.203531 -0.007095 [component_container_isolated-3] 0.002174 0.999933 -0.011355 0.060111 [component_container_isolated-3] -0.203520 0.011560 0.979002 0.019024 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964993.985332396] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.677,11.743,0.127} [component_container_isolated-3] [DEBUG] [1762964993.985364658] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.018,-0.009} {0.591,11.481,-0.084} [component_container_isolated-3] [DEBUG] [1762964993.985421566] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.002553745] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.002613930] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.002653786] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.002697499] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000047 -0.000006 -0.000013 [component_container_isolated-3] -0.000047 1.000000 0.000126 0.000103 [component_container_isolated-3] 0.000006 -0.000126 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] [1762964994.002722327] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.145,0.071,-0.170} [component_container_isolated-3] [DEBUG] [1762964994.002801257] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.002849209] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.002890187] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879435 0.000005 0.476019 -0.001106 [component_container_isolated-3] -0.004668 0.999952 0.008613 0.060093 [component_container_isolated-3] -0.475996 -0.009797 0.879393 0.018153 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.002914864] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.638,28.424,-0.304} [component_container_isolated-3] [DEBUG] [1762964994.002986030] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.401,28.354,-0.111} [component_container_isolated-3] [DEBUG] [1762964994.003038330] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.003953779] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.004007982] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.004056314] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.004112231] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000015 -0.000021 -0.000023 [component_container_isolated-3] 0.000015 1.000000 -0.000091 -0.000025 [component_container_isolated-3] 0.000021 0.000091 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] [1762964994.004145465] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.216,-0.740,-0.096} [component_container_isolated-3] [DEBUG] [1762964994.004214156] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.004278308] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.004334856] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000052 0.185158 -0.007003 [component_container_isolated-3] -0.000154 1.000000 0.000537 0.059917 [component_container_isolated-3] -0.185158 -0.000556 0.982709 0.017352 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.004367589] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.670,-0.009} [component_container_isolated-3] [DEBUG] [1762964994.004409409] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,0.000,0.056} {-0.230,11.410,0.086} [component_container_isolated-3] [DEBUG] [1762964994.004474112] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.008869466] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.008965971] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.009007810] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.009053027] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000138 0.000012 -0.000001 [component_container_isolated-3] -0.000138 1.000000 0.000198 0.001046 [component_container_isolated-3] -0.000012 -0.000198 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] [1762964994.009078285] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.016,0.009} {0.032,0.265,0.196} [component_container_isolated-3] [DEBUG] [1762964994.009126818] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.009169549] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.009209506] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979068 0.000183 0.203531 -0.007095 [component_container_isolated-3] 0.002174 0.999933 -0.011355 0.060111 [component_container_isolated-3] -0.203520 0.011560 0.979002 0.019024 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.009234293] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.677,11.743,0.127} [component_container_isolated-3] [DEBUG] [1762964994.009265964] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.017,-0.009} {0.604,11.480,-0.076} [component_container_isolated-3] [DEBUG] [1762964994.009314817] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.014734838] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.014794091] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.014832845] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.014877821] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000018 0.000065 -0.000566 [component_container_isolated-3] -0.000018 1.000000 -0.000137 0.000220 [component_container_isolated-3] -0.000065 0.000137 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] [1762964994.014905363] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.030,-0.023} {0.009,-0.352,-0.238} [component_container_isolated-3] [DEBUG] [1762964994.014990135] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.015040311] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.015080298] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981502 0.000011 0.191455 -0.006582 [component_container_isolated-3] -0.001737 0.999959 0.008844 0.059686 [component_container_isolated-3] -0.191447 -0.009013 0.981462 0.017288 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.015103842] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.526,11.037,-0.101} [component_container_isolated-3] [DEBUG] [1762964994.015134331] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.025} {-0.488,11.391,0.138} [component_container_isolated-3] [DEBUG] [1762964994.015184376] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.043690466] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.043747365] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.043789425] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.043833178] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000008 0.000063 -0.000067 [component_container_isolated-3] -0.000008 1.000000 0.000055 0.000062 [component_container_isolated-3] -0.000063 -0.000055 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] [1762964994.043857765] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.149,0.075,-0.170} [component_container_isolated-3] [DEBUG] [1762964994.043905737] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.043976021] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.044014284] [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 -0.001098 [component_container_isolated-3] -0.004676 0.999952 0.008668 0.060095 [component_container_isolated-3] -0.476052 -0.009849 0.879362 0.018152 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.044036447] [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] [1762964994.044067175] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.401,28.354,-0.111} [component_container_isolated-3] [DEBUG] [1762964994.044119084] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.054898771] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.054983523] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.055025303] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.055069517] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000105 -0.000178 0.000553 [component_container_isolated-3] 0.000105 1.000000 0.000098 -0.000542 [component_container_isolated-3] 0.000178 -0.000098 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] [1762964994.055095306] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.029,-0.023} {0.003,-0.362,-0.232} [component_container_isolated-3] [DEBUG] [1762964994.055149390] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.055196309] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.055233841] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981536 -0.000111 0.191280 -0.006556 [component_container_isolated-3] -0.001630 0.999959 0.008943 0.059588 [component_container_isolated-3] -0.191273 -0.009089 0.981495 0.017212 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.055255823] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.531,11.027,-0.095} [component_container_isolated-3] [DEBUG] [1762964994.055286912] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.029,0.026} {-0.488,11.391,0.138} [component_container_isolated-3] [DEBUG] [1762964994.055347418] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.060086689] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.060141433] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.060182161] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.060239380] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000067 -0.000053 0.000473 [component_container_isolated-3] 0.000067 1.000000 0.000028 -0.000558 [component_container_isolated-3] 0.000053 -0.000028 1.000000 -0.000356 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964994.060277684] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.000,-0.057} {0.215,-0.743,-0.092} [component_container_isolated-3] [DEBUG] [1762964994.060344872] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.060409395] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.060468688] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982719 -0.000018 0.185105 -0.006901 [component_container_isolated-3] -0.000088 1.000000 0.000565 0.059823 [component_container_isolated-3] -0.185105 -0.000572 0.982719 0.017315 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.060490791] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.667,-0.005} [component_container_isolated-3] [DEBUG] [1762964994.060525517] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,0.000,0.056} {-0.230,11.410,0.086} [component_container_isolated-3] [DEBUG] [1762964994.060608886] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.060664502] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.060632752] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.060705661] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.060757049] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000138 0.000012 -0.000001 [component_container_isolated-3] -0.000138 1.000000 0.000198 0.001046 [component_container_isolated-3] -0.000012 -0.000198 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] [1762964994.060782558] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.015,0.009} {0.021,0.266,0.188} [component_container_isolated-3] [DEBUG] [1762964994.060831000] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.060872820] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.060909991] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979068 0.000183 0.203531 -0.007095 [component_container_isolated-3] 0.002174 0.999933 -0.011355 0.060111 [component_container_isolated-3] -0.203520 0.011560 0.979002 0.019024 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.060972420] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.677,11.743,0.127} [component_container_isolated-3] [DEBUG] [1762964994.061013980] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.016,-0.009} {0.617,11.479,-0.068} [component_container_isolated-3] [DEBUG] [1762964994.061085266] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.066497903] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.066561564] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.066599427] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.066641727] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000008 0.000063 -0.000067 [component_container_isolated-3] -0.000008 1.000000 0.000055 0.000062 [component_container_isolated-3] -0.000063 -0.000055 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] [1762964994.066666334] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.152,0.079,-0.171} [component_container_isolated-3] [DEBUG] [1762964994.066712873] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.066753641] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.066788307] [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 -0.001098 [component_container_isolated-3] -0.004676 0.999952 0.008668 0.060095 [component_container_isolated-3] -0.476052 -0.009849 0.879362 0.018152 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.066811031] [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] [1762964994.066843793] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.397,28.351,-0.110} [component_container_isolated-3] [DEBUG] [1762964994.066896053] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.087001500] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.087066484] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.087108013] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.087155484] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000138 0.000012 -0.000001 [component_container_isolated-3] -0.000138 1.000000 0.000198 0.001046 [component_container_isolated-3] -0.000012 -0.000198 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] [1762964994.087184579] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {0.010,0.267,0.181} [component_container_isolated-3] [DEBUG] [1762964994.087238853] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.087286374] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.087324737] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979068 0.000183 0.203531 -0.007095 [component_container_isolated-3] 0.002174 0.999933 -0.011355 0.060111 [component_container_isolated-3] -0.203520 0.011560 0.979002 0.019024 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.087347310] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.677,11.743,0.127} [component_container_isolated-3] [DEBUG] [1762964994.087378560] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.015,-0.009} {0.630,11.478,-0.060} [component_container_isolated-3] [DEBUG] [1762964994.087427984] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.090723518] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.090797148] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.090836974] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.090882421] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000055 -0.000007 -0.000361 [component_container_isolated-3] 0.000055 1.000000 -0.000028 0.000245 [component_container_isolated-3] 0.000007 0.000028 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] [1762964994.090908461] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.029,-0.023} {0.005,-0.362,-0.228} [component_container_isolated-3] [DEBUG] [1762964994.090994696] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.091045823] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.091086551] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 -0.000159 0.191274 -0.006591 [component_container_isolated-3] -0.001575 0.999959 0.008915 0.059571 [component_container_isolated-3] -0.191267 -0.009051 0.981496 0.017193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.091111058] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.528,11.027,-0.092} [component_container_isolated-3] [DEBUG] [1762964994.091144522] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.026} {-0.488,11.391,0.138} [component_container_isolated-3] [DEBUG] [1762964994.091195138] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.106664541] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.106723514] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.106764612] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.106808346] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000005 -0.000197 0.000057 [component_container_isolated-3] 0.000005 1.000000 -0.000225 0.000035 [component_container_isolated-3] 0.000197 0.000225 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] [1762964994.106833524] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.139,0.067,-0.170} [component_container_isolated-3] [DEBUG] [1762964994.106881385] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.106956920] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.106994762] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879499 0.000089 0.475901 -0.001103 [component_container_isolated-3] -0.004670 0.999953 0.008444 0.060096 [component_container_isolated-3] -0.475878 -0.009649 0.879458 0.018128 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.107018227] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.629,28.417,-0.304} [component_container_isolated-3] [DEBUG] [1762964994.107051320] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.397,28.351,-0.110} [component_container_isolated-3] [DEBUG] [1762964994.107108459] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.118067819] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.118129557] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.118179252] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.118239066] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000086 0.000101 -0.000453 [component_container_isolated-3] -0.000086 1.000000 -0.000002 0.000529 [component_container_isolated-3] -0.000101 0.000002 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] [1762964994.118277619] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.215,-0.737,-0.097} [component_container_isolated-3] [DEBUG] [1762964994.118345359] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.118396486] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.118451622] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982700 0.000067 0.185204 -0.006895 [component_container_isolated-3] -0.000174 1.000000 0.000564 0.059863 [component_container_isolated-3] -0.185204 -0.000586 0.982700 0.017345 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.118479305] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.673,-0.010} [component_container_isolated-3] [DEBUG] [1762964994.118522267] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,0.000,0.056} {-0.230,11.410,0.086} [component_container_isolated-3] [DEBUG] [1762964994.118578063] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.119069572] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.119118876] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.119157891] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.119200632] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000055 -0.000007 -0.000361 [component_container_isolated-3] 0.000055 1.000000 -0.000028 0.000245 [component_container_isolated-3] 0.000007 0.000028 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] [1762964994.119225009] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.024} {0.007,-0.363,-0.225} [component_container_isolated-3] [DEBUG] [1762964994.119276056] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.119324950] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.119364655] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 -0.000159 0.191274 -0.006591 [component_container_isolated-3] -0.001575 0.999959 0.008915 0.059571 [component_container_isolated-3] -0.191267 -0.009051 0.981496 0.017193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.119388180] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.528,11.027,-0.092} [component_container_isolated-3] [DEBUG] [1762964994.119418468] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.026} {-0.490,11.391,0.134} [component_container_isolated-3] [DEBUG] [1762964994.119466911] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.125398619] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.125462571] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.125500744] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.125545179] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000138 0.000012 -0.000001 [component_container_isolated-3] -0.000138 1.000000 0.000198 0.001046 [component_container_isolated-3] -0.000012 -0.000198 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] [1762964994.125569836] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {-0.002,0.267,0.173} [component_container_isolated-3] [DEBUG] [1762964994.125618679] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.125664807] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.125704653] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979068 0.000183 0.203531 -0.007095 [component_container_isolated-3] 0.002174 0.999933 -0.011355 0.060111 [component_container_isolated-3] -0.203520 0.011560 0.979002 0.019024 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.125728369] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.677,11.743,0.127} [component_container_isolated-3] [DEBUG] [1762964994.125761612] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.643,11.478,-0.052} [component_container_isolated-3] [DEBUG] [1762964994.125813812] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.126420350] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.126469364] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.126507286] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.126549256] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000086 0.000101 -0.000453 [component_container_isolated-3] -0.000086 1.000000 -0.000002 0.000529 [component_container_isolated-3] -0.000101 0.000002 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] [1762964994.126575416] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.001,-0.056} {0.215,-0.731,-0.102} [component_container_isolated-3] [DEBUG] [1762964994.126625311] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.126668033] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.126704152] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982700 0.000067 0.185204 -0.006895 [component_container_isolated-3] -0.000174 1.000000 0.000564 0.059863 [component_container_isolated-3] -0.185204 -0.000586 0.982700 0.017345 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.126726084] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.673,-0.010} [component_container_isolated-3] [DEBUG] [1762964994.126756432] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.229,11.404,0.091} [component_container_isolated-3] [DEBUG] [1762964994.126805646] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.136361605] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.136414406] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.136452800] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.136495501] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000086 0.000101 -0.000453 [component_container_isolated-3] -0.000086 1.000000 -0.000002 0.000529 [component_container_isolated-3] -0.000101 0.000002 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] [1762964994.136520198] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.056} {0.215,-0.725,-0.107} [component_container_isolated-3] [DEBUG] [1762964994.136567569] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.136613817] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.136654505] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982700 0.000067 0.185204 -0.006895 [component_container_isolated-3] -0.000174 1.000000 0.000564 0.059863 [component_container_isolated-3] -0.185204 -0.000586 0.982700 0.017345 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.136678300] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.673,-0.010} [component_container_isolated-3] [DEBUG] [1762964994.136710822] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.229,11.399,0.096} [component_container_isolated-3] [DEBUG] [1762964994.136763603] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.137836212] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.137885406] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.137948606] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.137993803] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000055 -0.000007 -0.000361 [component_container_isolated-3] 0.000055 1.000000 -0.000028 0.000245 [component_container_isolated-3] 0.000007 0.000028 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] [1762964994.138018099] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.024} {0.008,-0.363,-0.222} [component_container_isolated-3] [DEBUG] [1762964994.138065780] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.138108622] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.138144901] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 -0.000159 0.191274 -0.006591 [component_container_isolated-3] -0.001575 0.999959 0.008915 0.059571 [component_container_isolated-3] -0.191267 -0.009051 0.981496 0.017193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.138167194] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.528,11.027,-0.092} [component_container_isolated-3] [DEBUG] [1762964994.138197842] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.026} {-0.492,11.392,0.131} [component_container_isolated-3] [DEBUG] [1762964994.138248539] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.143894922] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.143984053] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.144024370] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.144069927] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000138 0.000012 -0.000001 [component_container_isolated-3] -0.000138 1.000000 0.000198 0.001046 [component_container_isolated-3] -0.000012 -0.000198 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] [1762964994.144095335] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.012,0.009} {-0.013,0.268,0.165} [component_container_isolated-3] [DEBUG] [1762964994.144148757] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.144195336] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.144234481] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979068 0.000183 0.203531 -0.007095 [component_container_isolated-3] 0.002174 0.999933 -0.011355 0.060111 [component_container_isolated-3] -0.203520 0.011560 0.979002 0.019024 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.144256513] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.677,11.743,0.127} [component_container_isolated-3] [DEBUG] [1762964994.144291540] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.656,11.477,-0.044} [component_container_isolated-3] [DEBUG] [1762964994.144358027] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.145020522] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.145071209] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.145107358] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.145144148] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000064 0.000018 -0.000054 [component_container_isolated-3] -0.000064 1.000000 -0.000043 -0.000019 [component_container_isolated-3] -0.000018 0.000043 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] [1762964994.145164236] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.136,0.068,-0.174} [component_container_isolated-3] [DEBUG] [1762964994.145224982] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.145282282] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.145332478] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879490 0.000165 0.475917 -0.001103 [component_container_isolated-3] -0.004734 0.999954 0.008402 0.060097 [component_container_isolated-3] -0.475894 -0.009642 0.879450 0.018111 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.145362585] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.628,28.418,-0.308} [component_container_isolated-3] [DEBUG] [1762964994.145402241] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.397,28.351,-0.110} [component_container_isolated-3] [DEBUG] [1762964994.145469079] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.150444120] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.150515586] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.150557667] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.150603274] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000064 0.000018 -0.000054 [component_container_isolated-3] -0.000064 1.000000 -0.000043 -0.000019 [component_container_isolated-3] -0.000018 0.000043 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] [1762964994.150628812] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.134,0.069,-0.178} [component_container_isolated-3] [DEBUG] [1762964994.150681273] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.150726389] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.150768670] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879490 0.000165 0.475917 -0.001103 [component_container_isolated-3] -0.004734 0.999954 0.008402 0.060097 [component_container_isolated-3] -0.475894 -0.009642 0.879450 0.018111 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.150794389] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.628,28.418,-0.308} [component_container_isolated-3] [DEBUG] [1762964994.150825368] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.398,28.350,-0.106} [component_container_isolated-3] [DEBUG] [1762964994.150877207] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.156363194] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.156425583] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.156468415] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.156520664] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000055 -0.000007 -0.000361 [component_container_isolated-3] 0.000055 1.000000 -0.000028 0.000245 [component_container_isolated-3] 0.000007 0.000028 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] [1762964994.156548628] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.024} {0.010,-0.363,-0.219} [component_container_isolated-3] [DEBUG] [1762964994.156601439] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.156655171] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.156695478] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 -0.000159 0.191274 -0.006591 [component_container_isolated-3] -0.001575 0.999959 0.008915 0.059571 [component_container_isolated-3] -0.191267 -0.009051 0.981496 0.017193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.156718061] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.528,11.027,-0.092} [component_container_isolated-3] [DEBUG] [1762964994.156749491] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.026} {-0.495,11.392,0.128} [component_container_isolated-3] [DEBUG] [1762964994.156803635] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.177405199] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.177464382] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.177504478] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.177548412] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000022 -0.000007 0.000188 [component_container_isolated-3] 0.000022 1.000000 -0.000093 -0.000040 [component_container_isolated-3] 0.000007 0.000093 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] [1762964994.177573410] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.056} {0.221,-0.726,-0.106} [component_container_isolated-3] [DEBUG] [1762964994.177622213] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.177669143] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.177709570] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000062 0.185198 -0.006872 [component_container_isolated-3] -0.000152 1.000000 0.000471 0.059873 [component_container_isolated-3] -0.185198 -0.000491 0.982701 0.017363 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.177733666] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.673,-0.009} [component_container_isolated-3] [DEBUG] [1762964994.177767050] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.229,11.399,0.096} [component_container_isolated-3] [DEBUG] [1762964994.177825010] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.193686382] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.193741738] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.193781654] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.193826039] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000055 -0.000007 -0.000361 [component_container_isolated-3] 0.000055 1.000000 -0.000028 0.000245 [component_container_isolated-3] 0.000007 0.000028 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] [1762964994.193851938] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.010,0.030,-0.024} {0.011,-0.364,-0.216} [component_container_isolated-3] [DEBUG] [1762964994.193899489] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.193975574] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.194019077] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 -0.000159 0.191274 -0.006591 [component_container_isolated-3] -0.001575 0.999959 0.008915 0.059571 [component_container_isolated-3] -0.191267 -0.009051 0.981496 0.017193 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.194042963] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.528,11.027,-0.092} [component_container_isolated-3] [DEBUG] [1762964994.194074964] [zed_multi.right]: +++ Diff [map -> odom] - {-0.005,-0.031,0.026} {-0.497,11.392,0.125} [component_container_isolated-3] [DEBUG] [1762964994.194125731] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.198858169] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.198911711] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.198980773] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.199028935] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000022 -0.000007 0.000188 [component_container_isolated-3] 0.000022 1.000000 -0.000093 -0.000040 [component_container_isolated-3] 0.000007 0.000093 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] [1762964994.199056337] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.001,-0.056} {0.226,-0.726,-0.104} [component_container_isolated-3] [DEBUG] [1762964994.199108427] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.199153383] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.199193479] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000062 0.185198 -0.006872 [component_container_isolated-3] -0.000152 1.000000 0.000471 0.059873 [component_container_isolated-3] -0.185198 -0.000491 0.982701 0.017363 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.199217255] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.673,-0.009} [component_container_isolated-3] [DEBUG] [1762964994.199251129] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.234,11.399,0.094} [component_container_isolated-3] [DEBUG] [1762964994.199289322] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.199344718] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.199302497] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.199387790] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.199485898] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000069 0.000063 -0.000030 [component_container_isolated-3] 0.000069 1.000000 0.000051 -0.000015 [component_container_isolated-3] -0.000063 -0.000051 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] [1762964994.199513500] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.137,0.073,-0.174} [component_container_isolated-3] [DEBUG] [1762964994.199567954] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.199633409] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.199671041] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879461 0.000080 0.475972 -0.001111 [component_container_isolated-3] -0.004666 0.999954 0.008452 0.060098 [component_container_isolated-3] -0.475949 -0.009654 0.879420 0.018102 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.199693314] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.629,28.421,-0.304} [component_container_isolated-3] [DEBUG] [1762964994.199724704] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.398,28.350,-0.106} [component_container_isolated-3] [DEBUG] [1762964994.199774559] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.210228393] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.210308256] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.210349835] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.210397186] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000212 0.000032 0.000214 [component_container_isolated-3] 0.000212 1.000000 -0.000084 -0.001038 [component_container_isolated-3] -0.000032 0.000084 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] [1762964994.210424187] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {-0.008,0.270,0.177} [component_container_isolated-3] [DEBUG] [1762964994.210474694] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.210518457] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.210558684] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979062 -0.000008 0.203563 -0.007071 [component_container_isolated-3] 0.002386 0.999932 -0.011440 0.060002 [component_container_isolated-3] -0.203549 0.011686 0.978995 0.019001 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.210581968] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.684,11.745,0.140} [component_container_isolated-3] [DEBUG] [1762964994.210613378] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.656,11.477,-0.044} [component_container_isolated-3] [DEBUG] [1762964994.210661981] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.224535065] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.224600541] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.224643352] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.224687186] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000069 0.000063 -0.000030 [component_container_isolated-3] 0.000069 1.000000 0.000051 -0.000015 [component_container_isolated-3] -0.000063 -0.000051 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] [1762964994.224712204] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.140,0.077,-0.170} [component_container_isolated-3] [DEBUG] [1762964994.224764935] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.224807245] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.224847773] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879461 0.000080 0.475972 -0.001111 [component_container_isolated-3] -0.004666 0.999954 0.008452 0.060098 [component_container_isolated-3] -0.475949 -0.009654 0.879420 0.018102 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.224871508] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.629,28.421,-0.304} [component_container_isolated-3] [DEBUG] [1762964994.224901585] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.397,28.346,-0.110} [component_container_isolated-3] [DEBUG] [1762964994.224996547] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.239014017] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.239071687] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.239112896] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.239156639] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000048 -0.000018 -0.000042 [component_container_isolated-3] -0.000048 1.000000 -0.000127 0.000095 [component_container_isolated-3] 0.000018 0.000127 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] [1762964994.239181136] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {-0.001,0.269,0.174} [component_container_isolated-3] [DEBUG] [1762964994.239229949] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.239270056] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.239306125] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979066 0.000065 0.203545 -0.007052 [component_container_isolated-3] 0.002338 0.999930 -0.011567 0.059983 [component_container_isolated-3] -0.203532 0.011801 0.978997 0.018988 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.239327155] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.691,11.744,0.137} [component_container_isolated-3] [DEBUG] [1762964994.239357513] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.656,11.477,-0.044} [component_container_isolated-3] [DEBUG] [1762964994.239494625] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.244316433] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.244368172] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.244407096] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.244451301] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000048 -0.000018 -0.000042 [component_container_isolated-3] -0.000048 1.000000 -0.000127 0.000095 [component_container_isolated-3] 0.000018 0.000127 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] [1762964994.244474926] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.006,0.268,0.171} [component_container_isolated-3] [DEBUG] [1762964994.244520853] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.244569015] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.244607008] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979066 0.000065 0.203545 -0.007052 [component_container_isolated-3] 0.002338 0.999930 -0.011567 0.059983 [component_container_isolated-3] -0.203532 0.011801 0.978997 0.018988 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.244628759] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.691,11.744,0.137} [component_container_isolated-3] [DEBUG] [1762964994.244659127] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.649,11.478,-0.041} [component_container_isolated-3] [DEBUG] [1762964994.244707059] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.246460127] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.246527315] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.246568334] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.246612007] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000172 0.000055 -0.000766 [component_container_isolated-3] -0.000172 1.000000 -0.000101 0.000676 [component_container_isolated-3] -0.000055 0.000101 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] [1762964994.246636915] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.010,0.031,-0.023} {0.017,-0.361,-0.226} [component_container_isolated-3] [DEBUG] [1762964994.246685157] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.246732016] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.246772233] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981526 0.000029 0.191328 -0.006807 [component_container_isolated-3] -0.001747 0.999959 0.008813 0.059717 [component_container_isolated-3] -0.191320 -0.008985 0.981487 0.017321 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.246796239] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.524,11.030,-0.102} [component_container_isolated-3] [DEBUG] [1762964994.246827428] [zed_multi.right]: +++ Diff [map -> odom] - {-0.005,-0.031,0.025} {-0.497,11.392,0.125} [component_container_isolated-3] [DEBUG] [1762964994.246877724] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.250525010] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.250608329] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.250662392] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.250711707] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000036 0.000003 -0.000263 [component_container_isolated-3] 0.000036 1.000000 0.000077 0.000013 [component_container_isolated-3] -0.000003 -0.000077 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] [1762964994.250742044] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.056} {0.221,-0.726,-0.102} [component_container_isolated-3] [DEBUG] [1762964994.250793873] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.250829251] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.250885488] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.250950102] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.250842977] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.251069059] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000013 0.185201 -0.006888 [component_container_isolated-3] -0.000116 1.000000 0.000547 0.059886 [component_container_isolated-3] -0.185201 -0.000559 0.982701 0.017390 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.251105448] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.673,-0.007} [component_container_isolated-3] [DEBUG] [1762964994.251173939] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.234,11.399,0.094} [component_container_isolated-3] [DEBUG] [1762964994.251014004] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000069 0.000063 -0.000030 [component_container_isolated-3] 0.000069 1.000000 0.000051 -0.000015 [component_container_isolated-3] -0.000063 -0.000051 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] [1762964994.251285292] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.143,0.080,-0.166} [component_container_isolated-3] [DEBUG] [1762964994.251264162] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.251350096] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.251395012] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.251427273] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879461 0.000080 0.475972 -0.001111 [component_container_isolated-3] -0.004666 0.999954 0.008452 0.060098 [component_container_isolated-3] -0.475949 -0.009654 0.879420 0.018102 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.251444977] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.629,28.421,-0.304} [component_container_isolated-3] [DEBUG] [1762964994.251467570] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.396,28.342,-0.115} [component_container_isolated-3] [DEBUG] [1762964994.251507296] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.256641671] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.256705143] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.256744788] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.256787400] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000172 0.000055 -0.000766 [component_container_isolated-3] -0.000172 1.000000 -0.000101 0.000676 [component_container_isolated-3] -0.000055 0.000101 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] [1762964994.256812197] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.009,0.032,-0.023} {0.023,-0.357,-0.236} [component_container_isolated-3] [DEBUG] [1762964994.256860369] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.256903491] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.256971732] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981526 0.000029 0.191328 -0.006807 [component_container_isolated-3] -0.001747 0.999959 0.008813 0.059717 [component_container_isolated-3] -0.191320 -0.008985 0.981487 0.017321 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.256998483] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.524,11.030,-0.102} [component_container_isolated-3] [DEBUG] [1762964994.257033069] [zed_multi.right]: +++ Diff [map -> odom] - {-0.004,-0.032,0.024} {-0.501,11.389,0.135} [component_container_isolated-3] [DEBUG] [1762964994.257086411] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.276748400] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.276806080] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.276844834] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.276889420] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000183 -0.000286 -0.000101 [component_container_isolated-3] 0.000183 1.000000 -0.000198 -0.001088 [component_container_isolated-3] 0.000286 0.000198 1.000000 -0.001156 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964994.276914257] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.000,-0.057} {0.233,-0.742,-0.092} [component_container_isolated-3] [DEBUG] [1762964994.277006603] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.277057320] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.277098910] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982754 -0.000131 0.184920 -0.006982 [component_container_isolated-3] 0.000067 1.000000 0.000349 0.059575 [component_container_isolated-3] -0.184920 -0.000331 0.982754 0.017102 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.277122094] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.019,10.656,0.004} [component_container_isolated-3] [DEBUG] [1762964994.277152502] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.000,0.056} {-0.234,11.399,0.094} [component_container_isolated-3] [DEBUG] [1762964994.277203089] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.300252377] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.300309236] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.300348711] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.300391443] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000015 -0.000054 -0.000086 [component_container_isolated-3] -0.000015 1.000000 -0.000032 -0.000010 [component_container_isolated-3] 0.000054 0.000032 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] [1762964994.300414848] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.008,0.265,0.170} [component_container_isolated-3] [DEBUG] [1762964994.300461366] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.300500782] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.300535929] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 0.000087 0.203492 -0.007046 [component_container_isolated-3] 0.002322 0.999930 -0.011599 0.059967 [component_container_isolated-3] -0.203479 0.011829 0.979008 0.018976 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.300557039] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.692,11.740,0.136} [component_container_isolated-3] [DEBUG] [1762964994.300587277] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.649,11.478,-0.041} [component_container_isolated-3] [DEBUG] [1762964994.300634196] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.301717816] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.301776788] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.301816504] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.301865378] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000033 -0.000025 -0.000153 [component_container_isolated-3] -0.000033 1.000000 0.000107 0.000010 [component_container_isolated-3] 0.000025 -0.000107 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] [1762964994.301893692] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.149,0.079,-0.168} [component_container_isolated-3] [DEBUG] [1762964994.301960850] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.302010024] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.302051323] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879472 0.000059 0.475950 -0.001132 [component_container_isolated-3] -0.004699 0.999952 0.008559 0.060101 [component_container_isolated-3] -0.475927 -0.009764 0.879431 0.018103 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.302078905] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.636,28.420,-0.306} [component_container_isolated-3] [DEBUG] [1762964994.302108983] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.396,28.342,-0.115} [component_container_isolated-3] [DEBUG] [1762964994.302151033] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.312584889] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.312640335] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.312681193] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.312726309] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000004 0.000013 0.000517 [component_container_isolated-3] -0.000004 1.000000 0.000065 0.000260 [component_container_isolated-3] -0.000013 -0.000065 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] [1762964994.312752720] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.009,0.032,-0.023} {0.019,-0.357,-0.236} [component_container_isolated-3] [DEBUG] [1762964994.312800742] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.312847872] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.312887828] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 0.000021 0.191340 -0.006837 [component_container_isolated-3] -0.001752 0.999959 0.008878 0.059843 [component_container_isolated-3] -0.191332 -0.009049 0.981484 0.017317 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.312912295] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.528,11.031,-0.102} [component_container_isolated-3] [DEBUG] [1762964994.312983491] [zed_multi.right]: +++ Diff [map -> odom] - {-0.005,-0.032,0.025} {-0.501,11.389,0.135} [component_container_isolated-3] [DEBUG] [1762964994.313036452] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.321220441] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.321278742] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.321318468] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.321362793] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000021 0.000004 -0.000124 [component_container_isolated-3] 0.000021 1.000000 -0.000016 0.000049 [component_container_isolated-3] -0.000004 0.000016 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] [1762964994.321387450] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.000,-0.057} {0.234,-0.742,-0.091} [component_container_isolated-3] [DEBUG] [1762964994.321437115] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.321480488] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.321515825] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982753 -0.000149 0.184924 -0.007032 [component_container_isolated-3] 0.000089 1.000000 0.000333 0.059499 [component_container_isolated-3] -0.184924 -0.000311 0.982753 0.017048 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.321538659] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.018,10.657,0.005} [component_container_isolated-3] [DEBUG] [1762964994.321570259] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.000,0.056} {-0.234,11.399,0.094} [component_container_isolated-3] [DEBUG] [1762964994.321619654] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.323530312] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.323592942] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.323634031] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.323681351] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000001 0.000015 0.000058 [component_container_isolated-3] -0.000001 1.000000 -0.000008 -0.000022 [component_container_isolated-3] -0.000015 0.000008 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] [1762964994.323707932] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.009,0.266,0.170} [component_container_isolated-3] [DEBUG] [1762964994.323759220] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.323806129] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.323846116] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000089 0.203507 -0.007034 [component_container_isolated-3] 0.002322 0.999930 -0.011607 0.059950 [component_container_isolated-3] -0.203494 0.011836 0.979005 0.018964 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.323869631] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.693,11.741,0.136} [component_container_isolated-3] [DEBUG] [1762964994.323900419] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.649,11.478,-0.041} [component_container_isolated-3] [DEBUG] [1762964994.323989970] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.335238162] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.335303647] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.335342451] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.335387086] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000025 -0.000033 0.000570 [component_container_isolated-3] -0.000025 1.000000 -0.000040 -0.000666 [component_container_isolated-3] 0.000033 0.000040 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] [1762964994.335411653] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.010,0.031,-0.023} {0.022,-0.359,-0.237} [component_container_isolated-3] [DEBUG] [1762964994.335430339] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.335516774] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.335550468] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.335596526] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000094 0.000012 0.000031 [component_container_isolated-3] 0.000094 1.000000 -0.000089 -0.000030 [component_container_isolated-3] -0.000012 0.000089 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] [1762964994.335629830] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.144,0.079,-0.162} [component_container_isolated-3] [DEBUG] [1762964994.335693211] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.335742906] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.335462560] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.335779926] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879467 0.000018 0.475961 -0.001144 [component_container_isolated-3] -0.004605 0.999954 0.008470 0.060097 [component_container_isolated-3] -0.475938 -0.009641 0.879426 0.018112 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.335847365] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.628,28.420,-0.300} [component_container_isolated-3] [DEBUG] [1762964994.335870499] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.396,28.342,-0.115} [component_container_isolated-3] [DEBUG] [1762964994.335915195] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.335830623] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.336280522] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 0.000053 0.191308 -0.006738 [component_container_isolated-3] -0.001777 0.999959 0.008838 0.059819 [component_container_isolated-3] -0.191299 -0.009015 0.981490 0.017271 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.336299779] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.526,11.029,-0.104} [component_container_isolated-3] [DEBUG] [1762964994.336321460] [zed_multi.right]: +++ Diff [map -> odom] - {-0.005,-0.031,0.025} {-0.501,11.389,0.135} [component_container_isolated-3] [DEBUG] [1762964994.336362819] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.356429201] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.356492903] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.356533651] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.356577795] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000001 0.000015 0.000058 [component_container_isolated-3] -0.000001 1.000000 -0.000008 -0.000022 [component_container_isolated-3] -0.000015 0.000008 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] [1762964994.356603134] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.009,0.266,0.170} [component_container_isolated-3] [DEBUG] [1762964994.356651837] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.356696412] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.356732931] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000089 0.203507 -0.007034 [component_container_isolated-3] 0.002322 0.999930 -0.011607 0.059950 [component_container_isolated-3] -0.203494 0.011836 0.979005 0.018964 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.356755064] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.693,11.741,0.136} [component_container_isolated-3] [DEBUG] [1762964994.356785402] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.649,11.477,-0.041} [component_container_isolated-3] [DEBUG] [1762964994.356835918] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.360433088] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.360499354] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.360542817] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.360589456] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000129 -0.000433 0.000835 [component_container_isolated-3] -0.000128 1.000000 0.000246 0.000742 [component_container_isolated-3] 0.000433 -0.000246 1.000000 -0.001664 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964994.360615346] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.001,-0.059} {0.220,-0.767,-0.098} [component_container_isolated-3] [DEBUG] [1762964994.360666674] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.360712481] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.360752979] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982833 -0.000068 0.184498 -0.007035 [component_container_isolated-3] -0.000040 1.000000 0.000579 0.059552 [component_container_isolated-3] -0.184498 -0.000576 0.982833 0.016175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.360778287] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.034,10.632,-0.002} [component_container_isolated-3] [DEBUG] [1762964994.360810809] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.057} {-0.234,11.399,0.094} [component_container_isolated-3] [DEBUG] [1762964994.360862077] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.363003777] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.363062720] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.363111673] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.363171147] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000094 0.000012 0.000031 [component_container_isolated-3] 0.000094 1.000000 -0.000089 -0.000030 [component_container_isolated-3] -0.000012 0.000089 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] [1762964994.363207276] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.139,0.080,-0.157} [component_container_isolated-3] [DEBUG] [1762964994.363276458] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.363334709] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.363388171] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879467 0.000018 0.475961 -0.001144 [component_container_isolated-3] -0.004605 0.999954 0.008470 0.060097 [component_container_isolated-3] -0.475938 -0.009641 0.879426 0.018112 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.363420543] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.628,28.420,-0.300} [component_container_isolated-3] [DEBUG] [1762964994.363464718] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.404,28.342,-0.121} [component_container_isolated-3] [DEBUG] [1762964994.363542817] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.375395152] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.375463723] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.375506995] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.375551400] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000025 -0.000033 0.000570 [component_container_isolated-3] -0.000025 1.000000 -0.000040 -0.000666 [component_container_isolated-3] 0.000033 0.000040 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] [1762964994.375576568] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.010,0.031,-0.023} {0.024,-0.361,-0.239} [component_container_isolated-3] [DEBUG] [1762964994.375625902] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.375669846] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.375710955] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 0.000053 0.191308 -0.006738 [component_container_isolated-3] -0.001777 0.999959 0.008838 0.059819 [component_container_isolated-3] -0.191299 -0.009015 0.981490 0.017271 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.375741403] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.526,11.029,-0.104} [component_container_isolated-3] [DEBUG] [1762964994.375778223] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.031,0.025} {-0.503,11.391,0.136} [component_container_isolated-3] [DEBUG] [1762964994.375837236] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.384897329] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.384989424] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.385030743] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.385076010] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000101 0.000375 -0.000617 [component_container_isolated-3] 0.000101 1.000000 -0.000062 -0.000914 [component_container_isolated-3] -0.000375 0.000062 1.000000 0.001525 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964994.385101448] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,-0.000,-0.057} {0.223,-0.745,-0.092} [component_container_isolated-3] [DEBUG] [1762964994.385152326] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.385198504] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.385238350] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982764 -0.000156 0.184867 -0.007060 [component_container_isolated-3] 0.000061 1.000000 0.000517 0.059343 [component_container_isolated-3] -0.184867 -0.000497 0.982764 0.016262 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.385262726] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.029,10.653,0.004} [component_container_isolated-3] [DEBUG] [1762964994.385294597] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.000,0.055} {-0.234,11.399,0.094} [component_container_isolated-3] [DEBUG] [1762964994.385345044] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.398539101] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.398610808] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.398649792] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.398694297] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000037 -0.000032 0.000092 [component_container_isolated-3] -0.000037 1.000000 0.000027 -0.000000 [component_container_isolated-3] 0.000032 -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] [1762964994.398720137] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.007,0.265,0.168} [component_container_isolated-3] [DEBUG] [1762964994.398768940] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.398812112] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.398847240] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 0.000120 0.203475 -0.007013 [component_container_isolated-3] 0.002284 0.999930 -0.011580 0.059936 [component_container_isolated-3] -0.203463 0.011802 0.979012 0.018937 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.398871275] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.691,11.740,0.134} [component_container_isolated-3] [DEBUG] [1762964994.398904329] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.649,11.477,-0.041} [component_container_isolated-3] [DEBUG] [1762964994.398993759] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.404294833] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.404355970] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.404395796] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.404439359] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000025 -0.000033 0.000570 [component_container_isolated-3] -0.000025 1.000000 -0.000040 -0.000666 [component_container_isolated-3] 0.000033 0.000040 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] [1762964994.404463716] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.023} {0.026,-0.362,-0.240} [component_container_isolated-3] [DEBUG] [1762964994.404510986] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.404556062] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.404596399] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 0.000053 0.191308 -0.006738 [component_container_isolated-3] -0.001777 0.999959 0.008838 0.059819 [component_container_isolated-3] -0.191299 -0.009015 0.981490 0.017271 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.404620154] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.526,11.029,-0.104} [component_container_isolated-3] [DEBUG] [1762964994.404654109] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.026} {-0.505,11.393,0.138} [component_container_isolated-3] [DEBUG] [1762964994.404701279] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.408992986] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.409061366] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.409102304] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.409147601] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000053 0.000042 0.000051 [component_container_isolated-3] -0.000053 1.000000 0.000028 0.000081 [component_container_isolated-3] -0.000042 -0.000028 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] [1762964994.409173430] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.140,0.083,-0.160} [component_container_isolated-3] [DEBUG] [1762964994.409222744] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.409269624] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.409309470] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 0.000052 0.475998 -0.001147 [component_container_isolated-3] -0.004658 0.999953 0.008498 0.060106 [component_container_isolated-3] -0.475975 -0.009691 0.879405 0.018107 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.409333997] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.631,28.423,-0.303} [component_container_isolated-3] [DEBUG] [1762964994.409367801] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.404,28.342,-0.121} [component_container_isolated-3] [DEBUG] [1762964994.409418889] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.417706737] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.417769186] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.417806698] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.417850211] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000037 -0.000032 0.000092 [component_container_isolated-3] -0.000037 1.000000 0.000027 -0.000000 [component_container_isolated-3] 0.000032 -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] [1762964994.417874647] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {0.006,0.263,0.166} [component_container_isolated-3] [DEBUG] [1762964994.417959409] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.418009335] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.418050052] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 0.000120 0.203475 -0.007013 [component_container_isolated-3] 0.002284 0.999930 -0.011580 0.059936 [component_container_isolated-3] -0.203463 0.011802 0.979012 0.018937 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.418074319] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.691,11.740,0.134} [component_container_isolated-3] [DEBUG] [1762964994.418107572] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.651,11.479,-0.039} [component_container_isolated-3] [DEBUG] [1762964994.418161445] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.424220947] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.424291542] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.424333943] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.424380632] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000040 0.000081 -0.000294 [component_container_isolated-3] -0.000040 1.000000 0.000094 0.000260 [component_container_isolated-3] -0.000081 -0.000094 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] [1762964994.424409618] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.000,-0.057} {0.218,-0.741,-0.094} [component_container_isolated-3] [DEBUG] [1762964994.424461306] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.424507334] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.424543313] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982749 -0.000134 0.184946 -0.007130 [component_container_isolated-3] 0.000021 1.000000 0.000611 0.059305 [component_container_isolated-3] -0.184946 -0.000597 0.982749 0.016315 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.424568190] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.035,10.658,0.001} [component_container_isolated-3] [DEBUG] [1762964994.424604570] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.234,11.399,0.094} [component_container_isolated-3] [DEBUG] [1762964994.424659655] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.437187681] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.437244920] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.437286008] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.437330584] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000009 -0.000031 -0.000044 [component_container_isolated-3] 0.000009 1.000000 0.000065 0.000001 [component_container_isolated-3] 0.000031 -0.000065 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] [1762964994.437355922] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.144,0.081,-0.160} [component_container_isolated-3] [DEBUG] [1762964994.437407370] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.437457696] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.437500678] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879461 0.000013 0.475971 -0.001159 [component_container_isolated-3] -0.004649 0.999953 0.008562 0.060112 [component_container_isolated-3] -0.475948 -0.009743 0.879420 0.018104 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.437528812] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.635,28.421,-0.303} [component_container_isolated-3] [DEBUG] [1762964994.437568778] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.404,28.342,-0.121} [component_container_isolated-3] [DEBUG] [1762964994.437628973] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.447651444] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.447724584] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.447780090] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.447844994] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000153 0.000273 0.000302 [component_container_isolated-3] -0.000153 1.000000 0.000007 0.000991 [component_container_isolated-3] -0.000273 -0.000007 1.000000 0.001046 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964994.447880602] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.056} {0.217,-0.725,-0.103} [component_container_isolated-3] [DEBUG] [1762964994.447988748] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.448063862] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.448109849] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 0.000015 0.185214 -0.007055 [component_container_isolated-3] -0.000131 1.000000 0.000618 0.059526 [component_container_isolated-3] -0.185214 -0.000632 0.982698 0.016707 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.448133685] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.037,10.674,-0.008} [component_container_isolated-3] [DEBUG] [1762964994.448173461] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.054} {-0.234,11.399,0.094} [component_container_isolated-3] [DEBUG] [1762964994.448248224] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.449081815] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.449145327] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.449191545] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.449236010] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000183 0.000113 -0.000235 [component_container_isolated-3] 0.000183 1.000000 -0.000113 -0.000094 [component_container_isolated-3] -0.000113 0.000113 1.000000 0.000425 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964994.449260717] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.023} {0.033,-0.356,-0.230} [component_container_isolated-3] [DEBUG] [1762964994.449307456] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.449349747] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.449385966] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981509 -0.000105 0.191418 -0.006721 [component_container_isolated-3] -0.001595 0.999961 0.008725 0.059793 [component_container_isolated-3] -0.191412 -0.008869 0.981470 0.017324 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.449407958] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.518,11.035,-0.093} [component_container_isolated-3] [DEBUG] [1762964994.449442414] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.025} {-0.505,11.393,0.138} [component_container_isolated-3] [DEBUG] [1762964994.449514862] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.457863236] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.457907380] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.457959891] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.457990449] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000104 -0.000003 0.000206 [component_container_isolated-3] 0.000104 1.000000 -0.000037 -0.000064 [component_container_isolated-3] 0.000003 0.000037 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] [1762964994.458006229] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {0.008,0.263,0.172} [component_container_isolated-3] [DEBUG] [1762964994.458036827] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.458062436] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.458084589] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979081 0.000025 0.203473 -0.006966 [component_container_isolated-3] 0.002388 0.999930 -0.011617 0.059912 [component_container_isolated-3] -0.203459 0.011860 0.979012 0.018902 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.458098425] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.694,11.739,0.140} [component_container_isolated-3] [DEBUG] [1762964994.458117912] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.008} {0.651,11.479,-0.039} [component_container_isolated-3] [DEBUG] [1762964994.458150985] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.462711816] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.462771319] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.462814161] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.462858977] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000044 0.000034 0.000038 [component_container_isolated-3] -0.000044 1.000000 -0.000105 0.000037 [component_container_isolated-3] -0.000034 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] [1762964994.462884826] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.138,0.083,-0.162} [component_container_isolated-3] [DEBUG] [1762964994.462961272] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.463008352] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.463054550] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879445 0.000102 0.476001 -0.001157 [component_container_isolated-3] -0.004694 0.999953 0.008458 0.060121 [component_container_isolated-3] -0.475977 -0.009672 0.879404 0.018109 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.463081461] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.630,28.423,-0.306} [component_container_isolated-3] [DEBUG] [1762964994.463120807] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.404,28.342,-0.121} [component_container_isolated-3] [DEBUG] [1762964994.463165462] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.471119482] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.471177743] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.471218982] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.471265471] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000039 -0.000134 0.000035 [component_container_isolated-3] -0.000039 1.000000 0.000079 0.000082 [component_container_isolated-3] 0.000134 -0.000079 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] [1762964994.471290659] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.056} {0.213,-0.733,-0.105} [component_container_isolated-3] [DEBUG] [1762964994.471339893] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.471385190] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.471421369] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982723 0.000038 0.185082 -0.007038 [component_container_isolated-3] -0.000170 1.000000 0.000697 0.059615 [component_container_isolated-3] -0.185082 -0.000716 0.982723 0.016815 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.471443701] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.042,10.666,-0.010} [component_container_isolated-3] [DEBUG] [1762964994.471474160] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.234,11.399,0.094} [component_container_isolated-3] [DEBUG] [1762964994.471525738] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.476532319] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.476590891] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.476631990] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.476677577] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000152 0.000023 -0.000517 [component_container_isolated-3] -0.000152 1.000000 0.000142 0.000675 [component_container_isolated-3] -0.000023 -0.000142 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] [1762964994.476703747] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.010,0.030,-0.023} {0.025,-0.355,-0.238} [component_container_isolated-3] [DEBUG] [1762964994.476752830] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.476797235] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.476838484] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981504 0.000017 0.191441 -0.006796 [component_container_isolated-3] -0.001747 0.999959 0.008867 0.059924 [component_container_isolated-3] -0.191433 -0.009037 0.981464 0.017380 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.476863301] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.528,11.036,-0.102} [component_container_isolated-3] [DEBUG] [1762964994.476897457] [zed_multi.right]: +++ Diff [map -> odom] - {-0.005,-0.030,0.025} {-0.505,11.393,0.138} [component_container_isolated-3] [DEBUG] [1762964994.477013027] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.486190374] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.486276879] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.486319080] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.486365608] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000042 -0.000032 -0.000046 [component_container_isolated-3] 0.000042 1.000000 0.000114 -0.000008 [component_container_isolated-3] 0.000032 -0.000114 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] [1762964994.486392309] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {0.001,0.261,0.174} [component_container_isolated-3] [DEBUG] [1762964994.486445301] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.486490547] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.486528940] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979087 -0.000039 0.203441 -0.006946 [component_container_isolated-3] 0.002430 0.999931 -0.011503 0.059896 [component_container_isolated-3] -0.203426 0.011757 0.979020 0.018875 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.486551764] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.688,11.737,0.142} [component_container_isolated-3] [DEBUG] [1762964994.486582402] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.651,11.479,-0.039} [component_container_isolated-3] [DEBUG] [1762964994.486631005] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.498177597] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.498239825] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.498280383] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.498327182] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000076 -0.000002 -0.000037 [component_container_isolated-3] 0.000076 1.000000 0.000222 -0.000106 [component_container_isolated-3] 0.000002 -0.000222 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] [1762964994.498354244] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.151,0.083,-0.158} [component_container_isolated-3] [DEBUG] [1762964994.498404300] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.498450788] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.498491877] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 -0.000070 0.475999 -0.001175 [component_container_isolated-3] -0.004618 0.999952 0.008679 0.060120 [component_container_isolated-3] -0.475977 -0.009831 0.879403 0.018098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.498517696] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.641,28.423,-0.301} [component_container_isolated-3] [DEBUG] [1762964994.498551220] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.404,28.342,-0.121} [component_container_isolated-3] [DEBUG] [1762964994.498603560] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.508226728] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.508287905] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.508329655] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.508374110] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000118 -0.000064 -0.000054 [component_container_isolated-3] 0.000118 1.000000 -0.000076 -0.000743 [component_container_isolated-3] 0.000064 0.000076 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] [1762964994.508399889] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.010,0.030,-0.023} {0.029,-0.358,-0.232} [component_container_isolated-3] [DEBUG] [1762964994.508449353] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.508494259] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.508529737] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981516 -0.000084 0.191378 -0.006838 [component_container_isolated-3] -0.001628 0.999960 0.008791 0.059841 [component_container_isolated-3] -0.191371 -0.008941 0.981477 0.017459 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.508551699] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.522,11.033,-0.095} [component_container_isolated-3] [DEBUG] [1762964994.508583449] [zed_multi.right]: +++ Diff [map -> odom] - {-0.005,-0.030,0.025} {-0.505,11.393,0.138} [component_container_isolated-3] [DEBUG] [1762964994.508635328] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.509742212] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.509791306] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.509829900] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.509873693] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000010 0.000055 0.000002 [component_container_isolated-3] 0.000010 1.000000 0.000043 -0.000027 [component_container_isolated-3] -0.000055 -0.000043 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] [1762964994.509900755] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.056} {0.210,-0.730,-0.105} [component_container_isolated-3] [DEBUG] [1762964994.509982321] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.510081210] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.510119733] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 0.000021 0.185137 -0.007027 [component_container_isolated-3] -0.000160 1.000000 0.000740 0.059661 [component_container_isolated-3] -0.185137 -0.000757 0.982713 0.016887 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.510143138] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.044,10.669,-0.009} [component_container_isolated-3] [DEBUG] [1762964994.510179197] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.234,11.399,0.094} [component_container_isolated-3] [DEBUG] [1762964994.510232779] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.528025769] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.528091134] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.528132213] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.528177589] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000076 -0.000002 -0.000037 [component_container_isolated-3] 0.000076 1.000000 0.000222 -0.000106 [component_container_isolated-3] 0.000002 -0.000222 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] [1762964994.528205252] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.163,0.083,-0.153} [component_container_isolated-3] [DEBUG] [1762964994.528258554] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.528305514] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.528347303] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879446 -0.000070 0.475999 -0.001175 [component_container_isolated-3] -0.004618 0.999952 0.008679 0.060120 [component_container_isolated-3] -0.475977 -0.009831 0.879403 0.018098 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.528373093] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.641,28.423,-0.301} [component_container_isolated-3] [DEBUG] [1762964994.528405915] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.005} {-0.394,28.342,-0.126} [component_container_isolated-3] [DEBUG] [1762964994.528469717] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.541539307] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.541602137] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.541643175] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.541687650] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000118 -0.000064 -0.000054 [component_container_isolated-3] 0.000118 1.000000 -0.000076 -0.000743 [component_container_isolated-3] 0.000064 0.000076 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] [1762964994.541712908] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.010,0.029,-0.022} {0.033,-0.362,-0.225} [component_container_isolated-3] [DEBUG] [1762964994.541761621] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.541811497] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.541851453] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981516 -0.000084 0.191378 -0.006838 [component_container_isolated-3] -0.001628 0.999960 0.008791 0.059841 [component_container_isolated-3] -0.191371 -0.008941 0.981477 0.017459 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.541878214] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.522,11.033,-0.095} [component_container_isolated-3] [DEBUG] [1762964994.541909825] [zed_multi.right]: +++ Diff [map -> odom] - {-0.005,-0.029,0.025} {-0.510,11.397,0.131} [component_container_isolated-3] [DEBUG] [1762964994.541984287] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.543986040] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.544060472] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.544102232] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.544149091] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000018 -0.000084 0.000516 [component_container_isolated-3] 0.000018 1.000000 0.000118 -0.000116 [component_container_isolated-3] 0.000084 -0.000118 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] [1762964994.544175562] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.008} {-0.005,0.256,0.175} [component_container_isolated-3] [DEBUG] [1762964994.544229545] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.544275362] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.544318184] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979104 -0.000080 0.203358 -0.006812 [component_container_isolated-3] 0.002446 0.999932 -0.011385 0.059863 [component_container_isolated-3] -0.203344 0.011644 0.979038 0.018708 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.544343142] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.681,11.733,0.143} [component_container_isolated-3] [DEBUG] [1762964994.544374882] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.008} {0.651,11.479,-0.039} [component_container_isolated-3] [DEBUG] [1762964994.544436750] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.550858184] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.550934560] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.550976460] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.551020424] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000018 -0.000084 0.000516 [component_container_isolated-3] 0.000018 1.000000 0.000118 -0.000116 [component_container_isolated-3] 0.000084 -0.000118 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] [1762964994.551045992] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.007} {-0.012,0.251,0.176} [component_container_isolated-3] [DEBUG] [1762964994.551098262] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.551142186] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.551177554] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979104 -0.000080 0.203358 -0.006812 [component_container_isolated-3] 0.002446 0.999932 -0.011385 0.059863 [component_container_isolated-3] -0.203344 0.011644 0.979038 0.018708 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.551199856] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.681,11.733,0.143} [component_container_isolated-3] [DEBUG] [1762964994.551229844] [zed_multi.left]: +++ Diff [map -> odom] - {-0.000,0.014,-0.007} {0.657,11.484,-0.040} [component_container_isolated-3] [DEBUG] [1762964994.551262786] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.551323753] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.551280400] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.551369540] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.551478559] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000048 0.000025 0.000025 [component_container_isolated-3] 0.000048 1.000000 -0.000073 -0.000068 [component_container_isolated-3] -0.000025 0.000073 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] [1762964994.551505500] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.056} {0.215,-0.728,-0.102} [component_container_isolated-3] [DEBUG] [1762964994.551560134] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.551606212] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.551642832] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 -0.000013 0.185161 -0.007008 [component_container_isolated-3] -0.000112 1.000000 0.000666 0.059700 [component_container_isolated-3] -0.185161 -0.000676 0.982708 0.016997 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.551666598] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.039,10.671,-0.007} [component_container_isolated-3] [DEBUG] [1762964994.551698198] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.234,11.399,0.094} [component_container_isolated-3] [DEBUG] [1762964994.551753333] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.565111053] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.565175677] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.565215092] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.565259006] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000327 0.000090 0.000166 [component_container_isolated-3] -0.000327 1.000000 0.000285 0.000587 [component_container_isolated-3] -0.000090 -0.000285 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] [1762964994.565283683] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.005} {-0.180,0.088,-0.172} [component_container_isolated-3] [DEBUG] [1762964994.565332797] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.565379095] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.565419933] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879403 0.000081 0.476078 -0.001144 [component_container_isolated-3] -0.004945 0.999948 0.008964 0.060252 [component_container_isolated-3] -0.476052 -0.010237 0.879358 0.018087 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.565444470] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.667,28.428,-0.322} [component_container_isolated-3] [DEBUG] [1762964994.565476201] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.394,28.342,-0.126} [component_container_isolated-3] [DEBUG] [1762964994.565529092] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.573546383] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.573610766] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.573651233] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.573695868] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000015 0.000113 -0.000070 [component_container_isolated-3] 0.000015 1.000000 -0.000048 0.000017 [component_container_isolated-3] -0.000113 0.000048 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] [1762964994.573721537] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.056} {0.217,-0.722,-0.101} [component_container_isolated-3] [DEBUG] [1762964994.573774128] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.573822520] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.573862777] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982687 -0.000019 0.185273 -0.007002 [component_container_isolated-3] -0.000098 1.000000 0.000618 0.059732 [component_container_isolated-3] -0.185273 -0.000626 0.982687 0.017067 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.573886743] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.036,10.677,-0.006} [component_container_isolated-3] [DEBUG] [1762964994.573940495] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.234,11.399,0.094} [component_container_isolated-3] [DEBUG] [1762964994.573996933] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.579952828] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.580014816] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.580056926] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.580102032] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000121 0.000030 0.000535 [component_container_isolated-3] -0.000121 1.000000 0.000019 0.000514 [component_container_isolated-3] -0.000030 -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] [1762964994.580128002] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.023} {0.032,-0.360,-0.232} [component_container_isolated-3] [DEBUG] [1762964994.580177647] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.580223705] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.580259493] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 0.000031 0.191408 -0.006784 [component_container_isolated-3] -0.001750 0.999960 0.008810 0.059892 [component_container_isolated-3] -0.191400 -0.008982 0.981471 0.017476 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.580282337] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.524,11.034,-0.102} [component_container_isolated-3] [DEBUG] [1762964994.580315691] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.025} {-0.510,11.397,0.131} [component_container_isolated-3] [DEBUG] [1762964994.580380244] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.592458841] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.592520368] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.592559483] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.592602866] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000121 0.000030 0.000535 [component_container_isolated-3] -0.000121 1.000000 0.000019 0.000514 [component_container_isolated-3] -0.000030 -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] [1762964994.592626862] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.023} {0.031,-0.359,-0.239} [component_container_isolated-3] [DEBUG] [1762964994.592674082] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.592717595] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.592753013] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 0.000031 0.191408 -0.006784 [component_container_isolated-3] -0.001750 0.999960 0.008810 0.059892 [component_container_isolated-3] -0.191400 -0.008982 0.981471 0.017476 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.592776498] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.524,11.034,-0.102} [component_container_isolated-3] [DEBUG] [1762964994.592809791] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.025} {-0.508,11.395,0.138} [component_container_isolated-3] [DEBUG] [1762964994.592867341] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.598634796] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.598695992] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.598737081] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.598782317] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000245 -0.000060 -0.000146 [component_container_isolated-3] 0.000245 1.000000 -0.000203 -0.000555 [component_container_isolated-3] 0.000060 0.000203 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] [1762964994.598808397] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.168,0.084,-0.158} [component_container_isolated-3] [DEBUG] [1762964994.598856920] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.598899671] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.598965768] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879432 -0.000037 0.476025 -0.001155 [component_container_isolated-3] -0.004700 0.999951 0.008761 0.060222 [component_container_isolated-3] -0.476002 -0.009942 0.879388 0.018114 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.598992108] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.648,28.425,-0.306} [component_container_isolated-3] [DEBUG] [1762964994.599024810] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.005} {-0.394,28.342,-0.126} [component_container_isolated-3] [DEBUG] [1762964994.599078182] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.599813006] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.600010493] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.600056190] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.600103500] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000084 0.000016 -0.000422 [component_container_isolated-3] -0.000084 1.000000 -0.000078 0.000127 [component_container_isolated-3] -0.000016 0.000078 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] [1762964994.600129420] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.008} {-0.008,0.252,0.172} [component_container_isolated-3] [DEBUG] [1762964994.600178944] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.600221315] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.600266101] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979101 0.000018 0.203374 -0.006779 [component_container_isolated-3] 0.002362 0.999931 -0.011462 0.059848 [component_container_isolated-3] -0.203361 0.011703 0.979034 0.018677 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.600285398] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.685,11.734,0.138} [component_container_isolated-3] [DEBUG] [1762964994.600307340] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.008} {0.657,11.484,-0.040} [component_container_isolated-3] [DEBUG] [1762964994.600348308] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.605484246] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.605548038] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.605586502] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.605629764] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000084 0.000016 -0.000422 [component_container_isolated-3] -0.000084 1.000000 -0.000078 0.000127 [component_container_isolated-3] -0.000016 0.000078 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] [1762964994.605654111] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.008} {-0.003,0.253,0.167} [component_container_isolated-3] [DEBUG] [1762964994.605702303] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.605748832] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.605787085] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979101 0.000018 0.203374 -0.006779 [component_container_isolated-3] 0.002362 0.999931 -0.011462 0.059848 [component_container_isolated-3] -0.203361 0.011703 0.979034 0.018677 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.605808556] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.685,11.734,0.138} [component_container_isolated-3] [DEBUG] [1762964994.605839224] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.654,11.483,-0.035} [component_container_isolated-3] [DEBUG] [1762964994.605888068] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.615662224] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.615726717] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.615768176] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.615813974] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000064 -0.000032 -0.000082 [component_container_isolated-3] -0.000064 1.000000 0.000005 0.000023 [component_container_isolated-3] 0.000032 -0.000005 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] [1762964994.615840214] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.056} {0.217,-0.723,-0.105} [component_container_isolated-3] [DEBUG] [1762964994.615889848] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.615977275] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.616018835] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982693 0.000043 0.185241 -0.007005 [component_container_isolated-3] -0.000162 1.000000 0.000623 0.059765 [component_container_isolated-3] -0.185241 -0.000642 0.982693 0.017126 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.616041588] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.675,-0.009} [component_container_isolated-3] [DEBUG] [1762964994.616072297] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.234,11.399,0.094} [component_container_isolated-3] [DEBUG] [1762964994.616124196] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.638139330] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.638203542] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.638253237] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.638297442] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000139 0.000198 0.000127 [component_container_isolated-3] -0.000139 1.000000 0.000026 0.000251 [component_container_isolated-3] -0.000198 -0.000026 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] [1762964994.638323211] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.006,0.006} {-0.170,0.096,-0.166} [component_container_isolated-3] [DEBUG] [1762964994.638372836] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.638415126] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.638450824] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879337 0.000073 0.476200 -0.001102 [component_container_isolated-3] -0.004841 0.999950 0.008786 0.060246 [component_container_isolated-3] -0.476175 -0.010032 0.879293 0.018169 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.638474770] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.654,28.436,-0.315} [component_container_isolated-3] [DEBUG] [1762964994.638507673] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.006,-0.005} {-0.394,28.342,-0.126} [component_container_isolated-3] [DEBUG] [1762964994.638559472] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.648692704] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.648755945] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.648798707] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.648843151] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000061 -0.000039 0.000050 [component_container_isolated-3] -0.000061 1.000000 -0.000117 -0.000184 [component_container_isolated-3] 0.000039 0.000117 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] [1762964994.648870303] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.023} {0.038,-0.361,-0.242} [component_container_isolated-3] [DEBUG] [1762964994.648964223] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.649025870] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.649066668] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981518 0.000114 0.191370 -0.006773 [component_container_isolated-3] -0.001811 0.999961 0.008693 0.059893 [component_container_isolated-3] -0.191361 -0.008879 0.981480 0.017383 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.649090494] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.518,11.032,-0.106} [component_container_isolated-3] [DEBUG] [1762964994.649123647] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.026} {-0.508,11.395,0.138} [component_container_isolated-3] [DEBUG] [1762964994.649178502] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.655201154] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.655274484] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.655315883] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.655361520] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000099 0.000143 -0.000316 [component_container_isolated-3] -0.000099 1.000000 0.000099 0.000101 [component_container_isolated-3] -0.000143 -0.000099 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] [1762964994.655387429] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {-0.009,0.261,0.161} [component_container_isolated-3] [DEBUG] [1762964994.655436022] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.655479495] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.655515714] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979072 0.000095 0.203514 -0.006804 [component_container_isolated-3] 0.002265 0.999933 -0.011363 0.059849 [component_container_isolated-3] -0.203502 0.011587 0.979006 0.018676 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.655538388] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.678,11.742,0.133} [component_container_isolated-3] [DEBUG] [1762964994.655572954] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.654,11.483,-0.035} [component_container_isolated-3] [DEBUG] [1762964994.655627167] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.658789707] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.658846876] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.658883376] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.658971674] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000048 0.000059 -0.000052 [component_container_isolated-3] -0.000048 1.000000 -0.000052 0.000034 [component_container_isolated-3] -0.000059 0.000052 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] [1762964994.658998065] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.056} {0.220,-0.720,-0.108} [component_container_isolated-3] [DEBUG] [1762964994.659046858] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.659095631] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.659134405] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982693 -0.000034 0.185241 -0.006984 [component_container_isolated-3] -0.000086 1.000000 0.000638 0.059784 [component_container_isolated-3] -0.185241 -0.000642 0.982693 0.017175 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.659157329] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.675,-0.005} [component_container_isolated-3] [DEBUG] [1762964994.659188378] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.237,11.396,0.101} [component_container_isolated-3] [DEBUG] [1762964994.659238915] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.671824039] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.671882000] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.671955791] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.672002661] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000061 -0.000039 0.000050 [component_container_isolated-3] -0.000061 1.000000 -0.000117 -0.000184 [component_container_isolated-3] 0.000039 0.000117 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] [1762964994.672028229] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.030,-0.024} {0.045,-0.363,-0.246} [component_container_isolated-3] [DEBUG] [1762964994.672078255] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.672128831] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.672169840] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981518 0.000114 0.191370 -0.006773 [component_container_isolated-3] -0.001811 0.999961 0.008693 0.059893 [component_container_isolated-3] -0.191361 -0.008879 0.981480 0.017383 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.672194827] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.518,11.032,-0.106} [component_container_isolated-3] [DEBUG] [1762964994.672228522] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.026} {-0.514,11.398,0.141} [component_container_isolated-3] [DEBUG] [1762964994.672280211] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.678489930] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.678556126] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.678597204] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.678643713] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000140 -0.000220 -0.000039 [component_container_isolated-3] 0.000140 1.000000 -0.000355 -0.000285 [component_container_isolated-3] 0.000221 0.000355 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] [1762964994.678669803] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.149,0.083,-0.158} [component_container_isolated-3] [DEBUG] [1762964994.678717885] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.678759474] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.678795253] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879442 0.000119 0.476006 -0.001108 [component_container_isolated-3] -0.004699 0.999953 0.008432 0.060216 [component_container_isolated-3] -0.475983 -0.009653 0.879402 0.018176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.678817876] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.629,28.423,-0.306} [component_container_isolated-3] [DEBUG] [1762964994.678848735] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.002,-0.005,-0.005} {-0.394,28.342,-0.126} [component_container_isolated-3] [DEBUG] [1762964994.678898109] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.694301496] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.694376699] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.694417668] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.694467022] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000167 -0.000281 -0.000463 [component_container_isolated-3] 0.000167 1.000000 -0.000188 -0.000859 [component_container_isolated-3] 0.000281 0.000188 1.000000 -0.001075 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964994.694494755] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.000,-0.057} {0.231,-0.736,-0.098} [component_container_isolated-3] [DEBUG] [1762964994.694544670] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.694593794] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.694633450] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982745 -0.000163 0.184966 -0.007104 [component_container_isolated-3] 0.000082 1.000000 0.000449 0.059574 [component_container_isolated-3] -0.184966 -0.000426 0.982745 0.016994 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.694657275] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.025,10.659,0.005} [component_container_isolated-3] [DEBUG] [1762964994.694688926] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.056} {-0.237,11.396,0.101} [component_container_isolated-3] [DEBUG] [1762964994.694740594] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.695622749] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.695671392] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.695712911] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.695756735] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000140 -0.000220 -0.000039 [component_container_isolated-3] 0.000140 1.000000 -0.000355 -0.000285 [component_container_isolated-3] 0.000221 0.000355 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] [1762964994.695782304] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.005} {-0.129,0.070,-0.150} [component_container_isolated-3] [DEBUG] [1762964994.695832349] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.695874410] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.695910088] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879442 0.000119 0.476006 -0.001108 [component_container_isolated-3] -0.004699 0.999953 0.008432 0.060216 [component_container_isolated-3] -0.475983 -0.009653 0.879402 0.018176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.695973739] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.629,28.423,-0.306} [component_container_isolated-3] [DEBUG] [1762964994.696008526] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.005,-0.005} {-0.419,28.354,-0.135} [component_container_isolated-3] [DEBUG] [1762964994.696071767] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.705808391] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.705876782] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.705947256] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.705995949] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000076 0.000068 0.000131 [component_container_isolated-3] 0.000076 1.000000 -0.000021 -0.000083 [component_container_isolated-3] -0.000068 0.000021 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] [1762964994.706023472] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {-0.008,0.265,0.166} [component_container_isolated-3] [DEBUG] [1762964994.706073978] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.706120507] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.706158630] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979058 0.000025 0.203581 -0.006809 [component_container_isolated-3] 0.002342 0.999932 -0.011385 0.059838 [component_container_isolated-3] -0.203568 0.011623 0.978992 0.018673 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.706182035] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.680,11.746,0.137} [component_container_isolated-3] [DEBUG] [1762964994.706213555] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.654,11.483,-0.035} [component_container_isolated-3] [DEBUG] [1762964994.706261476] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.718585733] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.718653412] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.718696514] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.718747061] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000202 0.000149 0.000398 [component_container_isolated-3] -0.000202 1.000000 0.000174 0.000839 [component_container_isolated-3] -0.000149 -0.000174 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] [1762964994.718775676] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.056} {0.221,-0.728,-0.110} [component_container_isolated-3] [DEBUG] [1762964994.718830370] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.718879494] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.718945760] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 0.000003 0.185112 -0.007051 [component_container_isolated-3] -0.000121 1.000000 0.000623 0.059656 [component_container_isolated-3] -0.185112 -0.000635 0.982717 0.017110 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.718970969] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.037,10.668,-0.007} [component_container_isolated-3] [DEBUG] [1762964994.719002589] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.237,11.396,0.101} [component_container_isolated-3] [DEBUG] [1762964994.719057674] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.725647008] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.725709778] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.725750696] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.725795492] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000119 -0.000081 0.000296 [component_container_isolated-3] 0.000119 1.000000 0.000182 -0.000302 [component_container_isolated-3] 0.000081 -0.000182 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] [1762964994.725820990] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.029,-0.024} {0.034,-0.368,-0.239} [component_container_isolated-3] [DEBUG] [1762964994.725870355] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.725916403] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.725987909] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 -0.000038 0.191290 -0.006711 [component_container_isolated-3] -0.001691 0.999959 0.008875 0.059845 [component_container_isolated-3] -0.191282 -0.009035 0.981493 0.017314 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.726013638] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.527,11.028,-0.099} [component_container_isolated-3] [DEBUG] [1762964994.726045670] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.029,0.026} {-0.514,11.397,0.141} [component_container_isolated-3] [DEBUG] [1762964994.726099993] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.738358524] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.738426474] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.738466320] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.738512047] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 -0.000110 0.000095 [component_container_isolated-3] -0.000027 1.000000 -0.000072 -0.000005 [component_container_isolated-3] 0.000110 0.000072 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] [1762964994.738540071] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {-0.004,0.259,0.164} [component_container_isolated-3] [DEBUG] [1762964994.738592912] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.738637487] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.738675239] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 0.000065 0.203474 -0.006799 [component_container_isolated-3] 0.002314 0.999932 -0.011457 0.059829 [component_container_isolated-3] -0.203461 0.011688 0.979013 0.018669 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.738696880] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.684,11.739,0.135} [component_container_isolated-3] [DEBUG] [1762964994.738727459] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.654,11.483,-0.035} [component_container_isolated-3] [DEBUG] [1762964994.738775551] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.739154985] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.739208237] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.739249766] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.739294912] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000140 -0.000220 -0.000039 [component_container_isolated-3] 0.000140 1.000000 -0.000355 -0.000285 [component_container_isolated-3] 0.000221 0.000355 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] [1762964994.739320692] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.004} {-0.109,0.058,-0.142} [component_container_isolated-3] [DEBUG] [1762964994.739368884] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.739411405] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.739446843] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879442 0.000119 0.476006 -0.001108 [component_container_isolated-3] -0.004699 0.999953 0.008432 0.060216 [component_container_isolated-3] -0.475983 -0.009653 0.879402 0.018176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.739471630] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.629,28.423,-0.306} [component_container_isolated-3] [DEBUG] [1762964994.739502128] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.005,-0.004} {-0.443,28.367,-0.144} [component_container_isolated-3] [DEBUG] [1762964994.739552685] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.750769196] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.750837175] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.750878464] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.750963557] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000102 0.000061 0.000249 [component_container_isolated-3] 0.000102 1.000000 -0.000129 -0.000163 [component_container_isolated-3] -0.000061 0.000129 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] [1762964994.750991831] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.056} {0.228,-0.724,-0.104} [component_container_isolated-3] [DEBUG] [1762964994.751042668] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.751087664] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.751124404] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 -0.000074 0.185171 -0.006991 [component_container_isolated-3] -0.000018 1.000000 0.000494 0.059660 [component_container_isolated-3] -0.185171 -0.000489 0.982706 0.017152 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.751147899] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.671,-0.001} [component_container_isolated-3] [DEBUG] [1762964994.751181763] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.237,11.396,0.101} [component_container_isolated-3] [DEBUG] [1762964994.751233292] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.758164689] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.758225806] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.758264640] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.758308514] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000140 -0.000220 -0.000039 [component_container_isolated-3] 0.000140 1.000000 -0.000355 -0.000285 [component_container_isolated-3] 0.000221 0.000355 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] [1762964994.758333632] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.005,0.004} {-0.088,0.045,-0.134} [component_container_isolated-3] [DEBUG] [1762964994.758393185] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.758441337] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.758482566] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879442 0.000119 0.476006 -0.001108 [component_container_isolated-3] -0.004699 0.999953 0.008432 0.060216 [component_container_isolated-3] -0.475983 -0.009653 0.879402 0.018176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.758506572] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.629,28.423,-0.306} [component_container_isolated-3] [DEBUG] [1762964994.758539174] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.004,-0.004} {-0.468,28.379,-0.154} [component_container_isolated-3] [DEBUG] [1762964994.758593368] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.759646409] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.759698909] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.759741681] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.759789332] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000023 0.000091 -0.000273 [component_container_isolated-3] 0.000023 1.000000 -0.000052 0.000033 [component_container_isolated-3] -0.000091 0.000052 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] [1762964994.759816424] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.024} {0.037,-0.362,-0.238} [component_container_isolated-3] [DEBUG] [1762964994.759866890] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.759911144] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.759987861] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981516 -0.000050 0.191379 -0.006684 [component_container_isolated-3] -0.001669 0.999960 0.008823 0.059825 [component_container_isolated-3] -0.191372 -0.008980 0.981476 0.017354 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.760015113] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.524,11.033,-0.097} [component_container_isolated-3] [DEBUG] [1762964994.760048096] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.029,0.026} {-0.514,11.398,0.141} [component_container_isolated-3] [DEBUG] [1762964994.760103031] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.764528052] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.764584900] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.764623263] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.764664863] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000023 0.000091 -0.000273 [component_container_isolated-3] 0.000023 1.000000 -0.000052 0.000033 [component_container_isolated-3] -0.000091 0.000052 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] [1762964994.764689760] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.023} {0.040,-0.357,-0.236} [component_container_isolated-3] [DEBUG] [1762964994.764736920] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.764785744] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.764826161] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981516 -0.000050 0.191379 -0.006684 [component_container_isolated-3] -0.001669 0.999960 0.008823 0.059825 [component_container_isolated-3] -0.191372 -0.008980 0.981476 0.017354 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.764850097] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.524,11.033,-0.097} [component_container_isolated-3] [DEBUG] [1762964994.764887558] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.025} {-0.517,11.392,0.140} [component_container_isolated-3] [DEBUG] [1762964994.764967341] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.773356612] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.773423951] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.773463196] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.773505957] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000106 -0.000015 -0.000012 [component_container_isolated-3] 0.000106 1.000000 0.000117 -0.000104 [component_container_isolated-3] 0.000015 -0.000117 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] [1762964994.773531626] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {-0.010,0.258,0.170} [component_container_isolated-3] [DEBUG] [1762964994.773578656] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.773623973] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.773664470] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 -0.000062 0.203459 -0.006799 [component_container_isolated-3] 0.002420 0.999933 -0.011340 0.059808 [component_container_isolated-3] -0.203445 0.011596 0.979018 0.018667 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.773687624] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.679,11.738,0.142} [component_container_isolated-3] [DEBUG] [1762964994.773720166] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.654,11.483,-0.035} [component_container_isolated-3] [DEBUG] [1762964994.773769140] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.777463836] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.777522668] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.777562204] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.777606438] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000061 0.000045 -0.000016 [component_container_isolated-3] -0.000061 1.000000 0.000147 -0.000008 [component_container_isolated-3] -0.000045 -0.000147 1.000000 0.000456 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964994.777632097] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.056} {0.220,-0.722,-0.107} [component_container_isolated-3] [DEBUG] [1762964994.777680630] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.777726538] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.777767866] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982698 -0.000041 0.185215 -0.006933 [component_container_isolated-3] -0.000080 1.000000 0.000641 0.059669 [component_container_isolated-3] -0.185215 -0.000645 0.982698 0.017298 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.777791361] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.038,10.674,-0.005} [component_container_isolated-3] [DEBUG] [1762964994.777825166] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.237,11.396,0.101} [component_container_isolated-3] [DEBUG] [1762964994.777875803] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.787470737] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.787533116] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.787574024] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.787619240] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000140 -0.000220 -0.000039 [component_container_isolated-3] 0.000140 1.000000 -0.000355 -0.000285 [component_container_isolated-3] 0.000221 0.000355 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] [1762964994.787645601] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.004} {-0.068,0.033,-0.126} [component_container_isolated-3] [DEBUG] [1762964994.787698982] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.787744499] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.787783945] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879442 0.000119 0.476006 -0.001108 [component_container_isolated-3] -0.004699 0.999953 0.008432 0.060216 [component_container_isolated-3] -0.475983 -0.009653 0.879402 0.018176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.787807860] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.629,28.423,-0.306} [component_container_isolated-3] [DEBUG] [1762964994.787837798] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.004,-0.004} {-0.493,28.392,-0.163} [component_container_isolated-3] [DEBUG] [1762964994.787886851] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.810629444] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.810689258] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.810729385] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.810773690] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000103 -0.000001 -0.000444 [component_container_isolated-3] -0.000103 1.000000 -0.000198 0.000095 [component_container_isolated-3] 0.000001 0.000198 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] [1762964994.810798998] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.001,0.258,0.164} [component_container_isolated-3] [DEBUG] [1762964994.810847100] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.810888409] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.810951158] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 0.000079 0.203458 -0.006857 [component_container_isolated-3] 0.002317 0.999931 -0.011538 0.059798 [component_container_isolated-3] -0.203445 0.011768 0.979016 0.018735 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.810976096] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.689,11.738,0.136} [component_container_isolated-3] [DEBUG] [1762964994.811006995] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.654,11.483,-0.035} [component_container_isolated-3] [DEBUG] [1762964994.811062381] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.811237495] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.811313410] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.811369167] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.811423661] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000010 -0.000192 -0.000215 [component_container_isolated-3] -0.000010 1.000000 0.000016 -0.000219 [component_container_isolated-3] 0.000192 -0.000016 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] [1762964994.811454780] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.024} {0.039,-0.368,-0.237} [component_container_isolated-3] [DEBUG] [1762964994.811513763] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.811572225] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.811620076] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981553 -0.000044 0.191191 -0.006742 [component_container_isolated-3] -0.001677 0.999960 0.008840 0.059763 [component_container_isolated-3] -0.191184 -0.008998 0.981513 0.017158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.811659311] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.000,0.000} {-0.525,11.022,-0.098} [component_container_isolated-3] [DEBUG] [1762964994.811702744] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.029,0.026} {-0.517,11.392,0.140} [component_container_isolated-3] [DEBUG] [1762964994.811765594] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.813700469] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.813752929] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.813793817] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.813837461] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000055 -0.000084 -0.000215 [component_container_isolated-3] -0.000055 1.000000 -0.000095 0.000198 [component_container_isolated-3] 0.000084 0.000095 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] [1762964994.813862178] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.056} {0.225,-0.726,-0.110} [component_container_isolated-3] [DEBUG] [1762964994.813909318] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.813992527] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.814030740] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000031 0.185133 -0.006923 [component_container_isolated-3] -0.000134 1.000000 0.000546 0.059703 [component_container_isolated-3] -0.185133 -0.000562 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] [1762964994.814054705] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964994.814087608] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.055} {-0.237,11.396,0.101} [component_container_isolated-3] [DEBUG] [1762964994.814137183] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.817023626] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.817079182] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.817118757] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.817161579] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000103 -0.000001 -0.000444 [component_container_isolated-3] -0.000103 1.000000 -0.000198 0.000095 [component_container_isolated-3] 0.000001 0.000198 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] [1762964994.817185835] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.012,0.258,0.158} [component_container_isolated-3] [DEBUG] [1762964994.817233346] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.817273783] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.817308570] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979084 0.000079 0.203458 -0.006857 [component_container_isolated-3] 0.002317 0.999931 -0.011538 0.059798 [component_container_isolated-3] -0.203445 0.011768 0.979016 0.018735 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.817329800] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.689,11.738,0.136} [component_container_isolated-3] [DEBUG] [1762964994.817361020] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.644,11.483,-0.029} [component_container_isolated-3] [DEBUG] [1762964994.817412899] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.822388000] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.822446091] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.822484334] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.822529280] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000140 -0.000220 -0.000039 [component_container_isolated-3] 0.000140 1.000000 -0.000355 -0.000285 [component_container_isolated-3] 0.000221 0.000355 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] [1762964994.822555139] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.047,0.020,-0.118} [component_container_isolated-3] [DEBUG] [1762964994.822604233] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.822650742] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.822689987] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879442 0.000119 0.476006 -0.001108 [component_container_isolated-3] -0.004699 0.999953 0.008432 0.060216 [component_container_isolated-3] -0.475983 -0.009653 0.879402 0.018176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.822714574] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.629,28.423,-0.306} [component_container_isolated-3] [DEBUG] [1762964994.822747517] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.004,-0.003} {-0.518,28.405,-0.172} [component_container_isolated-3] [DEBUG] [1762964994.822798294] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.829034323] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.829090410] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.829127401] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.829170423] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000055 -0.000084 -0.000215 [component_container_isolated-3] -0.000055 1.000000 -0.000095 0.000198 [component_container_isolated-3] 0.000084 0.000095 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] [1762964994.829195110] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.057} {0.231,-0.731,-0.114} [component_container_isolated-3] [DEBUG] [1762964994.829242270] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.829288378] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.829328254] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000031 0.185133 -0.006923 [component_container_isolated-3] -0.000134 1.000000 0.000546 0.059703 [component_container_isolated-3] -0.185133 -0.000562 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] [1762964994.829352280] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.033,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964994.829385484] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.001,0.056} {-0.241,11.401,0.105} [component_container_isolated-3] [DEBUG] [1762964994.829437433] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.841392163] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.841455324] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.841498667] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.841545346] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000081 -0.000094 -0.000088 [component_container_isolated-3] -0.000081 1.000000 -0.000034 0.000304 [component_container_isolated-3] 0.000094 0.000034 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] [1762964994.841571306] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.024} {0.041,-0.374,-0.242} [component_container_isolated-3] [DEBUG] [1762964994.841620750] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.841669683] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.841710351] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981571 0.000042 0.191099 -0.006782 [component_container_isolated-3] -0.001757 0.999960 0.008807 0.059757 [component_container_isolated-3] -0.191091 -0.008980 0.981531 0.017057 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.841735679] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,-0.000} {-0.524,11.016,-0.103} [component_container_isolated-3] [DEBUG] [1762964994.841768672] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.026} {-0.517,11.392,0.140} [component_container_isolated-3] [DEBUG] [1762964994.841819289] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.848946731] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.849011234] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.849049417] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.849093010] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000140 -0.000220 -0.000039 [component_container_isolated-3] 0.000140 1.000000 -0.000355 -0.000285 [component_container_isolated-3] 0.000221 0.000355 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] [1762964994.849117878] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.027,0.007,-0.110} [component_container_isolated-3] [DEBUG] [1762964994.849167933] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.849209923] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.849249098] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879442 0.000119 0.476006 -0.001108 [component_container_isolated-3] -0.004699 0.999953 0.008432 0.060216 [component_container_isolated-3] -0.475983 -0.009653 0.879402 0.018176 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.849272944] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.629,28.423,-0.306} [component_container_isolated-3] [DEBUG] [1762964994.849305225] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.542,28.417,-0.181} [component_container_isolated-3] [DEBUG] [1762964994.849354510] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.853319552] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.853385177] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.853423761] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.853468306] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000086 0.000077 0.000009 [component_container_isolated-3] 0.000086 1.000000 -0.000065 -0.000068 [component_container_isolated-3] -0.000077 0.000065 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] [1762964994.853495087] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.016,0.262,0.163} [component_container_isolated-3] [DEBUG] [1762964994.853545894] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.853590319] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.853629995] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979068 0.000008 0.203534 -0.006887 [component_container_isolated-3] 0.002404 0.999930 -0.011603 0.059782 [component_container_isolated-3] -0.203520 0.011849 0.978999 0.018767 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.853653349] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.743,0.141} [component_container_isolated-3] [DEBUG] [1762964994.853684930] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.644,11.483,-0.029} [component_container_isolated-3] [DEBUG] [1762964994.853734204] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.871209868] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.871277026] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.871317253] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.871362750] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000118 0.000218 -0.000028 [component_container_isolated-3] 0.000118 1.000000 -0.000028 -0.000436 [component_container_isolated-3] -0.000218 0.000028 1.000000 0.000882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964994.871387487] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.023} {0.043,-0.361,-0.235} [component_container_isolated-3] [DEBUG] [1762964994.871436892] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.871482398] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.871518437] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981529 -0.000069 0.191313 -0.006787 [component_container_isolated-3] -0.001641 0.999960 0.008778 0.059668 [component_container_isolated-3] -0.191306 -0.008930 0.981490 0.017148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.871543104] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.521,11.029,-0.096} [component_container_isolated-3] [DEBUG] [1762964994.871577169] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.029,0.025} {-0.517,11.392,0.140} [component_container_isolated-3] [DEBUG] [1762964994.871631363] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.878343091] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.878417363] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.878461036] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.878513105] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000178 -0.000245 -0.000460 [component_container_isolated-3] 0.000178 1.000000 0.000069 -0.000844 [component_container_isolated-3] 0.000245 -0.000069 1.000000 -0.000927 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964994.878543283] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,0.001,-0.058} {0.227,-0.745,-0.103} [component_container_isolated-3] [DEBUG] [1762964994.878597076] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.878641200] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.878678652] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982759 -0.000157 0.184891 -0.007069 [component_container_isolated-3] 0.000044 1.000000 0.000616 0.059531 [component_container_isolated-3] -0.184892 -0.000597 0.982759 0.017117 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.878702497] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.035,10.655,0.003} [component_container_isolated-3] [DEBUG] [1762964994.878734158] [zed_multi.front]: +++ Diff [map -> odom] - {0.011,-0.001,0.056} {-0.241,11.401,0.105} [component_container_isolated-3] [DEBUG] [1762964994.878784894] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.882279969] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.882332419] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.882371324] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.882414857] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000061 -0.000035 0.000084 [component_container_isolated-3] -0.000061 1.000000 0.000003 0.000102 [component_container_isolated-3] 0.000035 -0.000003 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] [1762964994.882439434] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.016,0.260,0.160} [component_container_isolated-3] [DEBUG] [1762964994.882486464] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.882528173] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.882563761] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979075 0.000067 0.203500 -0.006901 [component_container_isolated-3] 0.002342 0.999930 -0.011600 0.059782 [component_container_isolated-3] -0.203486 0.011834 0.979006 0.018786 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.882584270] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.741,0.137} [component_container_isolated-3] [DEBUG] [1762964994.882616362] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.644,11.483,-0.029} [component_container_isolated-3] [DEBUG] [1762964994.882666367] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.891732491] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.891793097] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.891832452] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.891875745] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000118 0.000218 -0.000028 [component_container_isolated-3] 0.000118 1.000000 -0.000028 -0.000436 [component_container_isolated-3] -0.000218 0.000028 1.000000 0.000882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964994.891900582] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.022} {0.044,-0.349,-0.228} [component_container_isolated-3] [DEBUG] [1762964994.891986747] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.892519214] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.892597153] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981529 -0.000069 0.191313 -0.006787 [component_container_isolated-3] -0.001641 0.999960 0.008778 0.059668 [component_container_isolated-3] -0.191306 -0.008930 0.981490 0.017148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.892635255] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.521,11.029,-0.096} [component_container_isolated-3] [DEBUG] [1762964994.892680452] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.029,0.024} {-0.520,11.380,0.133} [component_container_isolated-3] [DEBUG] [1762964994.892763420] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.894137494] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.894188351] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.894226715] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.894270248] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000041 0.000115 -0.000152 [component_container_isolated-3] 0.000041 1.000000 0.000100 0.000030 [component_container_isolated-3] -0.000115 -0.000100 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] [1762964994.894296087] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.033,0.014,-0.107} [component_container_isolated-3] [DEBUG] [1762964994.894344379] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.894389866] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.894429171] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879387 0.000035 0.476107 -0.001107 [component_container_isolated-3] -0.004659 0.999953 0.008532 0.060209 [component_container_isolated-3] -0.476084 -0.009721 0.879346 0.018215 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.894453187] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.633,28.430,-0.304} [component_container_isolated-3] [DEBUG] [1762964994.894486190] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.542,28.417,-0.181} [component_container_isolated-3] [DEBUG] [1762964994.894536216] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.915308756] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.915371847] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.915411693] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.915454535] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000041 0.000115 -0.000152 [component_container_isolated-3] 0.000041 1.000000 0.000100 0.000030 [component_container_isolated-3] -0.000115 -0.000100 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] [1762964994.915479422] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.039,0.020,-0.105} [component_container_isolated-3] [DEBUG] [1762964994.915526953] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.915567651] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.915602718] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879387 0.000035 0.476107 -0.001107 [component_container_isolated-3] -0.004659 0.999953 0.008532 0.060209 [component_container_isolated-3] -0.476084 -0.009721 0.879346 0.018215 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.915625652] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.633,28.430,-0.304} [component_container_isolated-3] [DEBUG] [1762964994.915658314] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.004} {-0.538,28.411,-0.184} [component_container_isolated-3] [DEBUG] [1762964994.915710944] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.919420068] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.919512815] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.919563862] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.919616443] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000034 0.000027 0.000178 [component_container_isolated-3] -0.000034 1.000000 -0.000090 -0.000138 [component_container_isolated-3] -0.000027 0.000090 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] [1762964994.919646470] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.000,-0.058} {0.232,-0.744,-0.105} [component_container_isolated-3] [DEBUG] [1762964994.919701856] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.919750549] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.919788331] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982754 -0.000107 0.184918 -0.007102 [component_container_isolated-3] 0.000010 1.000000 0.000526 0.059436 [component_container_isolated-3] -0.184918 -0.000515 0.982754 0.017041 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.919812237] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.030,10.656,0.001} [component_container_isolated-3] [DEBUG] [1762964994.919844448] [zed_multi.front]: +++ Diff [map -> odom] - {0.011,-0.001,0.056} {-0.241,11.401,0.105} [component_container_isolated-3] [DEBUG] [1762964994.919894704] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.922119433] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.922209605] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.922252938] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.922301791] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000118 0.000218 -0.000028 [component_container_isolated-3] 0.000118 1.000000 -0.000028 -0.000436 [component_container_isolated-3] -0.000218 0.000028 1.000000 0.000882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964994.922330887] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.028,-0.021} {0.046,-0.336,-0.221} [component_container_isolated-3] [DEBUG] [1762964994.922384660] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.922435737] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.922478519] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981529 -0.000069 0.191313 -0.006787 [component_container_isolated-3] -0.001641 0.999960 0.008778 0.059668 [component_container_isolated-3] -0.191306 -0.008930 0.981490 0.017148 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.922502615] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.000} {-0.521,11.029,-0.096} [component_container_isolated-3] [DEBUG] [1762964994.922534225] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.028,0.023} {-0.523,11.367,0.127} [component_container_isolated-3] [DEBUG] [1762964994.922585363] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.926064457] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.926125414] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.926166813] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.926212720] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000048 -0.000036 -0.000006 [component_container_isolated-3] 0.000048 1.000000 -0.000042 -0.000007 [component_container_isolated-3] 0.000036 0.000042 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] [1762964994.926237778] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.018,0.258,0.162} [component_container_isolated-3] [DEBUG] [1762964994.926285890] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.926329123] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.926369149] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000029 0.203465 -0.006917 [component_container_isolated-3] 0.002390 0.999929 -0.011642 0.059779 [component_container_isolated-3] -0.203451 0.011884 0.979013 0.018803 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.926392784] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.739,0.140} [component_container_isolated-3] [DEBUG] [1762964994.926423062] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.644,11.483,-0.029} [component_container_isolated-3] [DEBUG] [1762964994.926472566] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.932998960] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.933051220] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.933090675] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.933133437] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000048 -0.000036 -0.000006 [component_container_isolated-3] 0.000048 1.000000 -0.000042 -0.000007 [component_container_isolated-3] 0.000036 0.000042 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] [1762964994.933158475] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.021,0.256,0.165} [component_container_isolated-3] [DEBUG] [1762964994.933205104] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.933246303] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.933281129] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000029 0.203465 -0.006917 [component_container_isolated-3] 0.002390 0.999929 -0.011642 0.059779 [component_container_isolated-3] -0.203451 0.011884 0.979013 0.018803 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.933302931] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.739,0.140} [component_container_isolated-3] [DEBUG] [1762964994.933333269] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.641,11.485,-0.032} [component_container_isolated-3] [DEBUG] [1762964994.933381821] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.946145547] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.946208437] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.946251740] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.946302848] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000177 0.000226 0.000377 [component_container_isolated-3] -0.000177 1.000000 0.000120 0.000974 [component_container_isolated-3] -0.000226 -0.000120 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] [1762964994.946331643] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.001,-0.057} {0.225,-0.731,-0.115} [component_container_isolated-3] [DEBUG] [1762964994.946387239] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.946436513] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.946475297] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000045 0.185140 -0.007024 [component_container_isolated-3] -0.000167 1.000000 0.000645 0.059574 [component_container_isolated-3] -0.185140 -0.000665 0.982712 0.017167 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.946498842] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.669,-0.010} [component_container_isolated-3] [DEBUG] [1762964994.946530272] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.002,0.055} {-0.241,11.401,0.105} [component_container_isolated-3] [DEBUG] [1762964994.946582021] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.971134981] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.971200065] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.971239641] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.971284086] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000052 -0.000113 0.000172 [component_container_isolated-3] -0.000052 1.000000 0.000157 0.000092 [component_container_isolated-3] 0.000113 -0.000157 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] [1762964994.971309404] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.048,0.014,-0.108} [component_container_isolated-3] [DEBUG] [1762964994.971421248] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.971521760] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.971573298] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879442 0.000006 0.476007 -0.001113 [component_container_isolated-3] -0.004710 0.999951 0.008689 0.060212 [component_container_isolated-3] -0.475983 -0.009884 0.879399 0.018183 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.971600580] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.423,-0.307} [component_container_isolated-3] [DEBUG] [1762964994.971632882] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.538,28.411,-0.184} [component_container_isolated-3] [DEBUG] [1762964994.971685823] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.973241013] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.973294856] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.973334842] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.973384377] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000177 0.000226 0.000377 [component_container_isolated-3] -0.000177 1.000000 0.000120 0.000974 [component_container_isolated-3] -0.000226 -0.000120 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] [1762964994.973411699] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.002,-0.056} {0.219,-0.718,-0.125} [component_container_isolated-3] [DEBUG] [1762964994.973464379] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.973513072] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.973553550] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000045 0.185140 -0.007024 [component_container_isolated-3] -0.000167 1.000000 0.000645 0.059574 [component_container_isolated-3] -0.185140 -0.000665 0.982712 0.017167 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.973578347] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.669,-0.010} [component_container_isolated-3] [DEBUG] [1762964994.973609316] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.003,0.054} {-0.233,11.388,0.115} [component_container_isolated-3] [DEBUG] [1762964994.973669121] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.984026440] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.984085583] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.984127133] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.984172830] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000176 -0.000021 0.000252 [component_container_isolated-3] 0.000176 1.000000 0.000045 -0.000417 [component_container_isolated-3] 0.000021 -0.000045 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] [1762964994.984199050] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.028,-0.021} {0.043,-0.337,-0.211} [component_container_isolated-3] [DEBUG] [1762964994.984247102] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.984291557] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.984327646] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981533 -0.000250 0.191293 -0.006776 [component_container_isolated-3] -0.001465 0.999960 0.008823 0.059504 [component_container_isolated-3] -0.191288 -0.008941 0.981493 0.017181 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.984350469] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.522,11.028,-0.086} [component_container_isolated-3] [DEBUG] [1762964994.984384244] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.028,0.023} {-0.523,11.367,0.127} [component_container_isolated-3] [DEBUG] [1762964994.984436514] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964994.997022841] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964994.997081472] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964994.997121329] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964994.997166515] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000056 0.000044 -0.000204 [component_container_isolated-3] -0.000056 1.000000 0.000077 0.000031 [component_container_isolated-3] -0.000044 -0.000077 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] [1762964994.997191873] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.009} {0.016,0.259,0.162} [component_container_isolated-3] [DEBUG] [1762964994.997239785] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964994.997284300] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964994.997324296] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000068 0.203508 -0.006959 [component_container_isolated-3] 0.002334 0.999930 -0.011564 0.059783 [component_container_isolated-3] -0.203495 0.011797 0.979005 0.018837 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964994.997347941] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.690,11.741,0.137} [component_container_isolated-3] [DEBUG] [1762964994.997380814] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.641,11.485,-0.032} [component_container_isolated-3] [DEBUG] [1762964994.997430178] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.005362768] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.005427732] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.005468540] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.005515730] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000052 0.000012 -0.000171 [component_container_isolated-3] 0.000052 1.000000 -0.000037 -0.000146 [component_container_isolated-3] -0.000012 0.000037 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] [1762964995.005542551] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.045,0.015,-0.105} [component_container_isolated-3] [DEBUG] [1762964995.005591585] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.005638765] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.005678972] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879436 -0.000022 0.476018 -0.001126 [component_container_isolated-3] -0.004659 0.999952 0.008652 0.060193 [component_container_isolated-3] -0.475995 -0.009827 0.879393 0.018195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.005703579] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.424,-0.304} [component_container_isolated-3] [DEBUG] [1762964995.005736852] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.538,28.411,-0.184} [component_container_isolated-3] [DEBUG] [1762964995.005786998] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.018312218] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.018373134] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.018417178] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.018463697] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000041 0.000053 0.000201 [component_container_isolated-3] -0.000041 1.000000 -0.000010 0.000349 [component_container_isolated-3] -0.000053 0.000010 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] [1762964995.018489176] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.003,-0.056} {0.219,-0.715,-0.128} [component_container_isolated-3] [DEBUG] [1762964995.018536957] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.018579088] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.018615167] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000087 0.185192 -0.006950 [component_container_isolated-3] -0.000208 1.000000 0.000635 0.059715 [component_container_isolated-3] -0.185192 -0.000663 0.982702 0.017225 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.018636587] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.672,-0.012} [component_container_isolated-3] [DEBUG] [1762964995.018667076] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.003,0.054} {-0.233,11.388,0.115} [component_container_isolated-3] [DEBUG] [1762964995.018715839] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.025056678] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.025121813] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.025165085] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.025213207] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000269 0.000006 0.000330 [component_container_isolated-3] -0.000269 1.000000 0.000066 0.000659 [component_container_isolated-3] -0.000006 -0.000066 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] [1762964995.025240229] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.028,-0.021} {0.039,-0.337,-0.227} [component_container_isolated-3] [DEBUG] [1762964995.025290735] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.025337925] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.025375036] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000002 0.191299 -0.006686 [component_container_isolated-3] -0.001734 0.999959 0.008890 0.059514 [component_container_isolated-3] -0.191291 -0.009057 0.981492 0.017187 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.025400295] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.529,11.028,-0.101} [component_container_isolated-3] [DEBUG] [1762964995.025435562] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.029,0.024} {-0.523,11.367,0.127} [component_container_isolated-3] [DEBUG] [1762964995.025490357] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.031448896] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.031501667] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.031540250] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.031584345] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000269 0.000006 0.000330 [component_container_isolated-3] -0.000269 1.000000 0.000066 0.000659 [component_container_isolated-3] -0.000006 -0.000066 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] [1762964995.031611015] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.029,-0.021} {0.036,-0.337,-0.242} [component_container_isolated-3] [DEBUG] [1762964995.031658506] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.031702841] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.031743058] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000002 0.191299 -0.006686 [component_container_isolated-3] -0.001734 0.999959 0.008890 0.059514 [component_container_isolated-3] -0.191291 -0.009057 0.981492 0.017187 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.031767705] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.529,11.028,-0.101} [component_container_isolated-3] [DEBUG] [1762964995.031801810] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.024} {-0.516,11.367,0.142} [component_container_isolated-3] [DEBUG] [1762964995.031854841] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.035571419] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.035625853] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.035664567] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.035710986] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000035 0.000021 0.000118 [component_container_isolated-3] 0.000035 1.000000 -0.000009 -0.000080 [component_container_isolated-3] -0.000021 0.000009 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] [1762964995.035736334] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.017,0.260,0.164} [component_container_isolated-3] [DEBUG] [1762964995.035784205] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.035825053] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.035860531] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979069 0.000035 0.203529 -0.006980 [component_container_isolated-3] 0.002370 0.999930 -0.011573 0.059775 [component_container_isolated-3] -0.203515 0.011813 0.979001 0.018854 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.035884577] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.743,0.139} [component_container_isolated-3] [DEBUG] [1762964995.035917931] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.641,11.485,-0.032} [component_container_isolated-3] [DEBUG] [1762964995.036020226] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.038237190] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.038304488] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.038346058] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.038391535] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000041 0.000053 0.000201 [component_container_isolated-3] -0.000041 1.000000 -0.000010 0.000349 [component_container_isolated-3] -0.000053 0.000010 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] [1762964995.038417594] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.003,-0.055} {0.220,-0.712,-0.130} [component_container_isolated-3] [DEBUG] [1762964995.038466969] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.038510342] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.038552011] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000087 0.185192 -0.006950 [component_container_isolated-3] -0.000208 1.000000 0.000635 0.059715 [component_container_isolated-3] -0.185192 -0.000663 0.982702 0.017225 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.038576277] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.672,-0.012} [component_container_isolated-3] [DEBUG] [1762964995.038610613] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.003,0.054} {-0.233,11.385,0.117} [component_container_isolated-3] [DEBUG] [1762964995.038662071] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.041307073] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.041365534] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.041407464] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.041453592] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000009 0.000025 0.000270 [component_container_isolated-3] -0.000009 1.000000 -0.000019 0.000146 [component_container_isolated-3] -0.000025 0.000019 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] [1762964995.041479532] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.044,0.016,-0.106} [component_container_isolated-3] [DEBUG] [1762964995.041529427] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.041572990] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.041608869] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879424 -0.000004 0.476040 -0.001103 [component_container_isolated-3] -0.004668 0.999952 0.008633 0.060196 [component_container_isolated-3] -0.476017 -0.009814 0.879381 0.018178 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.041632584] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.426,-0.304} [component_container_isolated-3] [DEBUG] [1762964995.041664024] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.538,28.411,-0.184} [component_container_isolated-3] [DEBUG] [1762964995.041717677] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.054093602] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.054150009] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.054188603] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.054232998] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000269 0.000006 0.000330 [component_container_isolated-3] -0.000269 1.000000 0.000066 0.000659 [component_container_isolated-3] -0.000006 -0.000066 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] [1762964995.054258657] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.030,-0.021} {0.032,-0.336,-0.258} [component_container_isolated-3] [DEBUG] [1762964995.054306909] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.054350843] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.054385940] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 0.000002 0.191299 -0.006686 [component_container_isolated-3] -0.001734 0.999959 0.008890 0.059514 [component_container_isolated-3] -0.191291 -0.009057 0.981492 0.017187 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.054410347] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.529,11.028,-0.101} [component_container_isolated-3] [DEBUG] [1762964995.054444091] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.024} {-0.509,11.367,0.158} [component_container_isolated-3] [DEBUG] [1762964995.054497463] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.062035920] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.062090704] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.062131612] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.062174735] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000025 -0.000029 -0.000009 [component_container_isolated-3] -0.000025 1.000000 -0.000033 0.000068 [component_container_isolated-3] 0.000029 0.000033 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] [1762964995.062199342] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.019,0.258,0.163} [component_container_isolated-3] [DEBUG] [1762964995.062252293] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.062293602] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.062331444] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979075 0.000066 0.203500 -0.006991 [component_container_isolated-3] 0.002345 0.999930 -0.011607 0.059776 [component_container_isolated-3] -0.203487 0.011841 0.979006 0.018875 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.062355049] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.741,0.137} [component_container_isolated-3] [DEBUG] [1762964995.062385978] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.641,11.485,-0.032} [component_container_isolated-3] [DEBUG] [1762964995.062434641] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.062602722] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.062647037] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.062686111] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.062733241] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000055 -0.000069 0.000047 [component_container_isolated-3] -0.000055 1.000000 -0.000115 -0.000039 [component_container_isolated-3] 0.000069 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] [1762964995.062758870] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.038,0.012,-0.109} [component_container_isolated-3] [DEBUG] [1762964995.062811080] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.062857218] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.062895090] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879457 0.000099 0.475979 -0.001085 [component_container_isolated-3] -0.004723 0.999953 0.008519 0.060192 [component_container_isolated-3] -0.475956 -0.009740 0.879415 0.018162 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.062917744] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.635,28.422,-0.308} [component_container_isolated-3] [DEBUG] [1762964995.062993378] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.538,28.411,-0.184} [component_container_isolated-3] [DEBUG] [1762964995.063046700] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.076277878] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.076347000] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.076387107] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.076433896] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000020 -0.000076 0.000010 [component_container_isolated-3] -0.000020 1.000000 0.000069 0.000198 [component_container_isolated-3] 0.000076 -0.000069 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] [1762964995.076459145] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.003,-0.056} {0.216,-0.716,-0.131} [component_container_isolated-3] [DEBUG] [1762964995.076507757] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.076551000] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.076586798] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982716 0.000094 0.185118 -0.006912 [component_container_isolated-3] -0.000228 1.000000 0.000704 0.059834 [component_container_isolated-3] -0.185117 -0.000734 0.982716 0.017244 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.076608339] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.043,10.668,-0.013} [component_container_isolated-3] [DEBUG] [1762964995.076639960] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.003,0.055} {-0.233,11.385,0.117} [component_container_isolated-3] [DEBUG] [1762964995.076690466] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.085905916] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.086006738] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.086047015] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.086090819] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000101 -0.000067 0.000246 [component_container_isolated-3] 0.000101 1.000000 -0.000013 0.000012 [component_container_isolated-3] 0.000067 0.000013 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] [1762964995.086117580] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.020,0.254,0.168} [component_container_isolated-3] [DEBUG] [1762964995.086170180] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.086216248] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.086256044] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979088 -0.000030 0.203435 -0.006984 [component_container_isolated-3] 0.002445 0.999929 -0.011620 0.059777 [component_container_isolated-3] -0.203420 0.011874 0.979020 0.018867 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.086280100] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.737,0.143} [component_container_isolated-3] [DEBUG] [1762964995.086310689] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.641,11.485,-0.032} [component_container_isolated-3] [DEBUG] [1762964995.086359893] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.094626219] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.094691975] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.094735458] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.094782868] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000053 0.000078 -0.000227 [component_container_isolated-3] 0.000053 1.000000 0.000182 -0.000094 [component_container_isolated-3] -0.000078 -0.000182 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] [1762964995.094809750] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.048,0.017,-0.106} [component_container_isolated-3] [DEBUG] [1762964995.094861018] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.094906034] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.094963684] [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 -0.001094 [component_container_isolated-3] -0.004670 0.999951 0.008700 0.060181 [component_container_isolated-3] -0.476025 -0.009874 0.879376 0.018168 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.094990134] [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] [1762964995.095021123] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.538,28.411,-0.184} [component_container_isolated-3] [DEBUG] [1762964995.095073964] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.103627850] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.103693666] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.103735165] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.103780532] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000052 0.000078 -0.000382 [component_container_isolated-3] -0.000052 1.000000 0.000058 0.000176 [component_container_isolated-3] -0.000078 -0.000058 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] [1762964995.103806592] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.003,-0.055} {0.213,-0.711,-0.134} [component_container_isolated-3] [DEBUG] [1762964995.103855946] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.103904058] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.103981546] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000134 0.185194 -0.006903 [component_container_isolated-3] -0.000280 1.000000 0.000762 0.059952 [component_container_isolated-3] -0.185194 -0.000800 0.982702 0.017366 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.104007495] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.047,10.672,-0.016} [component_container_isolated-3] [DEBUG] [1762964995.104038585] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.003,0.054} {-0.233,11.385,0.117} [component_container_isolated-3] [DEBUG] [1762964995.104096355] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.110996382] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.111056527] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.111096794] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.111141489] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000222 -0.000029 -0.000828 [component_container_isolated-3] 0.000222 1.000000 -0.000150 -0.000658 [component_container_isolated-3] 0.000029 0.000150 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] [1762964995.111166377] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.029,-0.021} {0.040,-0.338,-0.245} [component_container_isolated-3] [DEBUG] [1762964995.111214479] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.111258273] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.111294943] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 -0.000188 0.191270 -0.006820 [component_container_isolated-3] -0.001512 0.999961 0.008740 0.059367 [component_container_isolated-3] -0.191264 -0.008868 0.981498 0.017242 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.111316734] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.518,11.027,-0.088} [component_container_isolated-3] [DEBUG] [1762964995.111347553] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.030,0.024} {-0.509,11.367,0.158} [component_container_isolated-3] [DEBUG] [1762964995.111411124] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.130015314] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.130078214] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.130117659] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.130161994] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000052 0.000005 -0.000102 [component_container_isolated-3] -0.000052 1.000000 -0.000181 0.000125 [component_container_isolated-3] -0.000005 0.000181 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] [1762964995.130186841] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.038,0.017,-0.109} [component_container_isolated-3] [DEBUG] [1762964995.130234502] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.130278176] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.130318864] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879417 0.000097 0.476053 -0.001090 [component_container_isolated-3] -0.004722 0.999953 0.008519 0.060183 [component_container_isolated-3] -0.476029 -0.009740 0.879376 0.018210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.130343050] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.635,28.426,-0.308} [component_container_isolated-3] [DEBUG] [1762964995.130376093] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.004} {-0.538,28.411,-0.184} [component_container_isolated-3] [DEBUG] [1762964995.130426880] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.132369079] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.132435225] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.132475813] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.132521650] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000222 -0.000029 -0.000828 [component_container_isolated-3] 0.000222 1.000000 -0.000150 -0.000658 [component_container_isolated-3] 0.000029 0.000150 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] [1762964995.132546919] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.010,0.028,-0.021} {0.049,-0.340,-0.232} [component_container_isolated-3] [DEBUG] [1762964995.132595592] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.132639015] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.132678911] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981537 -0.000188 0.191270 -0.006820 [component_container_isolated-3] -0.001512 0.999961 0.008740 0.059367 [component_container_isolated-3] -0.191264 -0.008868 0.981498 0.017242 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.132702877] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.518,11.027,-0.088} [component_container_isolated-3] [DEBUG] [1762964995.132737693] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.029,0.023} {-0.521,11.368,0.145} [component_container_isolated-3] [DEBUG] [1762964995.132796766] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.137742441] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.137815009] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.137858833] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.137903879] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000052 0.000078 -0.000382 [component_container_isolated-3] -0.000052 1.000000 0.000058 0.000176 [component_container_isolated-3] -0.000078 -0.000058 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] [1762964995.137956079] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.004,-0.055} {0.209,-0.707,-0.137} [component_container_isolated-3] [DEBUG] [1762964995.138010112] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.138055338] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.138091648] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000134 0.185194 -0.006903 [component_container_isolated-3] -0.000280 1.000000 0.000762 0.059952 [component_container_isolated-3] -0.185194 -0.000800 0.982702 0.017366 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.138114221] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.047,10.672,-0.016} [component_container_isolated-3] [DEBUG] [1762964995.138147555] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.003,0.054} {-0.229,11.380,0.120} [component_container_isolated-3] [DEBUG] [1762964995.138204684] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.145294734] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.145357323] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.145398953] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.145445883] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000100 0.000039 0.000144 [component_container_isolated-3] -0.000100 1.000000 0.000293 -0.000065 [component_container_isolated-3] -0.000039 -0.000293 1.000000 -0.000257 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.145472614] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {0.003,0.257,0.163} [component_container_isolated-3] [DEBUG] [1762964995.145526517] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.145574208] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.145614675] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 0.000008 0.203473 -0.006961 [component_container_isolated-3] 0.002346 0.999933 -0.011326 0.059778 [component_container_isolated-3] -0.203460 0.011567 0.979015 0.018798 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.145640053] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.677,11.739,0.137} [component_container_isolated-3] [DEBUG] [1762964995.145670441] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.641,11.485,-0.032} [component_container_isolated-3] [DEBUG] [1762964995.145721268] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.152279473] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.152341281] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.152380576] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.152423969] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000100 0.000039 0.000144 [component_container_isolated-3] -0.000100 1.000000 0.000293 -0.000065 [component_container_isolated-3] -0.000039 -0.000293 1.000000 -0.000257 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.152449167] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {-0.014,0.259,0.157} [component_container_isolated-3] [DEBUG] [1762964995.152499303] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.152543958] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.152580398] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 0.000008 0.203473 -0.006961 [component_container_isolated-3] 0.002346 0.999933 -0.011326 0.059778 [component_container_isolated-3] -0.203460 0.011567 0.979015 0.018798 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.152602370] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.677,11.739,0.137} [component_container_isolated-3] [DEBUG] [1762964995.152633329] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.659,11.482,-0.026} [component_container_isolated-3] [DEBUG] [1762964995.152682573] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.164567350] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.164629018] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.164669545] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.164715774] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000057 -0.000025 0.000010 [component_container_isolated-3] 0.000057 1.000000 0.000217 -0.000070 [component_container_isolated-3] 0.000025 -0.000217 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] [1762964995.164741673] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.050,0.015,-0.105} [component_container_isolated-3] [DEBUG] [1762964995.164793251] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.164841844] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.164882792] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 -0.000057 0.476031 -0.001107 [component_container_isolated-3] -0.004664 0.999951 0.008736 0.060181 [component_container_isolated-3] -0.476008 -0.009903 0.879385 0.018210 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.164906768] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.645,28.425,-0.304} [component_container_isolated-3] [DEBUG] [1762964995.164967364] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.538,28.411,-0.184} [component_container_isolated-3] [DEBUG] [1762964995.165021507] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.175231476] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.175301640] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.175345073] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.175392614] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000132 0.000319 -0.000441 [component_container_isolated-3] -0.000132 1.000000 -0.000026 0.000503 [component_container_isolated-3] -0.000319 0.000026 1.000000 0.001194 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.175417712] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.010,0.029,-0.020} {0.050,-0.321,-0.240} [component_container_isolated-3] [DEBUG] [1762964995.175466545] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.175511611] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.175547319] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981476 -0.000053 0.191584 -0.006901 [component_container_isolated-3] -0.001647 0.999961 0.008713 0.059374 [component_container_isolated-3] -0.191576 -0.008867 0.981438 0.017710 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.175570123] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.518,11.045,-0.096} [component_container_isolated-3] [DEBUG] [1762964995.175602725] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.030,0.023} {-0.521,11.368,0.145} [component_container_isolated-3] [DEBUG] [1762964995.175655415] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.181022625] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.181079364] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.181132575] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.181179766] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000135 -0.000068 0.000478 [component_container_isolated-3] 0.000135 1.000000 -0.000103 -0.000402 [component_container_isolated-3] 0.000068 0.000103 1.000000 -0.000471 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.181206066] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.003,-0.055} {0.215,-0.711,-0.129} [component_container_isolated-3] [DEBUG] [1762964995.181256953] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.181300717] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.181336375] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000021 0.185128 -0.006830 [component_container_isolated-3] -0.000145 1.000000 0.000659 0.060000 [component_container_isolated-3] -0.185128 -0.000675 0.982714 0.017367 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.181360922] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.039,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964995.181394085] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.003,0.054} {-0.229,11.380,0.120} [component_container_isolated-3] [DEBUG] [1762964995.181445724] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.198533026] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.198590296] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.198635191] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.198682973] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000034 0.000006 0.000251 [component_container_isolated-3] -0.000034 1.000000 0.000026 0.000013 [component_container_isolated-3] -0.000006 -0.000026 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] [1762964995.198709513] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.052,0.016,-0.107} [component_container_isolated-3] [DEBUG] [1762964995.198759719] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.198802581] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.198839461] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879426 -0.000039 0.476036 -0.001088 [component_container_isolated-3] -0.004698 0.999951 0.008762 0.060178 [component_container_isolated-3] -0.476013 -0.009942 0.879382 0.018195 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.198862305] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.648,28.425,-0.306} [component_container_isolated-3] [DEBUG] [1762964995.198895819] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.538,28.411,-0.184} [component_container_isolated-3] [DEBUG] [1762964995.198983617] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.206480103] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.206540348] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.206583020] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.206632875] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000135 -0.000068 0.000478 [component_container_isolated-3] 0.000135 1.000000 -0.000103 -0.000402 [component_container_isolated-3] 0.000068 0.000103 1.000000 -0.000471 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.206663383] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.003,-0.056} {0.221,-0.715,-0.122} [component_container_isolated-3] [DEBUG] [1762964995.206719691] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.206824541] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.206865760] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000021 0.185128 -0.006830 [component_container_isolated-3] -0.000145 1.000000 0.000659 0.060000 [component_container_isolated-3] -0.185128 -0.000675 0.982714 0.017367 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.206883804] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.039,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964995.206906898] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.003,0.055} {-0.236,11.384,0.112} [component_container_isolated-3] [DEBUG] [1762964995.206972003] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.209865769] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.209955530] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.209999414] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.210053808] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000004 0.000133 -0.000198 [component_container_isolated-3] 0.000004 1.000000 -0.000098 0.000057 [component_container_isolated-3] -0.000133 0.000098 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] [1762964995.210081401] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {-0.009,0.267,0.157} [component_container_isolated-3] [DEBUG] [1762964995.210131136] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.210173767] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.210209786] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979053 0.000024 0.203604 -0.006958 [component_container_isolated-3] 0.002351 0.999932 -0.011424 0.059778 [component_container_isolated-3] -0.203590 0.011664 0.978987 0.018811 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.210232640] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.683,11.747,0.138} [component_container_isolated-3] [DEBUG] [1762964995.210272826] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.659,11.482,-0.026} [component_container_isolated-3] [DEBUG] [1762964995.210322491] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.215065820] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.215124903] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.215161843] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.215204565] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000004 0.000133 -0.000198 [component_container_isolated-3] 0.000004 1.000000 -0.000098 0.000057 [component_container_isolated-3] -0.000133 0.000098 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] [1762964995.215228811] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {-0.003,0.274,0.157} [component_container_isolated-3] [DEBUG] [1762964995.215276001] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.215321638] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.215358028] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979053 0.000024 0.203604 -0.006958 [component_container_isolated-3] 0.002351 0.999932 -0.011424 0.059778 [component_container_isolated-3] -0.203590 0.011664 0.978987 0.018811 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.215380090] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.683,11.747,0.138} [component_container_isolated-3] [DEBUG] [1762964995.215411390] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.653,11.475,-0.026} [component_container_isolated-3] [DEBUG] [1762964995.215463660] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.216278195] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.216330134] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.216370261] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.216415237] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000154 -0.000283 0.000444 [component_container_isolated-3] 0.000154 1.000000 -0.000071 -0.000700 [component_container_isolated-3] 0.000283 0.000071 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] [1762964995.216441567] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.010,0.028,-0.021} {0.054,-0.338,-0.231} [component_container_isolated-3] [DEBUG] [1762964995.216491102] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.216536418] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.216576445] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000191 0.191306 -0.006936 [component_container_isolated-3] -0.001490 0.999962 0.008642 0.059208 [component_container_isolated-3] -0.191300 -0.008768 0.981492 0.017772 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.216601142] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.512,11.029,-0.087} [component_container_isolated-3] [DEBUG] [1762964995.216633153] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.029,0.023} {-0.521,11.368,0.145} [component_container_isolated-3] [DEBUG] [1762964995.216684171] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.236082977] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.236144505] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.236182999] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.236225710] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000154 -0.000283 0.000444 [component_container_isolated-3] 0.000154 1.000000 -0.000071 -0.000700 [component_container_isolated-3] 0.000283 0.000071 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] [1762964995.236252672] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.028,-0.022} {0.059,-0.354,-0.222} [component_container_isolated-3] [DEBUG] [1762964995.236303739] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.236351100] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.236388020] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000191 0.191306 -0.006936 [component_container_isolated-3] -0.001490 0.999962 0.008642 0.059208 [component_container_isolated-3] -0.191300 -0.008768 0.981492 0.017772 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.236410703] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.512,11.029,-0.087} [component_container_isolated-3] [DEBUG] [1762964995.236441522] [zed_multi.right]: +++ Diff [map -> odom] - {-0.006,-0.028,0.024} {-0.526,11.384,0.136} [component_container_isolated-3] [DEBUG] [1762964995.236491197] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.239914795] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.240005499] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.240048220] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.240093978] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000016 0.000059 -0.000131 [component_container_isolated-3] -0.000016 1.000000 0.000059 -0.000007 [component_container_isolated-3] -0.000059 -0.000059 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] [1762964995.240120498] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.055,0.019,-0.108} [component_container_isolated-3] [DEBUG] [1762964995.240171876] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.240217904] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.240257079] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879398 -0.000053 0.476088 -0.001083 [component_container_isolated-3] -0.004715 0.999950 0.008821 0.060176 [component_container_isolated-3] -0.476065 -0.010001 0.879353 0.018203 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.240279752] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.652,28.429,-0.307} [component_container_isolated-3] [DEBUG] [1762964995.240310501] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.538,28.411,-0.184} [component_container_isolated-3] [DEBUG] [1762964995.240359855] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.241825665] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.241877103] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.241944271] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.241992393] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000135 -0.000068 0.000478 [component_container_isolated-3] 0.000135 1.000000 -0.000103 -0.000402 [component_container_isolated-3] 0.000068 0.000103 1.000000 -0.000471 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.242023132] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.002,-0.056} {0.227,-0.719,-0.114} [component_container_isolated-3] [DEBUG] [1762964995.242075712] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.242125407] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.242155254] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000021 0.185128 -0.006830 [component_container_isolated-3] -0.000145 1.000000 0.000659 0.060000 [component_container_isolated-3] -0.185128 -0.000675 0.982714 0.017367 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.242172808] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.039,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964995.242194629] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.002,0.055} {-0.244,11.388,0.105} [component_container_isolated-3] [DEBUG] [1762964995.242236409] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.278749500] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.278816518] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.278855934] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.278898425] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000025 -0.000084 0.000213 [component_container_isolated-3] -0.000025 1.000000 0.000068 0.000050 [component_container_isolated-3] 0.000084 -0.000068 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] [1762964995.278955935] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {-0.007,0.269,0.156} [component_container_isolated-3] [DEBUG] [1762964995.279008996] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.279055164] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.279090481] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979070 0.000034 0.203522 -0.006934 [component_container_isolated-3] 0.002326 0.999933 -0.011357 0.059787 [component_container_isolated-3] -0.203508 0.011592 0.979005 0.018784 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.279113315] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.678,11.742,0.136} [component_container_isolated-3] [DEBUG] [1762964995.279145917] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.653,11.475,-0.026} [component_container_isolated-3] [DEBUG] [1762964995.279203277] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.284014315] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.284074139] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.284111891] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.284154182] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000154 -0.000283 0.000444 [component_container_isolated-3] 0.000154 1.000000 -0.000071 -0.000700 [component_container_isolated-3] 0.000283 0.000071 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] [1762964995.284183498] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.011,0.027,-0.022} {0.063,-0.370,-0.213} [component_container_isolated-3] [DEBUG] [1762964995.284236219] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.284280583] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.284316322] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000191 0.191306 -0.006936 [component_container_isolated-3] -0.001490 0.999962 0.008642 0.059208 [component_container_isolated-3] -0.191300 -0.008768 0.981492 0.017772 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.284340047] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.512,11.029,-0.087} [component_container_isolated-3] [DEBUG] [1762964995.284369974] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.028,0.025} {-0.532,11.401,0.127} [component_container_isolated-3] [DEBUG] [1762964995.284419118] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.293672089] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.293745008] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.293785666] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.293833317] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000025 -0.000084 0.000213 [component_container_isolated-3] -0.000025 1.000000 0.000068 0.000050 [component_container_isolated-3] 0.000084 -0.000068 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] [1762964995.293860268] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {-0.011,0.265,0.155} [component_container_isolated-3] [DEBUG] [1762964995.293910154] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.293987050] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.294029622] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979070 0.000034 0.203522 -0.006934 [component_container_isolated-3] 0.002326 0.999933 -0.011357 0.059787 [component_container_isolated-3] -0.203508 0.011592 0.979005 0.018784 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.294054499] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.678,11.742,0.136} [component_container_isolated-3] [DEBUG] [1762964995.294086220] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.657,11.480,-0.025} [component_container_isolated-3] [DEBUG] [1762964995.294136376] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.296249802] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.296309606] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.296347087] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.296389669] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000154 -0.000283 0.000444 [component_container_isolated-3] 0.000154 1.000000 -0.000071 -0.000700 [component_container_isolated-3] 0.000283 0.000071 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] [1762964995.296414236] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.026,-0.023} {0.067,-0.386,-0.204} [component_container_isolated-3] [DEBUG] [1762964995.296463420] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.296509958] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.296549424] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000191 0.191306 -0.006936 [component_container_isolated-3] -0.001490 0.999962 0.008642 0.059208 [component_container_isolated-3] -0.191300 -0.008768 0.981492 0.017772 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.296572678] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.512,11.029,-0.087} [component_container_isolated-3] [DEBUG] [1762964995.296605401] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.027,0.026} {-0.538,11.417,0.117} [component_container_isolated-3] [DEBUG] [1762964995.296655346] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.303634966] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.303692646] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.303732231] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.303776366] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000058 -0.000118 -0.000003 [component_container_isolated-3] 0.000058 1.000000 -0.000314 -0.000046 [component_container_isolated-3] 0.000118 0.000314 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] [1762964995.303800922] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.037,0.012,-0.105} [component_container_isolated-3] [DEBUG] [1762964995.303847271] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.303892297] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.303969945] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879454 0.000045 0.475984 -0.001098 [component_container_isolated-3] -0.004656 0.999953 0.008507 0.060163 [component_container_isolated-3] -0.475962 -0.009698 0.879413 0.018189 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.303995905] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.632,28.422,-0.303} [component_container_isolated-3] [DEBUG] [1762964995.304029419] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.538,28.411,-0.184} [component_container_isolated-3] [DEBUG] [1762964995.304081258] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.305134870] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.305186559] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.305226755] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.305271311] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000135 -0.000068 0.000478 [component_container_isolated-3] 0.000135 1.000000 -0.000103 -0.000402 [component_container_isolated-3] 0.000068 0.000103 1.000000 -0.000471 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.305296288] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.002,-0.057} {0.232,-0.723,-0.106} [component_container_isolated-3] [DEBUG] [1762964995.305352706] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.305397341] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.305434272] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000021 0.185128 -0.006830 [component_container_isolated-3] -0.000145 1.000000 0.000659 0.060000 [component_container_isolated-3] -0.185128 -0.000675 0.982714 0.017367 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.305457216] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.039,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964995.305492633] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.002,0.056} {-0.251,11.392,0.097} [component_container_isolated-3] [DEBUG] [1762964995.305546576] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.308682315] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.308729264] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.308763309] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.308814277] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000058 -0.000118 -0.000003 [component_container_isolated-3] 0.000058 1.000000 -0.000314 -0.000046 [component_container_isolated-3] 0.000118 0.000314 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] [1762964995.308840357] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.019,0.006,-0.102} [component_container_isolated-3] [DEBUG] [1762964995.308890252] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.308965886] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.309004420] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879454 0.000045 0.475984 -0.001098 [component_container_isolated-3] -0.004656 0.999953 0.008507 0.060163 [component_container_isolated-3] -0.475962 -0.009698 0.879413 0.018189 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.309026191] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.632,28.422,-0.303} [component_container_isolated-3] [DEBUG] [1762964995.309056319] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.558,28.417,-0.188} [component_container_isolated-3] [DEBUG] [1762964995.309105623] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.318290304] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.318349807] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.318391026] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.318440410] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000135 -0.000068 0.000478 [component_container_isolated-3] 0.000135 1.000000 -0.000103 -0.000402 [component_container_isolated-3] 0.000068 0.000103 1.000000 -0.000471 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.318469215] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.002,-0.057} {0.238,-0.727,-0.099} [component_container_isolated-3] [DEBUG] [1762964995.318521014] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.318568615] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.318596879] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000021 0.185128 -0.006830 [component_container_isolated-3] -0.000145 1.000000 0.000659 0.060000 [component_container_isolated-3] -0.185128 -0.000675 0.982714 0.017367 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.318614663] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.039,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964995.318636675] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.258,11.396,0.089} [component_container_isolated-3] [DEBUG] [1762964995.318676010] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.329255935] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.329323254] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.329364683] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.329413406] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000025 -0.000084 0.000213 [component_container_isolated-3] -0.000025 1.000000 0.000068 0.000050 [component_container_isolated-3] 0.000084 -0.000068 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] [1762964995.329440538] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {-0.015,0.260,0.153} [component_container_isolated-3] [DEBUG] [1762964995.329490123] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.329536130] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.329576027] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979070 0.000034 0.203522 -0.006934 [component_container_isolated-3] 0.002326 0.999933 -0.011357 0.059787 [component_container_isolated-3] -0.203508 0.011592 0.979005 0.018784 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.329600323] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.678,11.742,0.136} [component_container_isolated-3] [DEBUG] [1762964995.329630541] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.661,11.484,-0.023} [component_container_isolated-3] [DEBUG] [1762964995.329679184] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.330600563] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.330649717] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.330687580] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.330730091] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000135 -0.000068 0.000478 [component_container_isolated-3] 0.000135 1.000000 -0.000103 -0.000402 [component_container_isolated-3] 0.000068 0.000103 1.000000 -0.000471 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.330755309] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.058} {0.244,-0.730,-0.091} [component_container_isolated-3] [DEBUG] [1762964995.330803882] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.330847335] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.330889285] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000021 0.185128 -0.006830 [component_container_isolated-3] -0.000145 1.000000 0.000659 0.060000 [component_container_isolated-3] -0.185128 -0.000675 0.982714 0.017367 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.330913000] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.039,10.669,-0.008} [component_container_isolated-3] [DEBUG] [1762964995.330982162] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.266,11.400,0.081} [component_container_isolated-3] [DEBUG] [1762964995.331039902] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.332214035] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.332265974] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.332308154] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.332352449] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000154 -0.000283 0.000444 [component_container_isolated-3] 0.000154 1.000000 -0.000071 -0.000700 [component_container_isolated-3] 0.000283 0.000071 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] [1762964995.332377797] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.025,-0.024} {0.071,-0.402,-0.195} [component_container_isolated-3] [DEBUG] [1762964995.332425899] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.332469643] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.332505802] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000191 0.191306 -0.006936 [component_container_isolated-3] -0.001490 0.999962 0.008642 0.059208 [component_container_isolated-3] -0.191300 -0.008768 0.981492 0.017772 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.332527974] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.512,11.029,-0.087} [component_container_isolated-3] [DEBUG] [1762964995.332558883] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.026,0.026} {-0.544,11.433,0.108} [component_container_isolated-3] [DEBUG] [1762964995.332612996] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.337113321] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.337174608] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.337216368] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.337265822] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000063 -0.000062 -0.000113 [component_container_isolated-3] 0.000063 1.000000 -0.000073 -0.000103 [component_container_isolated-3] 0.000062 0.000073 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] [1762964995.337294197] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.015,0.002,-0.098} [component_container_isolated-3] [DEBUG] [1762964995.337347929] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.337394468] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.337433442] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879483 0.000025 0.475930 -0.001120 [component_container_isolated-3] -0.004593 0.999954 0.008434 0.060141 [component_container_isolated-3] -0.475908 -0.009604 0.879443 0.018189 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.337456106] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.626,28.418,-0.299} [component_container_isolated-3] [DEBUG] [1762964995.337487095] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.558,28.417,-0.188} [component_container_isolated-3] [DEBUG] [1762964995.337536169] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.369863255] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.369972664] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.370018863] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.370067445] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000026 -0.000116 -0.000113 [component_container_isolated-3] 0.000026 1.000000 0.000064 -0.000165 [component_container_isolated-3] 0.000116 -0.000064 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] [1762964995.370095569] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {-0.018,0.253,0.155} [component_container_isolated-3] [DEBUG] [1762964995.370152237] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.370200840] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.370245055] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979094 -0.000004 0.203409 -0.006929 [component_container_isolated-3] 0.002350 0.999933 -0.011293 0.059773 [component_container_isolated-3] -0.203395 0.011535 0.979029 0.018785 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.370270072] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.675,11.736,0.138} [component_container_isolated-3] [DEBUG] [1762964995.370301172] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.661,11.484,-0.023} [component_container_isolated-3] [DEBUG] [1762964995.370352009] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.370432913] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.370493379] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.370535259] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.370585094] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000021 0.000027 0.000124 [component_container_isolated-3] -0.000021 1.000000 0.000071 -0.000005 [component_container_isolated-3] -0.000027 -0.000071 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] [1762964995.370612276] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.019,0.004,-0.099} [component_container_isolated-3] [DEBUG] [1762964995.370663694] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.370711045] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.370748356] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879470 0.000009 0.475953 -0.001124 [component_container_isolated-3] -0.004614 0.999953 0.008505 0.060127 [component_container_isolated-3] -0.475931 -0.009676 0.879429 0.018173 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.370770909] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.630,28.420,-0.301} [component_container_isolated-3] [DEBUG] [1762964995.370801497] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.558,28.417,-0.188} [component_container_isolated-3] [DEBUG] [1762964995.370849740] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.380751389] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.380820852] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.380863964] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.380917577] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000240 0.000075 0.000165 [component_container_isolated-3] -0.000240 1.000000 0.000252 0.001798 [component_container_isolated-3] -0.000075 -0.000252 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] [1762964995.380982671] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.027,-0.024} {0.056,-0.398,-0.209} [component_container_isolated-3] [DEBUG] [1762964995.381048126] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.381109834] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.381160891] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981516 -0.000003 0.191379 -0.006923 [component_container_isolated-3] -0.001731 0.999959 0.008894 0.059717 [component_container_isolated-3] -0.191371 -0.009061 0.981476 0.017748 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.381192582] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.529,11.033,-0.101} [component_container_isolated-3] [DEBUG] [1762964995.381232217] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.027,0.027} {-0.544,11.433,0.108} [component_container_isolated-3] [DEBUG] [1762964995.381301370] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.382332128] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.382381583] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.382420327] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.382465302] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000026 -0.000116 -0.000113 [component_container_isolated-3] 0.000026 1.000000 0.000064 -0.000165 [component_container_isolated-3] 0.000116 -0.000064 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] [1762964995.382489779] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {-0.022,0.246,0.156} [component_container_isolated-3] [DEBUG] [1762964995.382538502] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.382584570] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.382624947] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979094 -0.000004 0.203409 -0.006929 [component_container_isolated-3] 0.002350 0.999933 -0.011293 0.059773 [component_container_isolated-3] -0.203395 0.011535 0.979029 0.018785 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.382648592] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.675,11.736,0.138} [component_container_isolated-3] [DEBUG] [1762964995.382682748] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.665,11.491,-0.025} [component_container_isolated-3] [DEBUG] [1762964995.382734296] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.386412671] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.386466734] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.386519675] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.386565783] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000079 0.000078 -0.000502 [component_container_isolated-3] -0.000079 1.000000 -0.000015 -0.000029 [component_container_isolated-3] -0.000078 0.000015 1.000000 0.000263 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.386591753] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.057} {0.245,-0.726,-0.096} [component_container_isolated-3] [DEBUG] [1762964995.386642229] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.386687215] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.386724006] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982700 0.000101 0.185204 -0.006852 [component_container_isolated-3] -0.000224 1.000000 0.000644 0.060023 [component_container_isolated-3] -0.185204 -0.000675 0.982700 0.017418 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.386747440] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.039,10.673,-0.013} [component_container_isolated-3] [DEBUG] [1762964995.386780323] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.266,11.400,0.081} [component_container_isolated-3] [DEBUG] [1762964995.386831451] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.389813556] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.389870014] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.389940458] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.390006534] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000240 0.000075 0.000165 [component_container_isolated-3] -0.000240 1.000000 0.000252 0.001798 [component_container_isolated-3] -0.000075 -0.000252 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] [1762964995.390042533] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.029,-0.024} {0.042,-0.394,-0.223} [component_container_isolated-3] [DEBUG] [1762964995.390110333] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.390212117] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.390276841] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981516 -0.000003 0.191379 -0.006923 [component_container_isolated-3] -0.001731 0.999959 0.008894 0.059717 [component_container_isolated-3] -0.191371 -0.009061 0.981476 0.017748 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.390311797] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.529,11.033,-0.101} [component_container_isolated-3] [DEBUG] [1762964995.390358166] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.029,0.027} {-0.527,11.429,0.122} [component_container_isolated-3] [DEBUG] [1762964995.390439471] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.397273573] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.397337765] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.397388021] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.397446423] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000004 -0.000020 0.000068 [component_container_isolated-3] 0.000004 1.000000 0.000029 0.000019 [component_container_isolated-3] 0.000020 -0.000029 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] [1762964995.397481630] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.021,0.002,-0.099} [component_container_isolated-3] [DEBUG] [1762964995.397549089] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.397611759] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.397660492] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879480 -0.000008 0.475936 -0.001127 [component_container_isolated-3] -0.004610 0.999953 0.008535 0.060115 [component_container_isolated-3] -0.475913 -0.009700 0.879439 0.018149 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.397690940] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.632,28.419,-0.300} [component_container_isolated-3] [DEBUG] [1762964995.397730946] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.558,28.417,-0.188} [component_container_isolated-3] [DEBUG] [1762964995.397799547] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.410501845] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.410564816] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.410607497] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.410652463] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000154 -0.000028 0.000428 [component_container_isolated-3] 0.000154 1.000000 -0.000023 -0.000412 [component_container_isolated-3] 0.000028 0.000023 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] [1762964995.410678082] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.057} {0.246,-0.728,-0.087} [component_container_isolated-3] [DEBUG] [1762964995.410735902] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.410781720] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.410818851] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 -0.000047 0.185177 -0.006805 [component_container_isolated-3] -0.000070 1.000000 0.000621 0.059975 [component_container_isolated-3] -0.185177 -0.000624 0.982705 0.017425 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.410841173] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.036,10.671,-0.004} [component_container_isolated-3] [DEBUG] [1762964995.410871421] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.266,11.400,0.081} [component_container_isolated-3] [DEBUG] [1762964995.410941946] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.411185501] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.411237811] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.411276054] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.411326100] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000019 0.000167 -0.000253 [component_container_isolated-3] 0.000019 1.000000 -0.000266 0.000025 [component_container_isolated-3] -0.000167 0.000266 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] [1762964995.411353652] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {-0.007,0.256,0.157} [component_container_isolated-3] [DEBUG] [1762964995.411404990] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.411447922] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.411484332] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979060 0.000032 0.203572 -0.006950 [component_container_isolated-3] 0.002371 0.999930 -0.011559 0.059761 [component_container_isolated-3] -0.203558 0.011799 0.978992 0.018835 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.411505673] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.691,11.745,0.139} [component_container_isolated-3] [DEBUG] [1762964995.411536041] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.665,11.491,-0.025} [component_container_isolated-3] [DEBUG] [1762964995.411591126] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.420962663] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.421024972] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.421064668] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.421109463] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000008 0.000067 -0.000051 [component_container_isolated-3] 0.000008 1.000000 0.000082 -0.000003 [component_container_isolated-3] -0.000067 -0.000082 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] [1762964995.421134782] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.025,0.006,-0.099} [component_container_isolated-3] [DEBUG] [1762964995.421200277] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.421260412] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.421294116] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879448 -0.000054 0.475995 -0.001131 [component_container_isolated-3] -0.004603 0.999952 0.008617 0.060106 [component_container_isolated-3] -0.475972 -0.009769 0.879406 0.018136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.421312050] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.636,28.423,-0.300} [component_container_isolated-3] [DEBUG] [1762964995.421334333] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.558,28.417,-0.188} [component_container_isolated-3] [DEBUG] [1762964995.421372456] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.431588446] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.431650484] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.431691042] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.431735767] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000240 0.000075 0.000165 [component_container_isolated-3] -0.000240 1.000000 0.000252 0.001798 [component_container_isolated-3] -0.000075 -0.000252 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] [1762964995.431762197] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.031,-0.024} {0.028,-0.390,-0.237} [component_container_isolated-3] [DEBUG] [1762964995.431810901] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.431856017] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.431896935] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981516 -0.000003 0.191379 -0.006923 [component_container_isolated-3] -0.001731 0.999959 0.008894 0.059717 [component_container_isolated-3] -0.191371 -0.009061 0.981476 0.017748 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.431954475] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.000,0.001} {-0.529,11.033,-0.101} [component_container_isolated-3] [DEBUG] [1762964995.431990764] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.031,0.027} {-0.509,11.425,0.137} [component_container_isolated-3] [DEBUG] [1762964995.432049837] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.443015138] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.443078088] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.443120269] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.443165826] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000069 -0.000303 -0.000578 [component_container_isolated-3] 0.000069 1.000000 -0.000148 -0.000922 [component_container_isolated-3] 0.000303 0.000148 1.000000 -0.001014 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.443192146] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.000,-0.059} {0.254,-0.745,-0.083} [component_container_isolated-3] [DEBUG] [1762964995.443242031] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.443289502] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.443328677] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982761 -0.000087 0.184878 -0.006934 [component_container_isolated-3] -0.000000 1.000000 0.000474 0.059643 [component_container_isolated-3] -0.184878 -0.000465 0.982761 0.017172 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.443351280] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.027,10.654,-0.000} [component_container_isolated-3] [DEBUG] [1762964995.443382049] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.000,0.058} {-0.266,11.400,0.081} [component_container_isolated-3] [DEBUG] [1762964995.443432204] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.454730662] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.454783272] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.454821335] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.454863976] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000064 -0.000033 -0.000272 [component_container_isolated-3] -0.000064 1.000000 0.000075 0.000113 [component_container_isolated-3] 0.000033 -0.000075 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] [1762964995.454888934] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {-0.011,0.254,0.153} [component_container_isolated-3] [DEBUG] [1762964995.454980769] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.455029212] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.455069288] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 0.000080 0.203540 -0.007008 [component_container_isolated-3] 0.002306 0.999931 -0.011483 0.059769 [component_container_isolated-3] -0.203527 0.011712 0.978999 0.018908 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.455093174] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.685,11.743,0.135} [component_container_isolated-3] [DEBUG] [1762964995.455125215] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.665,11.491,-0.025} [component_container_isolated-3] [DEBUG] [1762964995.455175151] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.462501182] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.462566747] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.462608587] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.462653422] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000026 -0.000026 -0.000122 [component_container_isolated-3] 0.000026 1.000000 -0.000059 -0.000048 [component_container_isolated-3] 0.000026 0.000059 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] [1762964995.462679813] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.022,0.005,-0.097} [component_container_isolated-3] [DEBUG] [1762964995.462728756] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.462771708] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.462809410] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879460 -0.000048 0.475972 -0.001144 [component_container_isolated-3] -0.004576 0.999953 0.008558 0.060089 [component_container_isolated-3] -0.475950 -0.009704 0.879419 0.018142 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.462834739] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.632,28.421,-0.298} [component_container_isolated-3] [DEBUG] [1762964995.462867712] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.558,28.417,-0.188} [component_container_isolated-3] [DEBUG] [1762964995.462942785] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.478582032] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.478637658] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.478682524] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.478730406] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000168 -0.000162 0.000487 [component_container_isolated-3] 0.000168 1.000000 -0.000131 -0.001640 [component_container_isolated-3] 0.000162 0.000131 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] [1762964995.478756756] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.029,-0.025} {0.035,-0.399,-0.227} [component_container_isolated-3] [DEBUG] [1762964995.478806932] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.478853260] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.478890231] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 -0.000143 0.191220 -0.006857 [component_container_isolated-3] -0.001562 0.999960 0.008763 0.059398 [component_container_isolated-3] -0.191213 -0.008900 0.981508 0.017586 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.478913345] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.520,11.024,-0.091} [component_container_isolated-3] [DEBUG] [1762964995.478986485] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.030,0.028} {-0.509,11.425,0.137} [component_container_isolated-3] [DEBUG] [1762964995.479040578] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.484174853] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.484246690] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.484290163] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.484338065] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000128 0.000218 0.000330 [component_container_isolated-3] -0.000128 1.000000 0.000177 0.001023 [component_container_isolated-3] -0.000218 -0.000177 1.000000 0.000997 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.484364445] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.057} {0.244,-0.733,-0.090} [component_container_isolated-3] [DEBUG] [1762964995.484413990] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.484463374] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.484504202] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982721 0.000006 0.185093 -0.006897 [component_container_isolated-3] -0.000128 1.000000 0.000651 0.059714 [component_container_isolated-3] -0.185093 -0.000663 0.982721 0.017262 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.484527957] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.667,-0.007} [component_container_isolated-3] [DEBUG] [1762964995.484558776] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.266,11.399,0.081} [component_container_isolated-3] [DEBUG] [1762964995.484609603] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.491178629] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.491228474] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.491273179] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.491321471] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000001 -0.000010 0.000182 [component_container_isolated-3] -0.000001 1.000000 -0.000152 -0.000095 [component_container_isolated-3] 0.000010 0.000152 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] [1762964995.491348242] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {-0.002,0.254,0.153} [component_container_isolated-3] [DEBUG] [1762964995.491398539] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.491440869] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.491476588] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979069 0.000112 0.203529 -0.007024 [component_container_isolated-3] 0.002304 0.999930 -0.011635 0.059760 [component_container_isolated-3] -0.203516 0.011861 0.979000 0.018948 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.491498379] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.694,11.743,0.135} [component_container_isolated-3] [DEBUG] [1762964995.491529298] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.665,11.491,-0.025} [component_container_isolated-3] [DEBUG] [1762964995.491589593] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.494883614] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.494968817] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.495017290] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.495070491] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000002 0.000019 0.000276 [component_container_isolated-3] 0.000002 1.000000 -0.000081 0.000162 [component_container_isolated-3] -0.000019 0.000081 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] [1762964995.495104015] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.017,0.006,-0.097} [component_container_isolated-3] [DEBUG] [1762964995.495166324] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.495227691] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.495278839] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879432 0.000100 0.476024 -0.001131 [component_container_isolated-3] -0.004598 0.999955 0.008283 0.060082 [component_container_isolated-3] -0.476002 -0.009473 0.879393 0.018146 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.495307013] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.617,28.425,-0.300} [component_container_isolated-3] [DEBUG] [1762964995.495345887] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.495412665] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.500893572] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.500980838] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.501020324] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.501063045] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000001 -0.000010 0.000182 [component_container_isolated-3] -0.000001 1.000000 -0.000152 -0.000095 [component_container_isolated-3] 0.000010 0.000152 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] [1762964995.501086560] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.006,0.253,0.153} [component_container_isolated-3] [DEBUG] [1762964995.501134131] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.501175330] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.501213132] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979069 0.000112 0.203529 -0.007024 [component_container_isolated-3] 0.002304 0.999930 -0.011635 0.059760 [component_container_isolated-3] -0.203516 0.011861 0.979000 0.018948 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.501236336] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.694,11.743,0.135} [component_container_isolated-3] [DEBUG] [1762964995.501269199] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.656,11.492,-0.025} [component_container_isolated-3] [DEBUG] [1762964995.501321239] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.507032967] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.507081429] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.507118831] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.507160540] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000095 0.000079 -0.000259 [component_container_isolated-3] -0.000095 1.000000 -0.000041 0.000587 [component_container_isolated-3] -0.000079 0.000041 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] [1762964995.507184175] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.030,-0.024} {0.037,-0.394,-0.233} [component_container_isolated-3] [DEBUG] [1762964995.507229692] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.507273476] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.507308793] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 -0.000042 0.191298 -0.006836 [component_container_isolated-3] -0.001657 0.999961 0.008722 0.059404 [component_container_isolated-3] -0.191290 -0.008878 0.981493 0.017563 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.507330104] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.518,11.028,-0.097} [component_container_isolated-3] [DEBUG] [1762964995.507361093] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.030,0.027} {-0.509,11.425,0.137} [component_container_isolated-3] [DEBUG] [1762964995.507410828] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.513281620] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.513347356] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.513391279] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.513440994] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000049 0.000110 0.000285 [component_container_isolated-3] -0.000049 1.000000 0.000037 0.000193 [component_container_isolated-3] -0.000110 -0.000037 1.000000 0.000264 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.513468176] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.057} {0.242,-0.726,-0.093} [component_container_isolated-3] [DEBUG] [1762964995.513519424] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.513565452] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.513602603] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000047 0.185201 -0.006818 [component_container_isolated-3] -0.000177 1.000000 0.000688 0.059778 [component_container_isolated-3] -0.185201 -0.000709 0.982700 0.017348 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.513626058] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.041,10.673,-0.010} [component_container_isolated-3] [DEBUG] [1762964995.513663359] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.266,11.400,0.081} [component_container_isolated-3] [DEBUG] [1762964995.513717262] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.526232573] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.526296275] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.526335880] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.526380355] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000069 0.000066 0.000122 [component_container_isolated-3] -0.000069 1.000000 0.000057 0.000039 [component_container_isolated-3] -0.000066 -0.000057 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] [1762964995.526406065] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.021,0.010,-0.101} [component_container_isolated-3] [DEBUG] [1762964995.526454257] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.526496688] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.526536323] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879401 0.000134 0.476082 -0.001108 [component_container_isolated-3] -0.004667 0.999954 0.008339 0.060086 [component_container_isolated-3] -0.476060 -0.009556 0.879361 0.018132 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.526559948] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.623,28.428,-0.304} [component_container_isolated-3] [DEBUG] [1762964995.526592420] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.526642546] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.536425950] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.536495823] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.536537924] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.536584853] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000324 0.000348 -0.000628 [component_container_isolated-3] -0.000324 1.000000 0.000291 0.002624 [component_container_isolated-3] -0.000348 -0.000291 1.000000 0.001295 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.536612106] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.032,-0.023} {0.021,-0.374,-0.251} [component_container_isolated-3] [DEBUG] [1762964995.536662492] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.536709702] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.536752975] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981498 -0.000143 0.191474 -0.006846 [component_container_isolated-3] -0.001570 0.999960 0.008794 0.059418 [component_container_isolated-3] -0.191467 -0.008931 0.981458 0.017751 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.536778213] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.521,11.038,-0.092} [component_container_isolated-3] [DEBUG] [1762964995.536815324] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.033,0.026} {-0.492,11.415,0.161} [component_container_isolated-3] [DEBUG] [1762964995.536876420] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.542744938] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.542805343] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.542845360] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.542891047] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000126 -0.000063 -0.000080 [component_container_isolated-3] 0.000126 1.000000 -0.000168 -0.000173 [component_container_isolated-3] 0.000063 0.000168 1.000000 -0.000333 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.542917628] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.058} {0.252,-0.730,-0.086} [component_container_isolated-3] [DEBUG] [1762964995.543013411] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.543064618] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.543106889] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 -0.000046 0.185139 -0.006802 [component_container_isolated-3] -0.000051 1.000000 0.000520 0.059791 [component_container_isolated-3] -0.185139 -0.000520 0.982712 0.017370 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.543131616] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.030,10.669,-0.003} [component_container_isolated-3] [DEBUG] [1762964995.543165812] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.266,11.400,0.081} [component_container_isolated-3] [DEBUG] [1762964995.543234242] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.578561379] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.578623808] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.578664926] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.578709892] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000037 0.000016 0.000006 [component_container_isolated-3] 0.000037 1.000000 0.000014 -0.000047 [component_container_isolated-3] -0.000016 -0.000014 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] [1762964995.578735160] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.006,0.254,0.155} [component_container_isolated-3] [DEBUG] [1762964995.578783453] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.578828198] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.578866902] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979066 0.000073 0.203545 -0.007038 [component_container_isolated-3] 0.002341 0.999930 -0.011621 0.059750 [component_container_isolated-3] -0.203531 0.011854 0.978997 0.018969 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.578888764] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.694,11.744,0.137} [component_container_isolated-3] [DEBUG] [1762964995.578946153] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.656,11.492,-0.025} [component_container_isolated-3] [DEBUG] [1762964995.578999595] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.586011897] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.586101969] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.586132668] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.586192502] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.586145562] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.586238660] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.586289447] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000037 0.000016 0.000006 [component_container_isolated-3] 0.000037 1.000000 0.000014 -0.000047 [component_container_isolated-3] -0.000016 -0.000014 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] [1762964995.586363819] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.005,0.255,0.158} [component_container_isolated-3] [DEBUG] [1762964995.586340264] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000011 -0.000038 -0.000149 [component_container_isolated-3] 0.000011 1.000000 0.000204 0.000011 [component_container_isolated-3] 0.000038 -0.000204 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] [1762964995.586454653] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.032,0.008,-0.100} [component_container_isolated-3] [DEBUG] [1762964995.586420928] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.586511371] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.586563721] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.586609569] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.586691275] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879419 0.000028 0.476049 -0.001109 [component_container_isolated-3] -0.004656 0.999953 0.008544 0.060092 [component_container_isolated-3] -0.476026 -0.009730 0.879377 0.018133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.586713487] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.634,28.426,-0.303} [component_container_isolated-3] [DEBUG] [1762964995.586735960] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.586636951] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979066 0.000073 0.203545 -0.007038 [component_container_isolated-3] 0.002341 0.999930 -0.011621 0.059750 [component_container_isolated-3] -0.203531 0.011854 0.978997 0.018969 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.586842113] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.694,11.744,0.137} [component_container_isolated-3] [DEBUG] [1762964995.586878562] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.656,11.491,-0.027} [component_container_isolated-3] [DEBUG] [1762964995.586780425] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.586959006] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.596796183] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.596855586] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.596898127] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.596973782] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000011 0.000046 -0.000085 [component_container_isolated-3] -0.000011 1.000000 0.000096 -0.000040 [component_container_isolated-3] -0.000046 -0.000096 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] [1762964995.597002627] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.057} {0.246,-0.727,-0.086} [component_container_isolated-3] [DEBUG] [1762964995.597053995] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.597100584] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.597137955] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 -0.000053 0.185183 -0.006787 [component_container_isolated-3] -0.000062 1.000000 0.000616 0.059801 [component_container_isolated-3] -0.185183 -0.000617 0.982704 0.017380 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.597162572] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.036,10.672,-0.004} [component_container_isolated-3] [DEBUG] [1762964995.597195806] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.266,11.400,0.081} [component_container_isolated-3] [DEBUG] [1762964995.597246372] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.609157219] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.609217735] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.609259875] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.609306594] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000128 0.000010 -0.000307 [component_container_isolated-3] -0.000128 1.000000 0.000010 0.000243 [component_container_isolated-3] -0.000010 -0.000010 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] [1762964995.609332294] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.033,-0.023} {0.020,-0.374,-0.258} [component_container_isolated-3] [DEBUG] [1762964995.609380726] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.609423478] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.609459497] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981496 -0.000019 0.191483 -0.006907 [component_container_isolated-3] -0.001698 0.999960 0.008804 0.059472 [component_container_isolated-3] -0.191476 -0.008966 0.981456 0.017884 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.609481899] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.523,11.039,-0.099} [component_container_isolated-3] [DEBUG] [1762964995.609512488] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.033,0.026} {-0.492,11.415,0.161} [component_container_isolated-3] [DEBUG] [1762964995.609560970] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.610424099] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.610475757] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.610515493] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.610558575] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000003 0.000024 0.000072 [component_container_isolated-3] 0.000003 1.000000 -0.000054 -0.000076 [component_container_isolated-3] -0.000024 0.000054 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] [1762964995.610584255] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.029,0.009,-0.100} [component_container_isolated-3] [DEBUG] [1762964995.610633649] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.610676511] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.610712890] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879407 0.000051 0.476070 -0.001099 [component_container_isolated-3] -0.004654 0.999953 0.008489 0.060085 [component_container_isolated-3] -0.476048 -0.009681 0.879366 0.018135 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.610736115] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.631,28.428,-0.303} [component_container_isolated-3] [DEBUG] [1762964995.610768647] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.610820395] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.616868055] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.616975691] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.617016148] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.617060703] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000128 0.000010 -0.000307 [component_container_isolated-3] -0.000128 1.000000 0.000010 0.000243 [component_container_isolated-3] -0.000010 -0.000010 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] [1762964995.617086172] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.033,-0.023} {0.020,-0.373,-0.266} [component_container_isolated-3] [DEBUG] [1762964995.617134544] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.617181554] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.617221620] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981496 -0.000019 0.191483 -0.006907 [component_container_isolated-3] -0.001698 0.999960 0.008804 0.059472 [component_container_isolated-3] -0.191476 -0.008966 0.981456 0.017884 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.617244805] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.523,11.039,-0.099} [component_container_isolated-3] [DEBUG] [1762964995.617278449] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.033,0.026} {-0.490,11.414,0.168} [component_container_isolated-3] [DEBUG] [1762964995.617329156] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.623578060] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.623633385] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.623672760] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.623716805] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000049 0.000075 -0.000011 [component_container_isolated-3] -0.000049 1.000000 0.000015 -0.000025 [component_container_isolated-3] -0.000075 -0.000015 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] [1762964995.623743395] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.057} {0.246,-0.723,-0.089} [component_container_isolated-3] [DEBUG] [1762964995.623792028] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.623836213] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.623877542] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982690 -0.000008 0.185257 -0.006766 [component_container_isolated-3] -0.000111 1.000000 0.000631 0.059805 [component_container_isolated-3] -0.185257 -0.000641 0.982690 0.017429 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.623901457] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.037,10.676,-0.006} [component_container_isolated-3] [DEBUG] [1762964995.623973755] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.266,11.400,0.081} [component_container_isolated-3] [DEBUG] [1762964995.624036004] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.633544503] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.633628513] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.633674872] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.633725288] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000033 -0.000063 0.000012 [component_container_isolated-3] 0.000033 1.000000 0.000060 -0.000008 [component_container_isolated-3] 0.000063 -0.000060 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] [1762964995.633754524] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.001,0.251,0.159} [component_container_isolated-3] [DEBUG] [1762964995.633805642] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.633853894] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.633891957] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 0.000028 0.203484 -0.007050 [component_container_isolated-3] 0.002374 0.999930 -0.011561 0.059742 [component_container_isolated-3] -0.203470 0.011802 0.979010 0.018982 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.633914319] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.691,11.740,0.139} [component_container_isolated-3] [DEBUG] [1762964995.633971348] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.656,11.491,-0.027} [component_container_isolated-3] [DEBUG] [1762964995.634025161] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.637259217] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.637323300] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.637362685] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.637405737] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000039 0.000006 -0.000064 [component_container_isolated-3] 0.000039 1.000000 -0.000100 -0.000033 [component_container_isolated-3] -0.000006 0.000100 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] [1762964995.637430554] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.023,0.009,-0.098} [component_container_isolated-3] [DEBUG] [1762964995.637478376] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.637520296] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.637560092] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879404 0.000064 0.476076 -0.001098 [component_container_isolated-3] -0.004615 0.999954 0.008389 0.060075 [component_container_isolated-3] -0.476054 -0.009574 0.879364 0.018142 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.637583927] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.624,28.428,-0.301} [component_container_isolated-3] [DEBUG] [1762964995.637616119] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.637666866] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.639999811] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.640058463] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.640095544] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.640139127] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000033 -0.000063 0.000012 [component_container_isolated-3] 0.000033 1.000000 0.000060 -0.000008 [component_container_isolated-3] 0.000063 -0.000060 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] [1762964995.640164035] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {-0.002,0.248,0.161} [component_container_isolated-3] [DEBUG] [1762964995.640211576] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.640256902] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.640296388] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 0.000028 0.203484 -0.007050 [component_container_isolated-3] 0.002374 0.999930 -0.011561 0.059742 [component_container_isolated-3] -0.203470 0.011802 0.979010 0.018982 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.640320383] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.691,11.740,0.139} [component_container_isolated-3] [DEBUG] [1762964995.640352825] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.659,11.494,-0.029} [component_container_isolated-3] [DEBUG] [1762964995.640404754] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.646135879] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.646188961] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.646229608] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.646273142] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000140 -0.000115 0.000432 [component_container_isolated-3] 0.000140 1.000000 -0.000138 -0.000423 [component_container_isolated-3] 0.000115 0.000137 1.000000 -0.000461 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.646298400] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.032,-0.023} {0.028,-0.380,-0.258} [component_container_isolated-3] [DEBUG] [1762964995.646345480] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.646388823] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.646425012] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981518 -0.000130 0.191370 -0.006906 [component_container_isolated-3] -0.001557 0.999961 0.008666 0.059441 [component_container_isolated-3] -0.191364 -0.008804 0.981480 0.017914 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.646446242] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.514,11.032,-0.091} [component_container_isolated-3] [DEBUG] [1762964995.646476099] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.033,0.026} {-0.490,11.414,0.168} [component_container_isolated-3] [DEBUG] [1762964995.646529972] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.648656153] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.648708813] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.648750202] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.648798174] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000090 -0.000154 0.000298 [component_container_isolated-3] -0.000090 1.000000 -0.000081 0.000648 [component_container_isolated-3] 0.000154 0.000081 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] [1762964995.648824865] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.058} {0.250,-0.732,-0.094} [component_container_isolated-3] [DEBUG] [1762964995.648873348] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.648915508] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.648976985] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982719 0.000096 0.185106 -0.006719 [component_container_isolated-3] -0.000201 1.000000 0.000550 0.059968 [component_container_isolated-3] -0.185106 -0.000577 0.982719 0.017346 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.648999198] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.034,10.667,-0.012} [component_container_isolated-3] [DEBUG] [1762964995.649029396] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.266,11.400,0.081} [component_container_isolated-3] [DEBUG] [1762964995.649090432] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.663406743] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.663469963] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.663509299] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.663552170] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000221 -0.000005 -0.000126 [component_container_isolated-3] -0.000221 1.000000 0.000195 0.000431 [component_container_isolated-3] 0.000005 -0.000195 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] [1762964995.663577339] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.035,0.009,-0.111} [component_container_isolated-3] [DEBUG] [1762964995.663626553] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.663670346] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.663710413] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879407 0.000166 0.476072 -0.001109 [component_container_isolated-3] -0.004835 0.999951 0.008584 0.060149 [component_container_isolated-3] -0.476047 -0.009850 0.879365 0.018132 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.663733677] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.642,28.428,-0.315} [component_container_isolated-3] [DEBUG] [1762964995.663765468] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.663815744] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.671911695] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.671999783] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.672048005] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.672102349] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000101 -0.000084 0.000083 [component_container_isolated-3] -0.000101 1.000000 0.000095 0.000334 [component_container_isolated-3] 0.000084 -0.000095 1.000000 -0.000230 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.672135663] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.033,-0.023} {0.022,-0.385,-0.263} [component_container_isolated-3] [DEBUG] [1762964995.672198583] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.672260842] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.672311048] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 -0.000050 0.191288 -0.006895 [component_container_isolated-3] -0.001657 0.999960 0.008761 0.059479 [component_container_isolated-3] -0.191281 -0.008916 0.981495 0.017882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.672340223] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.520,11.028,-0.097} [component_container_isolated-3] [DEBUG] [1762964995.672378396] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.033,0.026} {-0.490,11.414,0.168} [component_container_isolated-3] [DEBUG] [1762964995.672446066] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.679222908] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.679282231] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.679330964] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.679386220] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000109 0.000050 -0.000461 [component_container_isolated-3] 0.000109 1.000000 0.000120 -0.000539 [component_container_isolated-3] -0.000050 -0.000120 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] [1762964995.679418872] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.058} {0.243,-0.729,-0.088} [component_container_isolated-3] [DEBUG] [1762964995.679484287] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.679547568] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.679596632] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 -0.000033 0.185155 -0.006753 [component_container_isolated-3] -0.000092 1.000000 0.000669 0.059965 [component_container_isolated-3] -0.185155 -0.000675 0.982709 0.017361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.679624675] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.039,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964995.679664261] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.057} {-0.266,11.400,0.081} [component_container_isolated-3] [DEBUG] [1762964995.679737400] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.688429029] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.688489304] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.688530834] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.688576351] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000033 -0.000063 0.000012 [component_container_isolated-3] 0.000033 1.000000 0.000060 -0.000008 [component_container_isolated-3] 0.000063 -0.000060 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] [1762964995.688602320] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {-0.006,0.244,0.163} [component_container_isolated-3] [DEBUG] [1762964995.688654460] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.688699546] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.688738671] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 0.000028 0.203484 -0.007050 [component_container_isolated-3] 0.002374 0.999930 -0.011561 0.059742 [component_container_isolated-3] -0.203470 0.011802 0.979010 0.018982 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.688762837] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.691,11.740,0.139} [component_container_isolated-3] [DEBUG] [1762964995.688794026] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.662,11.498,-0.031} [component_container_isolated-3] [DEBUG] [1762964995.688843120] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.701910005] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.701996500] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.702038851] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.702083927] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000109 0.000050 -0.000461 [component_container_isolated-3] 0.000109 1.000000 0.000120 -0.000539 [component_container_isolated-3] -0.000050 -0.000120 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] [1762964995.702109836] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.000,-0.057} {0.236,-0.726,-0.082} [component_container_isolated-3] [DEBUG] [1762964995.702160714] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.702205739] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.702242349] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 -0.000033 0.185155 -0.006753 [component_container_isolated-3] -0.000092 1.000000 0.000669 0.059965 [component_container_isolated-3] -0.185155 -0.000675 0.982709 0.017361 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.702264652] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.039,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964995.702297675] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.057} {-0.260,11.397,0.074} [component_container_isolated-3] [DEBUG] [1762964995.702352670] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.704360424] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.704421561] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.704462710] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.704509188] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000038 -0.000091 0.000100 [component_container_isolated-3] 0.000038 1.000000 -0.000308 -0.000183 [component_container_isolated-3] 0.000091 0.000308 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] [1762964995.704537873] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.017,0.004,-0.108} [component_container_isolated-3] [DEBUG] [1762964995.704591155] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.704638024] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.704677390] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879450 0.000279 0.475992 -0.001108 [component_container_isolated-3] -0.004797 0.999954 0.008276 0.060158 [component_container_isolated-3] -0.475968 -0.009561 0.879411 0.018145 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.704700644] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.623,28.422,-0.312} [component_container_isolated-3] [DEBUG] [1762964995.704731443] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.704780978] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.713537400] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.713593347] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.713637231] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.713682808] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000069 -0.000072 0.000665 [component_container_isolated-3] 0.000069 1.000000 0.000067 -0.000741 [component_container_isolated-3] 0.000072 -0.000067 1.000000 -0.000875 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.713708577] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.032,-0.024} {0.018,-0.389,-0.260} [component_container_isolated-3] [DEBUG] [1762964995.713759404] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.713805863] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.713842723] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981548 -0.000130 0.191218 -0.006771 [component_container_isolated-3] -0.001587 0.999960 0.008829 0.059335 [component_container_isolated-3] -0.191211 -0.008969 0.981508 0.017568 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.713866128] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.000} {-0.524,11.023,-0.093} [component_container_isolated-3] [DEBUG] [1762964995.713897498] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.033,0.027} {-0.490,11.414,0.168} [component_container_isolated-3] [DEBUG] [1762964995.713998711] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.728374235] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.728442826] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.728483934] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.728528590] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000033 0.000028 0.000284 [component_container_isolated-3] -0.000033 1.000000 0.000226 0.000162 [component_container_isolated-3] -0.000028 -0.000226 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] [1762964995.728554159] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {-0.018,0.246,0.161} [component_container_isolated-3] [DEBUG] [1762964995.728603072] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.728643639] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.728680179] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000015 0.203511 -0.007027 [component_container_isolated-3] 0.002341 0.999933 -0.011334 0.059757 [component_container_isolated-3] -0.203498 0.011574 0.979007 0.018942 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.728702482] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.677,11.742,0.137} [component_container_isolated-3] [DEBUG] [1762964995.728732479] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.662,11.498,-0.031} [component_container_isolated-3] [DEBUG] [1762964995.728779419] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.729592441] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.729643018] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.729683085] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.729727660] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000109 -0.000037 -0.000051 [component_container_isolated-3] -0.000109 1.000000 0.000169 0.000258 [component_container_isolated-3] 0.000037 -0.000169 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] [1762964995.729752848] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.027,0.002,-0.115} [component_container_isolated-3] [DEBUG] [1762964995.729802613] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.729846126] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.729882606] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879467 0.000295 0.475960 -0.001125 [component_container_isolated-3] -0.004905 0.999952 0.008445 0.060215 [component_container_isolated-3] -0.475934 -0.009762 0.879427 0.018117 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.729905249] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.636,28.420,-0.320} [component_container_isolated-3] [DEBUG] [1762964995.729981224] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.730036970] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.740344465] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.740409900] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.740451560] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.740496886] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000106 0.000120 -0.000619 [component_container_isolated-3] -0.000106 1.000000 0.000002 0.000807 [component_container_isolated-3] -0.000120 -0.000002 1.000000 0.001100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.740522084] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.033,-0.023} {0.018,-0.382,-0.266} [component_container_isolated-3] [DEBUG] [1762964995.740571238] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.740616034] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.740657463] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 -0.000026 0.191335 -0.006752 [component_container_isolated-3] -0.001694 0.999960 0.008831 0.059434 [component_container_isolated-3] -0.191328 -0.008992 0.981485 0.017684 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.740682941] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.525,11.030,-0.099} [component_container_isolated-3] [DEBUG] [1762964995.740715744] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.033,0.026} {-0.490,11.414,0.168} [component_container_isolated-3] [DEBUG] [1762964995.740766020] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.749993001] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.750054268] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.750096870] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.750143629] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000019 -0.000069 0.000200 [component_container_isolated-3] -0.000019 1.000000 -0.000028 -0.000027 [component_container_isolated-3] 0.000069 0.000028 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] [1762964995.750169128] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.000,-0.057} {0.238,-0.730,-0.083} [component_container_isolated-3] [DEBUG] [1762964995.750218723] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.750261835] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.750298114] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982722 -0.000009 0.185087 -0.006742 [component_container_isolated-3] -0.000111 1.000000 0.000641 0.059960 [component_container_isolated-3] -0.185087 -0.000651 0.982722 0.017366 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.750319625] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.038,10.666,-0.006} [component_container_isolated-3] [DEBUG] [1762964995.750349823] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.057} {-0.260,11.397,0.074} [component_container_isolated-3] [DEBUG] [1762964995.750399528] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.764060166] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.764237886] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.764277341] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.764320644] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 0.000027 0.000007 [component_container_isolated-3] -0.000027 1.000000 -0.000143 -0.000073 [component_container_isolated-3] -0.000027 0.000143 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] [1762964995.764345010] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {-0.010,0.247,0.160} [component_container_isolated-3] [DEBUG] [1762964995.764392200] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.764437307] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.764476512] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 0.000071 0.203538 -0.007010 [component_container_isolated-3] 0.002314 0.999931 -0.011478 0.059755 [component_container_isolated-3] -0.203525 0.011709 0.979000 0.018935 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.764500187] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.685,11.743,0.135} [component_container_isolated-3] [DEBUG] [1762964995.764533080] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.662,11.498,-0.031} [component_container_isolated-3] [DEBUG] [1762964995.764582023] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.765971306] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.766022724] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.766063332] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.766106484] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000015 0.000014 0.000098 [component_container_isolated-3] -0.000015 1.000000 0.000090 0.000080 [component_container_isolated-3] -0.000014 -0.000090 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] [1762964995.766131562] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.032,0.003,-0.116} [component_container_isolated-3] [DEBUG] [1762964995.766181247] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.766223568] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.766263835] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879461 0.000265 0.475972 -0.001128 [component_container_isolated-3] -0.004920 0.999951 0.008535 0.060263 [component_container_isolated-3] -0.475946 -0.009848 0.879419 0.018101 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.766287971] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.642,28.421,-0.321} [component_container_isolated-3] [DEBUG] [1762964995.766321355] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.766372312] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.771869561] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.771978569] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.772020499] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.772069312] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 0.000027 0.000007 [component_container_isolated-3] -0.000027 1.000000 -0.000143 -0.000073 [component_container_isolated-3] -0.000027 0.000143 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] [1762964995.772096103] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {-0.002,0.249,0.158} [component_container_isolated-3] [DEBUG] [1762964995.772147000] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.772193710] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.772230400] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 0.000071 0.203538 -0.007010 [component_container_isolated-3] 0.002314 0.999931 -0.011478 0.059755 [component_container_isolated-3] -0.203525 0.011709 0.979000 0.018935 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.772253213] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.685,11.743,0.135} [component_container_isolated-3] [DEBUG] [1762964995.772284182] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.654,11.496,-0.029} [component_container_isolated-3] [DEBUG] [1762964995.772332615] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.776246720] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.776310041] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.776351720] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.776398730] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000035 0.000127 0.000146 [component_container_isolated-3] -0.000035 1.000000 0.000016 0.000397 [component_container_isolated-3] -0.000127 -0.000016 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] [1762964995.776426243] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.033,-0.023} {0.017,-0.375,-0.268} [component_container_isolated-3] [DEBUG] [1762964995.776478482] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.776525863] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.776565829] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981500 0.000005 0.191460 -0.006720 [component_container_isolated-3] -0.001731 0.999959 0.008846 0.059578 [component_container_isolated-3] -0.191452 -0.009014 0.981461 0.017767 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.776590767] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.526,11.038,-0.101} [component_container_isolated-3] [DEBUG] [1762964995.776621626] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.034,0.026} {-0.490,11.414,0.168} [component_container_isolated-3] [DEBUG] [1762964995.776671902] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.782706286] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.782775779] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.782816787] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.782861332] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000027 0.000061 -0.000054 [component_container_isolated-3] -0.000027 1.000000 0.000065 0.000020 [component_container_isolated-3] -0.000061 -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] [1762964995.782886390] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.000,-0.057} {0.234,-0.727,-0.084} [component_container_isolated-3] [DEBUG] [1762964995.782968998] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.783017831] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.783058759] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 0.000005 0.185147 -0.006737 [component_container_isolated-3] -0.000138 1.000000 0.000706 0.059960 [component_container_isolated-3] -0.185147 -0.000720 0.982710 0.017374 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.783083957] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.042,10.670,-0.008} [component_container_isolated-3] [DEBUG] [1762964995.783118714] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.057} {-0.260,11.397,0.074} [component_container_isolated-3] [DEBUG] [1762964995.783171024] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.791727855] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.791788651] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.791830140] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.791874435] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000252 0.000131 0.000285 [component_container_isolated-3] 0.000252 1.000000 -0.000021 -0.000525 [component_container_isolated-3] -0.000131 0.000021 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] [1762964995.791901366] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.031,0.010,-0.101} [component_container_isolated-3] [DEBUG] [1762964995.791977281] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.792023049] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.792060450] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879398 0.000053 0.476087 -0.001082 [component_container_isolated-3] -0.004669 0.999953 0.008514 0.060218 [component_container_isolated-3] -0.476064 -0.009710 0.879357 0.018096 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.792082462] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.633,28.429,-0.304} [component_container_isolated-3] [DEBUG] [1762964995.792112069] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.792161483] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.801721901] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.801786955] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.801829236] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.801875615] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000114 -0.000030 -0.000241 [component_container_isolated-3] 0.000114 1.000000 -0.000102 -0.000876 [component_container_isolated-3] 0.000030 0.000102 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] [1762964995.801901324] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.032,-0.023} {0.023,-0.376,-0.261} [component_container_isolated-3] [DEBUG] [1762964995.801987448] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.802034248] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.802071830] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981506 -0.000087 0.191431 -0.006740 [component_container_isolated-3] -0.001617 0.999960 0.008745 0.059487 [component_container_isolated-3] -0.191424 -0.008892 0.981467 0.017819 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.802098360] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.519,11.036,-0.094} [component_container_isolated-3] [DEBUG] [1762964995.802131383] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.033,0.026} {-0.490,11.414,0.168} [component_container_isolated-3] [DEBUG] [1762964995.802182371] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.809160978] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.809224179] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.809263334] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.809307117] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000040 0.000162 0.000256 [component_container_isolated-3] 0.000040 1.000000 -0.000123 -0.000007 [component_container_isolated-3] -0.000162 0.000123 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] [1762964995.809331133] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.000,-0.057} {0.241,-0.717,-0.082} [component_container_isolated-3] [DEBUG] [1762964995.809379375] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.809422988] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.809462444] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982681 -0.000012 0.185306 -0.006682 [component_container_isolated-3] -0.000098 1.000000 0.000583 0.059955 [component_container_isolated-3] -0.185306 -0.000591 0.982681 0.017445 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.809486079] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.034,10.679,-0.006} [component_container_isolated-3] [DEBUG] [1762964995.809519924] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.260,11.397,0.074} [component_container_isolated-3] [DEBUG] [1762964995.809572614] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.835164689] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.835233200] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.835273787] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.835317310] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 0.000027 0.000007 [component_container_isolated-3] -0.000027 1.000000 -0.000143 -0.000073 [component_container_isolated-3] -0.000027 0.000143 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] [1762964995.835343310] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {0.006,0.250,0.157} [component_container_isolated-3] [DEBUG] [1762964995.835391773] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.835433993] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.835472747] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 0.000071 0.203538 -0.007010 [component_container_isolated-3] 0.002314 0.999931 -0.011478 0.059755 [component_container_isolated-3] -0.203525 0.011709 0.979000 0.018935 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.835496533] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.685,11.743,0.135} [component_container_isolated-3] [DEBUG] [1762964995.835530648] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.647,11.495,-0.027} [component_container_isolated-3] [DEBUG] [1762964995.835586945] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.842111926] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.842176440] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.842217859] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.842266211] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000042 -0.000049 -0.000192 [component_container_isolated-3] 0.000042 1.000000 -0.000067 0.000052 [component_container_isolated-3] 0.000049 0.000067 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] [1762964995.842293954] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.027,0.007,-0.099} [component_container_isolated-3] [DEBUG] [1762964995.842346875] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.842392562] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.842431697] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879421 0.000047 0.476044 -0.001077 [component_container_isolated-3] -0.004626 0.999954 0.008447 0.060207 [component_container_isolated-3] -0.476022 -0.009631 0.879381 0.018091 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.842453900] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.627,28.426,-0.301} [component_container_isolated-3] [DEBUG] [1762964995.842483326] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.842532880] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.849217677] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.849305174] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.849349178] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.849397871] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000040 0.000162 0.000256 [component_container_isolated-3] 0.000040 1.000000 -0.000123 -0.000007 [component_container_isolated-3] -0.000162 0.000123 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] [1762964995.849428289] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.057} {0.248,-0.708,-0.080} [component_container_isolated-3] [DEBUG] [1762964995.849481531] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.849532839] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.849571753] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982681 -0.000012 0.185306 -0.006682 [component_container_isolated-3] -0.000098 1.000000 0.000583 0.059955 [component_container_isolated-3] -0.185306 -0.000591 0.982681 0.017445 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.849595218] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.034,10.679,-0.006} [component_container_isolated-3] [DEBUG] [1762964995.849626998] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.267,11.387,0.072} [component_container_isolated-3] [DEBUG] [1762964995.849677515] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.854732499] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.854788516] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.854828342] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.854872436] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000027 0.000027 0.000007 [component_container_isolated-3] -0.000027 1.000000 -0.000143 -0.000073 [component_container_isolated-3] -0.000027 0.000143 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] [1762964995.854898195] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {0.014,0.252,0.155} [component_container_isolated-3] [DEBUG] [1762964995.854983769] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.855030869] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.855070875] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979067 0.000071 0.203538 -0.007010 [component_container_isolated-3] 0.002314 0.999931 -0.011478 0.059755 [component_container_isolated-3] -0.203525 0.011709 0.979000 0.018935 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.855095181] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.685,11.743,0.135} [component_container_isolated-3] [DEBUG] [1762964995.855127864] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.639,11.493,-0.026} [component_container_isolated-3] [DEBUG] [1762964995.855176937] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.859008214] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.859069000] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.859107945] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.859151017] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000048 -0.000107 0.000008 [component_container_isolated-3] 0.000048 1.000000 -0.000134 -0.000417 [component_container_isolated-3] 0.000107 0.000134 1.000000 -0.000403 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.859176476] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.032,-0.023} {0.031,-0.382,-0.258} [component_container_isolated-3] [DEBUG] [1762964995.859223045] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.859267550] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.859305562] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981527 -0.000109 0.191326 -0.006756 [component_container_isolated-3] -0.001568 0.999962 0.008611 0.059342 [component_container_isolated-3] -0.191319 -0.008752 0.981489 0.017819 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.859329829] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.511,11.030,-0.092} [component_container_isolated-3] [DEBUG] [1762964995.859362611] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.033,0.026} {-0.490,11.414,0.168} [component_container_isolated-3] [DEBUG] [1762964995.859412486] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.869306471] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.869373299] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.869412404] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.869456919] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000040 0.000162 0.000256 [component_container_isolated-3] 0.000040 1.000000 -0.000123 -0.000007 [component_container_isolated-3] -0.000162 0.000123 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] [1762964995.869481395] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.056} {0.255,-0.699,-0.077} [component_container_isolated-3] [DEBUG] [1762964995.869528886] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.869572159] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.869607747] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982681 -0.000012 0.185306 -0.006682 [component_container_isolated-3] -0.000098 1.000000 0.000583 0.059955 [component_container_isolated-3] -0.185306 -0.000591 0.982681 0.017445 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.869631322] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.034,10.679,-0.006} [component_container_isolated-3] [DEBUG] [1762964995.869664455] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.000,0.056} {-0.275,11.378,0.070} [component_container_isolated-3] [DEBUG] [1762964995.869716424] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.872655187] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.872719299] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.872761339] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.872806265] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000009 -0.000005 -0.000108 [component_container_isolated-3] -0.000009 1.000000 0.000058 0.000016 [component_container_isolated-3] 0.000005 -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] [1762964995.872831764] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.030,0.007,-0.099} [component_container_isolated-3] [DEBUG] [1762964995.872880677] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.872966511] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.873005937] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879424 0.000028 0.476040 -0.001081 [component_container_isolated-3] -0.004635 0.999953 0.008505 0.060201 [component_container_isolated-3] -0.476017 -0.009686 0.879383 0.018091 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.873028910] [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] [1762964995.873063136] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.873115546] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.882223941] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.882283054] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.882322890] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.882367725] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000100 0.000017 0.000334 [component_container_isolated-3] 0.000100 1.000000 0.000152 0.000050 [component_container_isolated-3] -0.000017 -0.000152 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] [1762964995.882393474] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.032,-0.024} {0.022,-0.381,-0.253} [component_container_isolated-3] [DEBUG] [1762964995.882442769] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.882489748] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.882529965] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 -0.000236 0.191342 -0.006741 [component_container_isolated-3] -0.001468 0.999961 0.008763 0.059295 [component_container_isolated-3] -0.191337 -0.008882 0.981484 0.017710 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.882554402] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.518,11.031,-0.086} [component_container_isolated-3] [DEBUG] [1762964995.882589018] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.033,0.027} {-0.490,11.414,0.168} [component_container_isolated-3] [DEBUG] [1762964995.882643091] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.897154665] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.897225209] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.897268172] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.897314240] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000077 -0.000118 0.000126 [component_container_isolated-3] 0.000077 1.000000 0.000114 0.000013 [component_container_isolated-3] 0.000118 -0.000114 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] [1762964995.897341351] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {0.008,0.245,0.160} [component_container_isolated-3] [DEBUG] [1762964995.897390946] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.897432766] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.897472261] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979091 -0.000028 0.203422 -0.006988 [component_container_isolated-3] 0.002389 0.999932 -0.011364 0.059757 [component_container_isolated-3] -0.203408 0.011612 0.979025 0.018904 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.897496578] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.680,11.736,0.140} [component_container_isolated-3] [DEBUG] [1762964995.897529290] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.008} {0.639,11.493,-0.026} [component_container_isolated-3] [DEBUG] [1762964995.897578805] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.898507288] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.898558977] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.898599073] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.898643849] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000086 -0.000048 -0.000011 [component_container_isolated-3] -0.000086 1.000000 -0.000121 -0.000057 [component_container_isolated-3] 0.000048 0.000121 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] [1762964995.898669758] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.023,0.004,-0.104} [component_container_isolated-3] [DEBUG] [1762964995.898718662] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.898761884] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.898799947] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879447 0.000161 0.475998 -0.001079 [component_container_isolated-3] -0.004721 0.999954 0.008384 0.060186 [component_container_isolated-3] -0.475975 -0.009620 0.879407 0.018097 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.898824444] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.627,28.423,-0.308} [component_container_isolated-3] [DEBUG] [1762964995.898857757] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.898909095] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.909494030] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.909569214] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.909611725] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.909658274] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000019 -0.000150 -0.000264 [component_container_isolated-3] 0.000019 1.000000 0.000043 -0.000123 [component_container_isolated-3] 0.000150 -0.000043 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] [1762964995.909685025] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.056} {0.253,-0.707,-0.076} [component_container_isolated-3] [DEBUG] [1762964995.909734750] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.909781188] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.909821796] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 -0.000039 0.185159 -0.006690 [component_container_isolated-3] -0.000079 1.000000 0.000626 0.059938 [component_container_isolated-3] -0.185159 -0.000630 0.982708 0.017456 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.909847455] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.037,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964995.909878775] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.275,11.378,0.070} [component_container_isolated-3] [DEBUG] [1762964995.909956804] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.914986920] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.915040011] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.915079146] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.915125164] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000146 0.000015 -0.000634 [component_container_isolated-3] -0.000146 1.000000 -0.000125 0.000450 [component_container_isolated-3] -0.000015 0.000125 1.000000 0.000673 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964995.915151364] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.032,-0.023} {0.029,-0.381,-0.261} [component_container_isolated-3] [DEBUG] [1762964995.915201259] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.915246185] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.915281883] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981521 -0.000069 0.191357 -0.006818 [component_container_isolated-3] -0.001614 0.999962 0.008638 0.059301 [component_container_isolated-3] -0.191350 -0.008787 0.981483 0.017802 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.915303986] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.513,11.032,-0.094} [component_container_isolated-3] [DEBUG] [1762964995.915335155] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.033,0.026} {-0.490,11.414,0.168} [component_container_isolated-3] [DEBUG] [1762964995.915389419] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.916485402] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.916538263] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.916576696] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.916619849] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000077 -0.000118 0.000126 [component_container_isolated-3] 0.000077 1.000000 0.000114 0.000013 [component_container_isolated-3] 0.000118 -0.000114 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] [1762964995.916645437] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.008} {0.001,0.238,0.164} [component_container_isolated-3] [DEBUG] [1762964995.916693489] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.916737944] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.916777500] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979091 -0.000028 0.203422 -0.006988 [component_container_isolated-3] 0.002389 0.999932 -0.011364 0.059757 [component_container_isolated-3] -0.203408 0.011612 0.979025 0.018904 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.916800554] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.680,11.736,0.140} [component_container_isolated-3] [DEBUG] [1762964995.916833707] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.008} {0.644,11.500,-0.030} [component_container_isolated-3] [DEBUG] [1762964995.916884915] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.937883737] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.937974972] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.938018986] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.938066567] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000014 0.000014 0.000197 [component_container_isolated-3] -0.000014 1.000000 -0.000196 0.000042 [component_container_isolated-3] -0.000014 0.000196 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] [1762964995.938092536] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.012,0.005,-0.105} [component_container_isolated-3] [DEBUG] [1762964995.938143934] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.938186826] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.938227494] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879440 0.000266 0.476010 -0.001050 [component_container_isolated-3] -0.004735 0.999955 0.008188 0.060176 [component_container_isolated-3] -0.475986 -0.009454 0.879402 0.018102 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.938253253] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.616,28.424,-0.308} [component_container_isolated-3] [DEBUG] [1762964995.938284964] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.938335520] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.946637525] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.946694544] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.946737516] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.946782592] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000035 0.000019 0.000694 [component_container_isolated-3] 0.000035 1.000000 0.000093 -0.000222 [component_container_isolated-3] -0.000019 -0.000093 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] [1762964995.946807570] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.032,-0.023} {0.024,-0.379,-0.259} [component_container_isolated-3] [DEBUG] [1762964995.946856343] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.946900878] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.946966794] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 -0.000121 0.191375 -0.006738 [component_container_isolated-3] -0.001579 0.999961 0.008731 0.059275 [component_container_isolated-3] -0.191369 -0.008872 0.981478 0.017794 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.946991832] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.518,11.033,-0.092} [component_container_isolated-3] [DEBUG] [1762964995.947026177] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.033,0.026} {-0.490,11.414,0.168} [component_container_isolated-3] [DEBUG] [1762964995.947080471] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.952804723] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.952877953] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.952918069] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.952999415] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000062 -0.000035 0.000178 [component_container_isolated-3] -0.000062 1.000000 -0.000007 0.000294 [component_container_isolated-3] 0.000035 0.000007 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] [1762964995.953024653] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.057} {0.253,-0.709,-0.080} [component_container_isolated-3] [DEBUG] [1762964995.953074939] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.953121728] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.953162616] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982715 0.000024 0.185124 -0.006672 [component_container_isolated-3] -0.000141 1.000000 0.000619 0.059966 [component_container_isolated-3] -0.185124 -0.000634 0.982715 0.017432 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.953185680] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.037,10.668,-0.008} [component_container_isolated-3] [DEBUG] [1762964995.953216309] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.275,11.378,0.070} [component_container_isolated-3] [DEBUG] [1762964995.953266204] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.963829548] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.963893560] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.963957071] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.964003119] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000021 -0.000036 -0.000121 [component_container_isolated-3] 0.000021 1.000000 0.000140 -0.000002 [component_container_isolated-3] 0.000036 -0.000140 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] [1762964995.964027606] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {-0.007,0.236,0.165} [component_container_isolated-3] [DEBUG] [1762964995.964076299] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.964118319] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.964162353] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 -0.000076 0.203387 -0.006982 [component_container_isolated-3] 0.002410 0.999934 -0.011224 0.059760 [component_container_isolated-3] -0.203373 0.011480 0.979034 0.018876 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.964185758] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.672,11.734,0.141} [component_container_isolated-3] [DEBUG] [1762964995.964216306] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.008} {0.644,11.500,-0.030} [component_container_isolated-3] [DEBUG] [1762964995.964268496] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.964905663] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.964983071] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.965023578] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.965068664] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000073 0.000118 -0.000074 [component_container_isolated-3] 0.000073 1.000000 0.000273 0.000017 [component_container_isolated-3] -0.000118 -0.000273 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] [1762964995.965093942] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.028,0.012,-0.101} [component_container_isolated-3] [DEBUG] [1762964995.965143076] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.965190156] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.965229381] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879384 0.000072 0.476114 -0.001050 [component_container_isolated-3] -0.004662 0.999953 0.008460 0.060175 [component_container_isolated-3] -0.476091 -0.009660 0.879343 0.018094 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.965252014] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.629,28.430,-0.304} [component_container_isolated-3] [DEBUG] [1762964995.965282122] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.965331817] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.973445021] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.973508372] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.973548288] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.973592923] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000026 -0.000027 -0.000030 [component_container_isolated-3] -0.000026 1.000000 -0.000035 -0.000034 [component_container_isolated-3] 0.000027 0.000035 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] [1762964995.973620456] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.057} {0.255,-0.711,-0.081} [component_container_isolated-3] [DEBUG] [1762964995.973673016] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.973718032] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.973755524] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982720 0.000056 0.185097 -0.006667 [component_container_isolated-3] -0.000167 1.000000 0.000584 0.059976 [component_container_isolated-3] -0.185097 -0.000605 0.982720 0.017406 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.973778868] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.667,-0.010} [component_container_isolated-3] [DEBUG] [1762964995.973810649] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.275,11.378,0.070} [component_container_isolated-3] [DEBUG] [1762964995.973861737] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.981744852] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.981807070] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.981846726] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.981889758] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000079 0.000020 -0.000399 [component_container_isolated-3] -0.000079 1.000000 0.000176 0.000473 [component_container_isolated-3] -0.000020 -0.000176 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] [1762964995.981915007] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.033,-0.023} {0.014,-0.378,-0.264} [component_container_isolated-3] [DEBUG] [1762964995.982000981] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.982050004] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.982090151] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 -0.000076 0.191395 -0.006762 [component_container_isolated-3] -0.001659 0.999959 0.008906 0.059338 [component_container_isolated-3] -0.191388 -0.009059 0.981473 0.017766 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.982114297] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.529,11.034,-0.097} [component_container_isolated-3] [DEBUG] [1762964995.982147641] [zed_multi.right]: +++ Diff [map -> odom] - {-0.007,-0.033,0.026} {-0.490,11.414,0.168} [component_container_isolated-3] [DEBUG] [1762964995.982197466] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964995.999389739] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964995.999441818] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964995.999477837] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964995.999536379] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000000 -0.000114 0.000051 [component_container_isolated-3] -0.000000 1.000000 -0.000049 0.000064 [component_container_isolated-3] 0.000114 0.000049 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] [1762964995.999566777] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.025,0.005,-0.101} [component_container_isolated-3] [DEBUG] [1762964995.999619137] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964995.999665375] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964995.999703669] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879438 0.000095 0.476014 -0.001042 [component_container_isolated-3] -0.004662 0.999954 0.008412 0.060177 [component_container_isolated-3] -0.475991 -0.009617 0.879398 0.018089 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964995.999726362] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.627,28.424,-0.304} [component_container_isolated-3] [DEBUG] [1762964995.999756680] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964995.999812637] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.006564110] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.006633032] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.006675152] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.006719547] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000073 0.000136 0.000085 [component_container_isolated-3] -0.000073 1.000000 -0.000233 -0.000039 [component_container_isolated-3] -0.000136 0.000233 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] [1762964996.006744755] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.008} {0.007,0.244,0.161} [component_container_isolated-3] [DEBUG] [1762964996.006792707] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.006833795] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.006869554] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 0.000042 0.203520 -0.006957 [component_container_isolated-3] 0.002339 0.999932 -0.011457 0.059754 [component_container_isolated-3] -0.203507 0.011693 0.979004 0.018865 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.006891415] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.684,11.742,0.137} [component_container_isolated-3] [DEBUG] [1762964996.006958193] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.008} {0.644,11.500,-0.030} [component_container_isolated-3] [DEBUG] [1762964996.007014440] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.010499426] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.010560112] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.010600118] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.010645335] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000007 -0.000158 0.001038 [component_container_isolated-3] -0.000007 1.000000 -0.000055 -0.000508 [component_container_isolated-3] 0.000158 0.000055 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] [1762964996.010671204] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.032,-0.024} {0.017,-0.387,-0.264} [component_container_isolated-3] [DEBUG] [1762964996.010720147] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.010766135] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.010806963] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 -0.000059 0.191240 -0.006520 [component_container_isolated-3] -0.001664 0.999959 0.008851 0.059282 [component_container_isolated-3] -0.191233 -0.009006 0.981503 0.017561 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.010831630] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.526,11.025,-0.097} [component_container_isolated-3] [DEBUG] [1762964996.010865565] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.033,0.027} {-0.490,11.414,0.168} [component_container_isolated-3] [DEBUG] [1762964996.010916152] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.012159236] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.012217056] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.012260479] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.012308901] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000132 0.000089 0.000206 [component_container_isolated-3] 0.000132 1.000000 0.000010 -0.000669 [component_container_isolated-3] -0.000089 -0.000010 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] [1762964996.012337857] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,-0.000,-0.057} {0.255,-0.706,-0.074} [component_container_isolated-3] [DEBUG] [1762964996.012386820] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.012430113] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.012467023] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 -0.000075 0.185185 -0.006629 [component_container_isolated-3] -0.000035 1.000000 0.000594 0.059835 [component_container_isolated-3] -0.185185 -0.000590 0.982704 0.017406 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.012490889] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.034,10.672,-0.002} [component_container_isolated-3] [DEBUG] [1762964996.012521337] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,0.000,0.056} {-0.275,11.378,0.070} [component_container_isolated-3] [DEBUG] [1762964996.012576733] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.014783147] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.014838563] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.014880783] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.014960916] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000073 0.000136 0.000085 [component_container_isolated-3] -0.000073 1.000000 -0.000233 -0.000039 [component_container_isolated-3] -0.000136 0.000233 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] [1762964996.014991194] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.008} {0.020,0.252,0.157} [component_container_isolated-3] [DEBUG] [1762964996.015042632] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.015083721] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.015120351] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 0.000042 0.203520 -0.006957 [component_container_isolated-3] 0.002339 0.999932 -0.011457 0.059754 [component_container_isolated-3] -0.203507 0.011693 0.979004 0.018865 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.015142443] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.684,11.742,0.137} [component_container_isolated-3] [DEBUG] [1762964996.015174324] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.008} {0.632,11.492,-0.026} [component_container_isolated-3] [DEBUG] [1762964996.015235160] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.019375988] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.019427917] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.019467302] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.019511296] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000007 -0.000158 0.001038 [component_container_isolated-3] -0.000007 1.000000 -0.000055 -0.000508 [component_container_isolated-3] 0.000158 0.000055 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] [1762964996.019536565] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.014,0.032,-0.025} {0.020,-0.396,-0.264} [component_container_isolated-3] [DEBUG] [1762964996.019583885] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.019632177] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.019672464] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981543 -0.000059 0.191240 -0.006520 [component_container_isolated-3] -0.001664 0.999959 0.008851 0.059282 [component_container_isolated-3] -0.191233 -0.009006 0.981503 0.017561 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.019696450] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.526,11.025,-0.097} [component_container_isolated-3] [DEBUG] [1762964996.019729924] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.032,0.028} {-0.493,11.424,0.169} [component_container_isolated-3] [DEBUG] [1762964996.019780500] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.026257861] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.026313357] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.026356769] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.026402517] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000146 0.000045 0.000065 [component_container_isolated-3] -0.000146 1.000000 -0.000059 0.000134 [component_container_isolated-3] -0.000045 0.000059 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] [1762964996.026429398] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.021,0.008,-0.109} [component_container_isolated-3] [DEBUG] [1762964996.026513208] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.026562272] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.026604302] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879416 0.000252 0.476054 -0.001015 [component_container_isolated-3] -0.004808 0.999954 0.008353 0.060198 [component_container_isolated-3] -0.476029 -0.009635 0.879377 0.018083 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.026627767] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.628,28.426,-0.313} [component_container_isolated-3] [DEBUG] [1762964996.026658035] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964996.026707890] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.041811184] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.041868944] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.041911716] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.041992340] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000042 -0.000109 -0.000182 [component_container_isolated-3] -0.000042 1.000000 -0.000051 0.000401 [component_container_isolated-3] 0.000109 0.000051 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] [1762964996.042019211] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.057} {0.258,-0.712,-0.076} [component_container_isolated-3] [DEBUG] [1762964996.042070699] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.042117539] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.042157766] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982724 -0.000025 0.185077 -0.006618 [component_container_isolated-3] -0.000077 1.000000 0.000542 0.059830 [component_container_isolated-3] -0.185077 -0.000547 0.982724 0.017411 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.042182503] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.032,10.666,-0.004} [component_container_isolated-3] [DEBUG] [1762964996.042216257] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.275,11.378,0.070} [component_container_isolated-3] [DEBUG] [1762964996.042268567] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.063094400] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.063150797] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.063192046] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.063237292] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000022 0.000016 -0.000218 [component_container_isolated-3] 0.000022 1.000000 -0.000130 0.000041 [component_container_isolated-3] -0.000016 0.000130 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] [1762964996.063264114] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {0.027,0.253,0.158} [component_container_isolated-3] [DEBUG] [1762964996.063314410] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.063358344] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.063395615] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979068 0.000047 0.203536 -0.006965 [component_container_isolated-3] 0.002361 0.999930 -0.011586 0.059753 [component_container_isolated-3] -0.203522 0.011824 0.978999 0.018875 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.063419951] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.743,0.138} [component_container_isolated-3] [DEBUG] [1762964996.063453495] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.008} {0.632,11.492,-0.026} [component_container_isolated-3] [DEBUG] [1762964996.063504282] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.065745022] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.065798153] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.065838690] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.065883476] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000122 0.000010 0.000082 [component_container_isolated-3] 0.000122 1.000000 0.000032 -0.000120 [component_container_isolated-3] -0.000010 -0.000032 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] [1762964996.065910067] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.023,0.008,-0.102} [component_container_isolated-3] [DEBUG] [1762964996.065993045] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.066042540] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.066084009] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879412 0.000129 0.476062 -0.001000 [component_container_isolated-3] -0.004686 0.999954 0.008385 0.060199 [component_container_isolated-3] -0.476039 -0.009604 0.879372 0.018071 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.066108726] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.626,28.427,-0.305} [component_container_isolated-3] [DEBUG] [1762964996.066141429] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964996.066192135] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.074951504] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.075010005] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.075053168] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.075099306] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000015 0.000164 -0.000752 [component_container_isolated-3] 0.000015 1.000000 -0.000067 0.000393 [component_container_isolated-3] -0.000164 0.000067 1.000000 0.000800 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964996.075125736] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.032,-0.024} {0.024,-0.387,-0.264} [component_container_isolated-3] [DEBUG] [1762964996.075175131] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.075220387] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.075256176] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981512 -0.000061 0.191401 -0.006528 [component_container_isolated-3] -0.001651 0.999960 0.008784 0.059313 [component_container_isolated-3] -0.191394 -0.008938 0.981473 0.017638 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.075280462] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.522,11.034,-0.096} [component_container_isolated-3] [DEBUG] [1762964996.075312062] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.033,0.027} {-0.493,11.424,0.169} [component_container_isolated-3] [DEBUG] [1762964996.075363871] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.079106459] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.079158558] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.079195479] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.079233131] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000029 0.000060 -0.000300 [component_container_isolated-3] 0.000029 1.000000 0.000089 0.000043 [component_container_isolated-3] -0.000060 -0.000089 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] [1762964996.079254501] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.056} {0.253,-0.709,-0.075} [component_container_isolated-3] [DEBUG] [1762964996.079295510] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.079331198] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.079358470] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982713 -0.000070 0.185136 -0.006657 [component_container_isolated-3] -0.000048 1.000000 0.000631 0.059833 [component_container_isolated-3] -0.185137 -0.000629 0.982713 0.017431 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.079375092] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.037,10.669,-0.003} [component_container_isolated-3] [DEBUG] [1762964996.079397424] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.275,11.378,0.070} [component_container_isolated-3] [DEBUG] [1762964996.079435998] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.102456822] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.102507519] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.102545281] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.102587923] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000037 -0.000108 0.000225 [component_container_isolated-3] 0.000037 1.000000 -0.000067 -0.000052 [component_container_isolated-3] 0.000108 0.000067 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] [1762964996.102613541] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.008} {0.031,0.247,0.160} [component_container_isolated-3] [DEBUG] [1762964996.102660060] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.102701219] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.102740203] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979089 0.000025 0.203430 -0.006950 [component_container_isolated-3] 0.002396 0.999929 -0.011654 0.059748 [component_container_isolated-3] -0.203416 0.011898 0.979020 0.018842 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.102763267] [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] [1762964996.102795830] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.008} {0.632,11.492,-0.026} [component_container_isolated-3] [DEBUG] [1762964996.102848079] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.108436612] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.108491547] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.108530732] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.108573584] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000015 -0.000028 -0.000160 [component_container_isolated-3] -0.000015 1.000000 -0.000066 -0.000053 [component_container_isolated-3] 0.000028 0.000066 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] [1762964996.108598531] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.019,0.007,-0.103} [component_container_isolated-3] [DEBUG] [1762964996.108646283] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.108692200] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.108732076] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879425 0.000174 0.476037 -0.000995 [component_container_isolated-3] -0.004701 0.999954 0.008319 0.060193 [component_container_isolated-3] -0.476014 -0.009554 0.879386 0.018068 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.108755311] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.622,28.425,-0.306} [component_container_isolated-3] [DEBUG] [1762964996.108785418] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964996.108834272] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.127583959] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.127640467] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.127682247] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.127729287] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000056 0.000138 -0.000018 [component_container_isolated-3] -0.000056 1.000000 -0.000009 0.000046 [component_container_isolated-3] -0.000138 0.000009 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] [1762964996.127756629] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.056} {0.253,-0.701,-0.078} [component_container_isolated-3] [DEBUG] [1762964996.127805773] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.127848965] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.127884803] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982687 -0.000013 0.185272 -0.006672 [component_container_isolated-3] -0.000104 1.000000 0.000622 0.059840 [component_container_isolated-3] -0.185272 -0.000631 0.982687 0.017456 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.127908198] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.037,10.677,-0.006} [component_container_isolated-3] [DEBUG] [1762964996.127986247] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.275,11.378,0.070} [component_container_isolated-3] [DEBUG] [1762964996.128040280] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.130278325] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.130350973] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.130393925] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.130440825] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000031 -0.000149 0.000599 [component_container_isolated-3] 0.000031 1.000000 -0.000051 -0.000055 [component_container_isolated-3] 0.000149 0.000051 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] [1762964996.130469660] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.014,0.032,-0.025} {0.027,-0.396,-0.262} [component_container_isolated-3] [DEBUG] [1762964996.130523743] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.130572807] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.130610689] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 -0.000082 0.191255 -0.006460 [component_container_isolated-3] -0.001618 0.999961 0.008734 0.059319 [component_container_isolated-3] -0.191248 -0.008882 0.981502 0.017416 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.130633212] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.518,11.026,-0.094} [component_container_isolated-3] [DEBUG] [1762964996.130663911] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.033,0.028} {-0.493,11.424,0.169} [component_container_isolated-3] [DEBUG] [1762964996.130714057] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.132607382] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.132653601] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.132697234] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.132744114] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000056 0.000138 -0.000018 [component_container_isolated-3] -0.000056 1.000000 -0.000009 0.000046 [component_container_isolated-3] -0.000138 0.000009 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] [1762964996.132770334] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.000,-0.056} {0.254,-0.693,-0.081} [component_container_isolated-3] [DEBUG] [1762964996.132819047] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.132865676] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.132901414] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982687 -0.000013 0.185272 -0.006672 [component_container_isolated-3] -0.000104 1.000000 0.000622 0.059840 [component_container_isolated-3] -0.185272 -0.000631 0.982687 0.017456 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.132948314] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.037,10.677,-0.006} [component_container_isolated-3] [DEBUG] [1762964996.132984843] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.275,11.370,0.073} [component_container_isolated-3] [DEBUG] [1762964996.133041622] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.136099882] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.136175988] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.136219962] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.136265759] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000043 0.000087 -0.000166 [component_container_isolated-3] -0.000043 1.000000 0.000044 0.000031 [component_container_isolated-3] -0.000087 -0.000044 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] [1762964996.136297329] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {0.029,0.252,0.158} [component_container_isolated-3] [DEBUG] [1762964996.136350952] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.136400356] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.136442136] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979072 0.000057 0.203515 -0.006949 [component_container_isolated-3] 0.002355 0.999930 -0.011610 0.059749 [component_container_isolated-3] -0.203501 0.011846 0.979003 0.018837 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.136466593] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.742,0.138} [component_container_isolated-3] [DEBUG] [1762964996.136498484] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.008} {0.632,11.492,-0.026} [component_container_isolated-3] [DEBUG] [1762964996.136549251] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.137023606] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.137072590] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.137110112] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.137158484] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000031 -0.000149 0.000599 [component_container_isolated-3] 0.000031 1.000000 -0.000051 -0.000055 [component_container_isolated-3] 0.000149 0.000051 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] [1762964996.137185936] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.032,-0.026} {0.030,-0.404,-0.260} [component_container_isolated-3] [DEBUG] [1762964996.137239198] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.137288192] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.137326765] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 -0.000082 0.191255 -0.006460 [component_container_isolated-3] -0.001618 0.999961 0.008734 0.059319 [component_container_isolated-3] -0.191248 -0.008882 0.981502 0.017416 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.137349599] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.518,11.026,-0.094} [component_container_isolated-3] [DEBUG] [1762964996.137380157] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.033,0.029} {-0.497,11.432,0.167} [component_container_isolated-3] [DEBUG] [1762964996.137429512] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.137563818] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.137598094] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.137620587] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.137647278] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000036 -0.000014 0.000007 [component_container_isolated-3] 0.000036 1.000000 0.000017 0.000012 [component_container_isolated-3] 0.000014 -0.000017 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] [1762964996.137662416] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.020,0.006,-0.101} [component_container_isolated-3] [DEBUG] [1762964996.137689128] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.137712172] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.137732180] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879432 0.000134 0.476025 -0.000997 [component_container_isolated-3] -0.004665 0.999954 0.008336 0.060191 [component_container_isolated-3] -0.476002 -0.009552 0.879392 0.018063 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.137745144] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.622,28.425,-0.304} [component_container_isolated-3] [DEBUG] [1762964996.137760854] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.189} [component_container_isolated-3] [DEBUG] [1762964996.137785712] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.167367015] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.167420908] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.167458600] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.167502093] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000036 -0.000014 0.000007 [component_container_isolated-3] 0.000036 1.000000 0.000017 0.000012 [component_container_isolated-3] 0.000014 -0.000017 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] [1762964996.167526049] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.021,0.005,-0.099} [component_container_isolated-3] [DEBUG] [1762964996.167573850] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.167614898] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.167650296] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879432 0.000134 0.476025 -0.000997 [component_container_isolated-3] -0.004665 0.999954 0.008336 0.060191 [component_container_isolated-3] -0.476002 -0.009552 0.879392 0.018063 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.167673250] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.622,28.425,-0.304} [component_container_isolated-3] [DEBUG] [1762964996.167706033] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.192} [component_container_isolated-3] [DEBUG] [1762964996.167756379] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.173510397] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.173574059] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.173614496] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.173663800] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000031 -0.000149 0.000599 [component_container_isolated-3] 0.000031 1.000000 -0.000051 -0.000055 [component_container_isolated-3] 0.000149 0.000051 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] [1762964996.173691153] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.032,-0.027} {0.033,-0.413,-0.258} [component_container_isolated-3] [DEBUG] [1762964996.173743262] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.173789681] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.173842271] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 -0.000082 0.191255 -0.006460 [component_container_isolated-3] -0.001618 0.999961 0.008734 0.059319 [component_container_isolated-3] -0.191248 -0.008882 0.981502 0.017416 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.173867229] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.518,11.026,-0.094} [component_container_isolated-3] [DEBUG] [1762964996.173898258] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.033,0.030} {-0.500,11.441,0.165} [component_container_isolated-3] [DEBUG] [1762964996.173982058] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.177696372] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.177764422] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.177806282] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.177851217] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000008 -0.000030 0.000125 [component_container_isolated-3] 0.000008 1.000000 0.000013 -0.000021 [component_container_isolated-3] 0.000030 -0.000013 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] [1762964996.177876606] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.008} {0.028,0.250,0.158} [component_container_isolated-3] [DEBUG] [1762964996.177964624] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.178013607] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.178050738] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 0.000047 0.203486 -0.006940 [component_container_isolated-3] 0.002363 0.999930 -0.011598 0.059747 [component_container_isolated-3] -0.203472 0.011836 0.979009 0.018819 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.178074394] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.740,0.138} [component_container_isolated-3] [DEBUG] [1762964996.178104972] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.008} {0.632,11.492,-0.026} [component_container_isolated-3] [DEBUG] [1762964996.178155528] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.178883328] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.178975685] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.179017414] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.179062070] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000056 0.000138 -0.000018 [component_container_isolated-3] -0.000056 1.000000 -0.000009 0.000046 [component_container_isolated-3] -0.000138 0.000009 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] [1762964996.179087208] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.000,-0.056} {0.254,-0.685,-0.084} [component_container_isolated-3] [DEBUG] [1762964996.179138746] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.179187910] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.179225161] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982687 -0.000013 0.185272 -0.006672 [component_container_isolated-3] -0.000104 1.000000 0.000622 0.059840 [component_container_isolated-3] -0.185272 -0.000631 0.982687 0.017456 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.179246843] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.037,10.677,-0.006} [component_container_isolated-3] [DEBUG] [1762964996.179277571] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.275,11.362,0.076} [component_container_isolated-3] [DEBUG] [1762964996.179329791] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.210283034] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.210344311] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.210393645] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.210451887] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000006 -0.000057 0.000092 [component_container_isolated-3] 0.000006 1.000000 -0.000042 0.000014 [component_container_isolated-3] 0.000057 0.000042 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] [1762964996.210485972] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.008} {0.030,0.247,0.158} [component_container_isolated-3] [DEBUG] [1762964996.210552990] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.210614547] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.210664743] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979090 0.000050 0.203430 -0.006923 [component_container_isolated-3] 0.002368 0.999929 -0.011640 0.059746 [component_container_isolated-3] -0.203416 0.011878 0.979020 0.018794 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.210696714] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.737,0.139} [component_container_isolated-3] [DEBUG] [1762964996.210743864] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.008} {0.632,11.492,-0.026} [component_container_isolated-3] [DEBUG] [1762964996.210716292] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.210865477] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.210905303] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.210981959] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000002 0.000059 -0.000069 [component_container_isolated-3] -0.000002 1.000000 0.000209 0.000031 [component_container_isolated-3] -0.000059 -0.000209 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] [1762964996.211009993] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.033,0.009,-0.099} [component_container_isolated-3] [DEBUG] [1762964996.211068334] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.210830770] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.211111136] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.211230614] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879404 0.000037 0.476077 -0.001005 [component_container_isolated-3] -0.004667 0.999953 0.008545 0.060195 [component_container_isolated-3] -0.476054 -0.009736 0.879362 0.018053 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.211253598] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.634,28.428,-0.304} [component_container_isolated-3] [DEBUG] [1762964996.211283946] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.192} [component_container_isolated-3] [DEBUG] [1762964996.211335604] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.213611010] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.213658270] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.213701052] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.213749364] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000056 0.000138 -0.000018 [component_container_isolated-3] -0.000056 1.000000 -0.000009 0.000046 [component_container_isolated-3] -0.000138 0.000009 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] [1762964996.213775885] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.000,-0.056} {0.255,-0.677,-0.087} [component_container_isolated-3] [DEBUG] [1762964996.213825981] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.213871207] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.213907667] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982687 -0.000013 0.185272 -0.006672 [component_container_isolated-3] -0.000104 1.000000 0.000622 0.059840 [component_container_isolated-3] -0.185272 -0.000631 0.982687 0.017456 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.213973222] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.037,10.677,-0.006} [component_container_isolated-3] [DEBUG] [1762964996.214005193] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.275,11.354,0.079} [component_container_isolated-3] [DEBUG] [1762964996.214060017] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.217796703] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.217846699] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.217892386] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.217960897] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000006 -0.000057 0.000092 [component_container_isolated-3] 0.000006 1.000000 -0.000042 0.000014 [component_container_isolated-3] 0.000057 0.000042 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] [1762964996.217995022] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.008} {0.033,0.243,0.159} [component_container_isolated-3] [DEBUG] [1762964996.218048013] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.218125822] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.218179354] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979090 0.000050 0.203430 -0.006923 [component_container_isolated-3] 0.002368 0.999929 -0.011640 0.059746 [component_container_isolated-3] -0.203416 0.011878 0.979020 0.018794 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.218201877] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.737,0.139} [component_container_isolated-3] [DEBUG] [1762964996.218224160] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.008} {0.629,11.495,-0.026} [component_container_isolated-3] [DEBUG] [1762964996.218269927] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.224067670] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.224125901] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.224168192] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.224217526] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000018 0.000133 -0.000541 [component_container_isolated-3] 0.000018 1.000000 0.000121 -0.000111 [component_container_isolated-3] -0.000133 -0.000121 1.000000 0.000985 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964996.224245499] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.032,-0.026} {0.026,-0.405,-0.257} [component_container_isolated-3] [DEBUG] [1762964996.224299322] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.224348496] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.224388853] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981515 -0.000122 0.191385 -0.006462 [component_container_isolated-3] -0.001602 0.999960 0.008854 0.059318 [component_container_isolated-3] -0.191379 -0.008997 0.981475 0.017539 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.224413119] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.525,11.033,-0.094} [component_container_isolated-3] [DEBUG] [1762964996.224444459] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.032,0.029} {-0.500,11.441,0.165} [component_container_isolated-3] [DEBUG] [1762964996.224495296] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.230709524] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.230761553] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.230800748] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.230844331] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000056 0.000138 -0.000018 [component_container_isolated-3] -0.000056 1.000000 -0.000009 0.000046 [component_container_isolated-3] -0.000138 0.000009 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] [1762964996.230868908] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.056} {0.256,-0.669,-0.090} [component_container_isolated-3] [DEBUG] [1762964996.230917561] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.230991312] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.231028754] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982687 -0.000013 0.185272 -0.006672 [component_container_isolated-3] -0.000104 1.000000 0.000622 0.059840 [component_container_isolated-3] -0.185272 -0.000631 0.982687 0.017456 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.231051507] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.037,10.677,-0.006} [component_container_isolated-3] [DEBUG] [1762964996.231081875] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.275,11.347,0.083} [component_container_isolated-3] [DEBUG] [1762964996.231132291] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.231217223] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.231264534] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.231302727] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.231350067] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000018 0.000133 -0.000541 [component_container_isolated-3] 0.000018 1.000000 0.000121 -0.000111 [component_container_isolated-3] -0.000133 -0.000121 1.000000 0.000985 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964996.231377760] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.014,0.032,-0.025} {0.019,-0.397,-0.256} [component_container_isolated-3] [DEBUG] [1762964996.231428667] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.231475166] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.231513129] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981515 -0.000122 0.191385 -0.006462 [component_container_isolated-3] -0.001602 0.999960 0.008854 0.059318 [component_container_isolated-3] -0.191379 -0.008997 0.981475 0.017539 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.231535361] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.525,11.033,-0.094} [component_container_isolated-3] [DEBUG] [1762964996.231565709] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.032,0.028} {-0.493,11.433,0.164} [component_container_isolated-3] [DEBUG] [1762964996.231614783] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.233103436] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.233155635] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.233196584] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.233241560] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000070 -0.000077 0.000240 [component_container_isolated-3] -0.000070 1.000000 -0.000124 0.000002 [component_container_isolated-3] 0.000077 0.000124 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] [1762964996.233267359] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.026,0.004,-0.103} [component_container_isolated-3] [DEBUG] [1762964996.233315982] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.233357661] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.233395153] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879440 0.000157 0.476009 -0.000978 [component_container_isolated-3] -0.004737 0.999953 0.008421 0.060194 [component_container_isolated-3] -0.475986 -0.009661 0.879400 0.018031 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.233420110] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.629,28.424,-0.309} [component_container_isolated-3] [DEBUG] [1762964996.233452803] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.192} [component_container_isolated-3] [DEBUG] [1762964996.233503570] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.262970044] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.263032483] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.263071648] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.263116433] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000008 0.000054 -0.000136 [component_container_isolated-3] -0.000008 1.000000 0.000255 0.000042 [component_container_isolated-3] -0.000054 -0.000255 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] [1762964996.263141962] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.041,0.007,-0.103} [component_container_isolated-3] [DEBUG] [1762964996.263189693] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.263235481] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.263274696] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879414 0.000043 0.476057 -0.000978 [component_container_isolated-3] -0.004746 0.999951 0.008676 0.060203 [component_container_isolated-3] -0.476033 -0.009889 0.879371 0.018019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.263298341] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.427,-0.309} [component_container_isolated-3] [DEBUG] [1762964996.263330973] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.192} [component_container_isolated-3] [DEBUG] [1762964996.263381329] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.275858959] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.275911208] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.275979719] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.276016189] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000026 -0.000031 0.000102 [component_container_isolated-3] -0.000026 1.000000 0.000105 -0.000031 [component_container_isolated-3] 0.000031 -0.000105 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] [1762964996.276036698] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.008} {0.027,0.241,0.157} [component_container_isolated-3] [DEBUG] [1762964996.276075833] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.276108285] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.276133633] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979096 0.000053 0.203400 -0.006895 [component_container_isolated-3] 0.002342 0.999931 -0.011535 0.059744 [component_container_isolated-3] -0.203386 0.011770 0.979028 0.018756 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.276149704] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.735,0.137} [component_container_isolated-3] [DEBUG] [1762964996.276170594] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.008} {0.629,11.495,-0.026} [component_container_isolated-3] [DEBUG] [1762964996.276206332] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.281085530] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.281145625] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.281187224] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.281232781] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000009 0.000022 0.000187 [component_container_isolated-3] -0.000009 1.000000 -0.000166 0.000275 [component_container_isolated-3] -0.000022 0.000166 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] [1762964996.281257939] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.014,0.032,-0.025} {0.028,-0.396,-0.257} [component_container_isolated-3] [DEBUG] [1762964996.281310620] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.281355686] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.281391033] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 -0.000082 0.191407 -0.006444 [component_container_isolated-3] -0.001611 0.999961 0.008688 0.059356 [component_container_isolated-3] -0.191400 -0.008836 0.981472 0.017574 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.281414498] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.516,11.035,-0.094} [component_container_isolated-3] [DEBUG] [1762964996.281445768] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.033,0.028} {-0.493,11.433,0.164} [component_container_isolated-3] [DEBUG] [1762964996.281494782] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.281273689] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.281627786] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.281666640] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.281708550] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000026 -0.000031 0.000102 [component_container_isolated-3] -0.000026 1.000000 0.000105 -0.000031 [component_container_isolated-3] 0.000031 -0.000105 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] [1762964996.281733447] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.008} {0.021,0.240,0.156} [component_container_isolated-3] [DEBUG] [1762964996.281782461] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.281822778] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.281865149] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979096 0.000053 0.203400 -0.006895 [component_container_isolated-3] 0.002342 0.999931 -0.011535 0.059744 [component_container_isolated-3] -0.203386 0.011770 0.979028 0.018756 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.281889084] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.735,0.137} [component_container_isolated-3] [DEBUG] [1762964996.281937587] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.008} {0.636,11.497,-0.025} [component_container_isolated-3] [DEBUG] [1762964996.281992392] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.289311409] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.289377225] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.289420518] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.289467467] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000025 -0.000121 -0.000048 [component_container_isolated-3] 0.000025 1.000000 -0.000029 0.000028 [component_container_isolated-3] 0.000121 0.000029 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] [1762964996.289493597] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.056} {0.257,-0.676,-0.089} [component_container_isolated-3] [DEBUG] [1762964996.289544444] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.289589941] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.289627423] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 -0.000032 0.185154 -0.006700 [component_container_isolated-3] -0.000079 1.000000 0.000593 0.059847 [component_container_isolated-3] -0.185154 -0.000597 0.982709 0.017469 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.289650206] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964996.289683901] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.275,11.347,0.083} [component_container_isolated-3] [DEBUG] [1762964996.289735830] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.291188063] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.291240173] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.291280029] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.291324143] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000009 0.000022 0.000187 [component_container_isolated-3] -0.000009 1.000000 -0.000166 0.000275 [component_container_isolated-3] -0.000022 0.000166 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] [1762964996.291349051] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.014,0.032,-0.025} {0.038,-0.395,-0.257} [component_container_isolated-3] [DEBUG] [1762964996.291396491] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.291441066] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.291476684] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 -0.000082 0.191407 -0.006444 [component_container_isolated-3] -0.001611 0.999961 0.008688 0.059356 [component_container_isolated-3] -0.191400 -0.008836 0.981472 0.017574 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.291501622] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.516,11.035,-0.094} [component_container_isolated-3] [DEBUG] [1762964996.291535106] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.033,0.028} {-0.503,11.432,0.164} [component_container_isolated-3] [DEBUG] [1762964996.291587757] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.301153685] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.301209822] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.301249869] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.301294855] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000079 -0.000050 0.000019 [component_container_isolated-3] 0.000079 1.000000 -0.000260 -0.000136 [component_container_isolated-3] 0.000050 0.000260 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] [1762964996.301320714] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.026,0.004,-0.099} [component_container_isolated-3] [DEBUG] [1762964996.301370289] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.301413952] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.301453317] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879438 0.000097 0.476013 -0.000978 [component_container_isolated-3] -0.004666 0.999954 0.008417 0.060187 [component_container_isolated-3] -0.475990 -0.009623 0.879398 0.018019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.301475840] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.627,28.424,-0.304} [component_container_isolated-3] [DEBUG] [1762964996.301505808] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.192} [component_container_isolated-3] [DEBUG] [1762964996.301556274] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.310617850] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.310670951] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.310711999] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.310756424] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000016 -0.000088 0.000113 [component_container_isolated-3] 0.000016 1.000000 -0.000103 0.000033 [component_container_isolated-3] 0.000088 0.000103 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] [1762964996.310781773] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.056} {0.263,-0.681,-0.088} [component_container_isolated-3] [DEBUG] [1762964996.310829885] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.310875001] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.310912953] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982726 -0.000028 0.185067 -0.006715 [component_container_isolated-3] -0.000063 1.000000 0.000490 0.059857 [component_container_isolated-3] -0.185067 -0.000493 0.982726 0.017471 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.310966004] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.029,10.665,-0.004} [component_container_isolated-3] [DEBUG] [1762964996.310996683] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.275,11.347,0.083} [component_container_isolated-3] [DEBUG] [1762964996.311053091] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.333445194] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.333524255] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.333569562] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.333617403] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000069 0.000066 -0.000079 [component_container_isolated-3] -0.000069 1.000000 0.000260 0.000069 [component_container_isolated-3] -0.000066 -0.000260 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] [1762964996.333645387] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.041,0.008,-0.103} [component_container_isolated-3] [DEBUG] [1762964996.333696504] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.333740548] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.333776908] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879407 0.000033 0.476071 -0.000984 [component_container_isolated-3] -0.004735 0.999951 0.008677 0.060190 [component_container_isolated-3] -0.476047 -0.009885 0.879364 0.018005 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.333801956] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.428,-0.308} [component_container_isolated-3] [DEBUG] [1762964996.333835830] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.192} [component_container_isolated-3] [DEBUG] [1762964996.333900193] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.333978062] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.333955158] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.334021665] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.334150692] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000029 0.000250 -0.000776 [component_container_isolated-3] -0.000029 1.000000 0.000037 0.000201 [component_container_isolated-3] -0.000250 -0.000037 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] [1762964996.334171882] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.019,0.254,0.154} [component_container_isolated-3] [DEBUG] [1762964996.334212770] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.334246104] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.334272244] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979045 0.000075 0.203644 -0.007003 [component_container_isolated-3] 0.002315 0.999931 -0.011497 0.059767 [component_container_isolated-3] -0.203631 0.011728 0.978978 0.018912 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.334288595] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.686,11.749,0.135} [component_container_isolated-3] [DEBUG] [1762964996.334309795] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.636,11.497,-0.025} [component_container_isolated-3] [DEBUG] [1762964996.334345794] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.342669340] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.342724696] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.342763931] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.342809668] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000023 -0.000101 0.000070 [component_container_isolated-3] 0.000023 1.000000 0.000014 0.000258 [component_container_isolated-3] 0.000101 -0.000014 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] [1762964996.342835177] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.014,0.032,-0.025} {0.037,-0.401,-0.256} [component_container_isolated-3] [DEBUG] [1762964996.342883279] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.342968161] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.343011303] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000107 0.191308 -0.006428 [component_container_isolated-3] -0.001587 0.999961 0.008702 0.059435 [component_container_isolated-3] -0.191301 -0.008845 0.981492 0.017582 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.343036431] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.516,11.029,-0.093} [component_container_isolated-3] [DEBUG] [1762964996.343070086] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.033,0.028} {-0.503,11.432,0.164} [component_container_isolated-3] [DEBUG] [1762964996.343124580] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.356616045] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.356668776] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.356709694] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.356755722] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000003 -0.000181 0.000292 [component_container_isolated-3] -0.000003 1.000000 0.000014 -0.000062 [component_container_isolated-3] 0.000181 -0.000014 1.000000 -0.000418 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964996.356781571] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {0.018,0.244,0.154} [component_container_isolated-3] [DEBUG] [1762964996.356830505] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.356876132] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.356912120] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000075 0.203467 -0.007023 [component_container_isolated-3] 0.002310 0.999932 -0.011484 0.059775 [component_container_isolated-3] -0.203454 0.011714 0.979015 0.018909 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.356972746] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.685,11.739,0.135} [component_container_isolated-3] [DEBUG] [1762964996.357003866] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.008} {0.636,11.497,-0.025} [component_container_isolated-3] [DEBUG] [1762964996.357057358] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.362279270] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.362340167] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.362378780] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.362423576] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000012 -0.000076 -0.000043 [component_container_isolated-3] -0.000012 1.000000 -0.000347 0.000003 [component_container_isolated-3] 0.000076 0.000347 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] [1762964996.362449636] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.021,0.004,-0.103} [component_container_isolated-3] [DEBUG] [1762964996.362498198] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.362541371] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.362581878] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879443 0.000209 0.476004 -0.000983 [component_container_isolated-3] -0.004746 0.999954 0.008330 0.060184 [component_container_isolated-3] -0.475980 -0.009585 0.879404 0.018024 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.362606525] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.624,28.423,-0.309} [component_container_isolated-3] [DEBUG] [1762964996.362640150] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.192} [component_container_isolated-3] [DEBUG] [1762964996.362692930] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.362799915] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.362854168] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.362896038] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.362965561] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000047 0.000115 0.000231 [component_container_isolated-3] -0.000047 1.000000 0.000105 -0.000310 [component_container_isolated-3] -0.000115 -0.000105 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] [1762964996.362992913] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.056} {0.257,-0.674,-0.091} [component_container_isolated-3] [DEBUG] [1762964996.363043059] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.363087293] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.363123903] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 -0.000001 0.185180 -0.006691 [component_container_isolated-3] -0.000110 1.000000 0.000594 0.059823 [component_container_isolated-3] -0.185180 -0.000605 0.982704 0.017453 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.363145966] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964996.363176574] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.275,11.347,0.083} [component_container_isolated-3] [DEBUG] [1762964996.363225187] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.367862242] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.367917398] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.367976220] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.368020264] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000047 0.000115 0.000231 [component_container_isolated-3] -0.000047 1.000000 0.000105 -0.000310 [component_container_isolated-3] -0.000115 -0.000105 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] [1762964996.368045653] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,-0.000,-0.056} {0.251,-0.668,-0.093} [component_container_isolated-3] [DEBUG] [1762964996.368093955] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.368138660] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.368178296] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982705 -0.000001 0.185180 -0.006691 [component_container_isolated-3] -0.000110 1.000000 0.000594 0.059823 [component_container_isolated-3] -0.185180 -0.000605 0.982704 0.017453 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.368202252] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964996.368234563] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,0.000,0.056} {-0.268,11.340,0.085} [component_container_isolated-3] [DEBUG] [1762964996.368286493] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.371417011] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.371472066] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.371514718] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.371559022] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000079 0.000066 -0.000260 [component_container_isolated-3] -0.000079 1.000000 -0.000038 -0.000139 [component_container_isolated-3] -0.000066 0.000038 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] [1762964996.371584742] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.014,0.032,-0.025} {0.039,-0.397,-0.260} [component_container_isolated-3] [DEBUG] [1762964996.371633735] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.371679122] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.371715742] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 -0.000022 0.191373 -0.006437 [component_container_isolated-3] -0.001667 0.999961 0.008664 0.059466 [component_container_isolated-3] -0.191365 -0.008823 0.981479 0.017616 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.371738645] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.515,11.032,-0.097} [component_container_isolated-3] [DEBUG] [1762964996.371771919] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.033,0.028} {-0.503,11.432,0.164} [component_container_isolated-3] [DEBUG] [1762964996.371823518] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.380779762] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.380833084] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.380871136] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.380913898] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000058 0.000078 -0.000278 [component_container_isolated-3] -0.000058 1.000000 0.000064 0.000040 [component_container_isolated-3] -0.000078 -0.000064 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] [1762964996.380990524] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.008} {0.014,0.248,0.151} [component_container_isolated-3] [DEBUG] [1762964996.381040339] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.381085195] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.381124691] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979066 0.000119 0.203543 -0.007067 [component_container_isolated-3] 0.002253 0.999932 -0.011420 0.059788 [component_container_isolated-3] -0.203531 0.011639 0.978999 0.018964 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.381149087] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.681,11.744,0.132} [component_container_isolated-3] [DEBUG] [1762964996.381181760] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.636,11.497,-0.025} [component_container_isolated-3] [DEBUG] [1762964996.381233078] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.397158030] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.397216602] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.397259514] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.397305031] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000010 0.000131 0.000012 [component_container_isolated-3] -0.000011 1.000000 0.000260 0.000112 [component_container_isolated-3] -0.000131 -0.000260 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] [1762964996.397330760] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.036,0.011,-0.104} [component_container_isolated-3] [DEBUG] [1762964996.397379323] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.397421303] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.397456841] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879381 0.000094 0.476120 -0.000981 [component_container_isolated-3] -0.004758 0.999952 0.008589 0.060201 [component_container_isolated-3] -0.476096 -0.009818 0.879339 0.018031 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.397479504] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.640,28.431,-0.310} [component_container_isolated-3] [DEBUG] [1762964996.397510443] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.192} [component_container_isolated-3] [DEBUG] [1762964996.397562142] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.405745691] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.405801097] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.405841794] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.405887912] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000074 -0.000092 -0.000163 [component_container_isolated-3] -0.000074 1.000000 -0.000053 0.000007 [component_container_isolated-3] 0.000092 0.000053 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] [1762964996.405913100] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.014,0.032,-0.025} {0.042,-0.402,-0.265} [component_container_isolated-3] [DEBUG] [1762964996.405989356] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.406035254] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.406071563] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981535 0.000060 0.191282 -0.006466 [component_container_isolated-3] -0.001740 0.999962 0.008612 0.059488 [component_container_isolated-3] -0.191274 -0.008786 0.981497 0.017668 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.406094216] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.513,11.027,-0.102} [component_container_isolated-3] [DEBUG] [1762964996.406127780] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.033,0.028} {-0.503,11.432,0.164} [component_container_isolated-3] [DEBUG] [1762964996.406180371] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.415955449] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.416017698] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.416060930] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.416108531] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000000 0.000018 -0.000200 [component_container_isolated-3] 0.000000 1.000000 -0.000170 0.000214 [component_container_isolated-3] -0.000018 0.000170 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] [1762964996.416135593] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.056} {0.261,-0.667,-0.093} [component_container_isolated-3] [DEBUG] [1762964996.416186971] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.416234011] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.416274107] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000030 0.185197 -0.006700 [component_container_isolated-3] -0.000110 1.000000 0.000425 0.059825 [component_container_isolated-3] -0.185197 -0.000438 0.982701 0.017470 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.416298594] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.026,10.673,-0.006} [component_container_isolated-3] [DEBUG] [1762964996.416329884] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.268,11.340,0.085} [component_container_isolated-3] [DEBUG] [1762964996.416380561] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.427681924] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.427734223] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.427772346] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.427814457] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000058 0.000078 -0.000278 [component_container_isolated-3] -0.000058 1.000000 0.000064 0.000040 [component_container_isolated-3] -0.000078 -0.000064 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] [1762964996.427839454] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.011,0.253,0.147} [component_container_isolated-3] [DEBUG] [1762964996.427886204] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.427964684] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.428004039] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979066 0.000119 0.203543 -0.007067 [component_container_isolated-3] 0.002253 0.999932 -0.011420 0.059788 [component_container_isolated-3] -0.203531 0.011639 0.978999 0.018964 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.428028946] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.681,11.744,0.132} [component_container_isolated-3] [DEBUG] [1762964996.428064063] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.008} {0.640,11.493,-0.022} [component_container_isolated-3] [DEBUG] [1762964996.428120702] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.445526773] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.445583171] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.445622295] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.445665798] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000000 0.000018 -0.000200 [component_container_isolated-3] 0.000000 1.000000 -0.000170 0.000214 [component_container_isolated-3] -0.000018 0.000170 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] [1762964996.445690736] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.056} {0.271,-0.666,-0.093} [component_container_isolated-3] [DEBUG] [1762964996.445737826] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.445780578] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.445815043] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982701 0.000030 0.185197 -0.006700 [component_container_isolated-3] -0.000110 1.000000 0.000425 0.059825 [component_container_isolated-3] -0.185197 -0.000438 0.982701 0.017470 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.445839099] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.026,10.673,-0.006} [component_container_isolated-3] [DEBUG] [1762964996.445871932] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.056} {-0.278,11.339,0.085} [component_container_isolated-3] [DEBUG] [1762964996.445959079] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.448405010] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.448459203] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.448498047] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.448541841] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000161 -0.000046 -0.000040 [component_container_isolated-3] 0.000161 1.000000 -0.000078 -0.000320 [component_container_isolated-3] 0.000046 0.000078 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] [1762964996.448567220] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.031,0.009,-0.095} [component_container_isolated-3] [DEBUG] [1762964996.448613728] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.448658384] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.448698290] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879403 -0.000011 0.476079 -0.000992 [component_container_isolated-3] -0.004596 0.999953 0.008511 0.060161 [component_container_isolated-3] -0.476057 -0.009673 0.879361 0.018051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.448722446] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.630,28.428,-0.299} [component_container_isolated-3] [DEBUG] [1762964996.448754878] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.192} [component_container_isolated-3] [DEBUG] [1762964996.448806296] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.451010876] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.451059499] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.451097512] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.451139191] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000058 0.000078 -0.000278 [component_container_isolated-3] -0.000058 1.000000 0.000064 0.000040 [component_container_isolated-3] -0.000078 -0.000064 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] [1762964996.451163528] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.007,0.257,0.144} [component_container_isolated-3] [DEBUG] [1762964996.451209005] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.451249402] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.451288677] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979066 0.000119 0.203543 -0.007067 [component_container_isolated-3] 0.002253 0.999932 -0.011420 0.059788 [component_container_isolated-3] -0.203531 0.011639 0.978999 0.018964 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.451311671] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.681,11.744,0.132} [component_container_isolated-3] [DEBUG] [1762964996.451344343] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.644,11.488,-0.018} [component_container_isolated-3] [DEBUG] [1762964996.451396513] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.476614172] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.476671302] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.476709985] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.476753088] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000244 0.000018 0.000088 [component_container_isolated-3] -0.000244 1.000000 -0.000107 0.000350 [component_container_isolated-3] -0.000018 0.000107 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] [1762964996.476777825] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.025,0.010,-0.109} [component_container_isolated-3] [DEBUG] [1762964996.476824885] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.476868578] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.476908735] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879394 0.000255 0.476095 -0.000974 [component_container_isolated-3] -0.004840 0.999953 0.008404 0.060189 [component_container_isolated-3] -0.476071 -0.009695 0.879354 0.018051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.476961746] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.632,28.429,-0.315} [component_container_isolated-3] [DEBUG] [1762964996.476996362] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.192} [component_container_isolated-3] [DEBUG] [1762964996.477056437] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.478009076] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.478062518] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.478105270] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.478150236] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000254 0.000015 0.000333 [component_container_isolated-3] 0.000254 1.000000 -0.000072 -0.000940 [component_container_isolated-3] -0.000015 0.000072 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] [1762964996.478176276] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.014,0.031,-0.025} {0.046,-0.401,-0.250} [component_container_isolated-3] [DEBUG] [1762964996.478224077] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.478267690] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.478304070] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 -0.000176 0.191297 -0.006465 [component_container_isolated-3] -0.001486 0.999962 0.008540 0.059273 [component_container_isolated-3] -0.191291 -0.008666 0.981495 0.017657 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.478327314] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.506,11.028,-0.087} [component_container_isolated-3] [DEBUG] [1762964996.478362050] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.032,0.028} {-0.503,11.432,0.164} [component_container_isolated-3] [DEBUG] [1762964996.478411976] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.481359685] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.481411745] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.481452011] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.481494533] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000058 0.000078 -0.000278 [component_container_isolated-3] -0.000058 1.000000 0.000064 0.000040 [component_container_isolated-3] -0.000078 -0.000064 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] [1762964996.481519891] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.009} {0.003,0.262,0.141} [component_container_isolated-3] [DEBUG] [1762964996.481566009] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.481606186] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.481640632] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979066 0.000119 0.203543 -0.007067 [component_container_isolated-3] 0.002253 0.999932 -0.011420 0.059788 [component_container_isolated-3] -0.203531 0.011639 0.978999 0.018964 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.481663345] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.001} {0.681,11.744,0.132} [component_container_isolated-3] [DEBUG] [1762964996.481693833] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.649,11.484,-0.015} [component_container_isolated-3] [DEBUG] [1762964996.481743628] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.483719191] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.483774407] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.483813331] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.483857145] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000254 0.000015 0.000333 [component_container_isolated-3] 0.000254 1.000000 -0.000072 -0.000940 [component_container_isolated-3] -0.000015 0.000072 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] [1762964996.483882423] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.030,-0.025} {0.050,-0.400,-0.235} [component_container_isolated-3] [DEBUG] [1762964996.483948159] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.483995800] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.484036137] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981532 -0.000176 0.191297 -0.006465 [component_container_isolated-3] -0.001486 0.999962 0.008540 0.059273 [component_container_isolated-3] -0.191291 -0.008666 0.981495 0.017657 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.484064200] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.506,11.028,-0.087} [component_container_isolated-3] [DEBUG] [1762964996.484098866] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.031,0.029} {-0.509,11.431,0.149} [component_container_isolated-3] [DEBUG] [1762964996.484161716] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.490414618] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.490470515] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.490511403] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.490556379] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000008 0.000109 0.000259 [component_container_isolated-3] 0.000008 1.000000 0.000204 -0.000150 [component_container_isolated-3] -0.000109 -0.000204 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] [1762964996.490582839] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.056} {0.259,-0.660,-0.093} [component_container_isolated-3] [DEBUG] [1762964996.490631933] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.490677991] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.490722646] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982681 -0.000016 0.185304 -0.006660 [component_container_isolated-3] -0.000102 1.000000 0.000628 0.059813 [component_container_isolated-3] -0.185304 -0.000636 0.982681 0.017522 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.490747434] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.037,10.679,-0.006} [component_container_isolated-3] [DEBUG] [1762964996.490780797] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.000,0.056} {-0.278,11.339,0.085} [component_container_isolated-3] [DEBUG] [1762964996.490835432] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.501154839] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.501217228] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.501259279] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.501309094] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000008 0.000109 0.000259 [component_container_isolated-3] 0.000008 1.000000 0.000204 -0.000150 [component_container_isolated-3] -0.000109 -0.000204 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] [1762964996.501336386] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.056} {0.247,-0.653,-0.092} [component_container_isolated-3] [DEBUG] [1762964996.501386001] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.501428963] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.501464641] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982681 -0.000016 0.185304 -0.006660 [component_container_isolated-3] -0.000102 1.000000 0.000628 0.059813 [component_container_isolated-3] -0.185304 -0.000636 0.982681 0.017522 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.501487555] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.037,10.679,-0.006} [component_container_isolated-3] [DEBUG] [1762964996.501518514] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,0.000,0.055} {-0.266,11.333,0.085} [component_container_isolated-3] [DEBUG] [1762964996.501568118] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.502599458] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.502659282] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.502699018] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.502744425] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000002 -0.000026 -0.000006 [component_container_isolated-3] -0.000002 1.000000 0.000047 -0.000018 [component_container_isolated-3] 0.000026 -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] [1762964996.502769873] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.028,0.008,-0.109} [component_container_isolated-3] [DEBUG] [1762964996.502818136] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.502861188] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.502898279] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879406 0.000234 0.476072 -0.000974 [component_container_isolated-3] -0.004842 0.999953 0.008451 0.060201 [component_container_isolated-3] -0.476048 -0.009737 0.879366 0.018053 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.502953204] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.634,28.428,-0.315} [component_container_isolated-3] [DEBUG] [1762964996.502987659] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.192} [component_container_isolated-3] [DEBUG] [1762964996.503039128] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.510728963] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.510793286] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.510853992] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.510911462] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000095 0.000021 -0.000479 [component_container_isolated-3] -0.000095 1.000000 0.000103 0.000456 [component_container_isolated-3] -0.000021 -0.000103 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] [1762964996.510987096] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.014,0.031,-0.025} {0.045,-0.399,-0.241} [component_container_isolated-3] [DEBUG] [1762964996.511064694] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.511124348] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.511167962] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981528 -0.000102 0.191318 -0.006539 [component_container_isolated-3] -0.001581 0.999961 0.008643 0.059264 [component_container_isolated-3] -0.191311 -0.008786 0.981490 0.017657 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.511192629] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.513,11.029,-0.092} [component_container_isolated-3] [DEBUG] [1762964996.511224650] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.032,0.029} {-0.509,11.431,0.149} [component_container_isolated-3] [DEBUG] [1762964996.511277812] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.514381649] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.514435692] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.514478845] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.514544570] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000109 -0.000084 0.000557 [component_container_isolated-3] 0.000109 1.000000 -0.000101 -0.000041 [component_container_isolated-3] 0.000084 0.000101 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] [1762964996.514574006] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.009,0.257,0.147} [component_container_isolated-3] [DEBUG] [1762964996.514627298] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.514672655] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.514710798] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 0.000032 0.203461 -0.007032 [component_container_isolated-3] 0.002361 0.999931 -0.011520 0.059792 [component_container_isolated-3] -0.203447 0.011760 0.979015 0.018908 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.514732219] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.001} {0.688,11.739,0.138} [component_container_isolated-3] [DEBUG] [1762964996.514762677] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.649,11.484,-0.015} [component_container_isolated-3] [DEBUG] [1762964996.514810799] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.528261697] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.528316692] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.528356217] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.528400001] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000015 0.000008 0.000063 [component_container_isolated-3] 0.000015 1.000000 0.000157 0.000082 [component_container_isolated-3] -0.000008 -0.000157 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] [1762964996.528424898] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.037,0.009,-0.108} [component_container_isolated-3] [DEBUG] [1762964996.528475996] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.528520812] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.528559856] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879402 0.000147 0.476079 -0.000968 [component_container_isolated-3] -0.004827 0.999951 0.008608 0.060225 [component_container_isolated-3] -0.476055 -0.009868 0.879360 0.018050 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.528583702] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.643,28.428,-0.314} [component_container_isolated-3] [DEBUG] [1762964996.528616554] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.192} [component_container_isolated-3] [DEBUG] [1762964996.528676308] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.539813348] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.539867521] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.539906616] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.539987380] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000070 -0.000067 0.000120 [component_container_isolated-3] 0.000070 1.000000 -0.000049 -0.000507 [component_container_isolated-3] 0.000067 0.000049 1.000000 0.000140 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964996.540013700] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.014,0.030,-0.025} {0.047,-0.403,-0.237} [component_container_isolated-3] [DEBUG] [1762964996.540063205] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.540119111] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.540160010] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 -0.000162 0.191252 -0.006563 [component_container_isolated-3] -0.001510 0.999962 0.008595 0.059150 [component_container_isolated-3] -0.191246 -0.008725 0.981503 0.017675 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.540184045] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.509,11.026,-0.088} [component_container_isolated-3] [DEBUG] [1762964996.540217319] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.031,0.028} {-0.509,11.431,0.149} [component_container_isolated-3] [DEBUG] [1762964996.540266683] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.546258035] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.546311568] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.546348017] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.546390408] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000002 -0.000083 -0.000367 [component_container_isolated-3] 0.000002 1.000000 -0.000095 0.000204 [component_container_isolated-3] 0.000083 0.000095 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] [1762964996.546414154] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.056} {0.253,-0.658,-0.092} [component_container_isolated-3] [DEBUG] [1762964996.546460993] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.546502703] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.546538200] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 -0.000001 0.185223 -0.006694 [component_container_isolated-3] -0.000100 1.000000 0.000533 0.059826 [component_container_isolated-3] -0.185223 -0.000542 0.982696 0.017549 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.546559211] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,0.000} {-0.032,10.674,-0.006} [component_container_isolated-3] [DEBUG] [1762964996.546588246] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.000,0.055} {-0.266,11.333,0.085} [component_container_isolated-3] [DEBUG] [1762964996.546635667] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.554029206] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.554085304] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.554131271] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.554177149] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000043 0.000020 -0.000246 [component_container_isolated-3] -0.000043 1.000000 0.000087 -0.000049 [component_container_isolated-3] -0.000020 -0.000087 1.000000 0.000202 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964996.554204070] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.004,0.258,0.144} [component_container_isolated-3] [DEBUG] [1762964996.554252864] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.554293822] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.554328518] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 0.000057 0.203480 -0.007038 [component_container_isolated-3] 0.002318 0.999932 -0.011433 0.059794 [component_container_isolated-3] -0.203467 0.011666 0.979012 0.018904 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.554350310] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.001} {0.683,11.740,0.136} [component_container_isolated-3] [DEBUG] [1762964996.554381740] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.649,11.484,-0.015} [component_container_isolated-3] [DEBUG] [1762964996.554432126] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.556213368] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.556269054] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.556310603] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.556355459] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000070 -0.000067 0.000120 [component_container_isolated-3] 0.000070 1.000000 -0.000049 -0.000507 [component_container_isolated-3] 0.000067 0.000049 1.000000 0.000140 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964996.556381569] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.030,-0.025} {0.050,-0.407,-0.233} [component_container_isolated-3] [DEBUG] [1762964996.556429320] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.556471701] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.556507339] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 -0.000162 0.191252 -0.006563 [component_container_isolated-3] -0.001510 0.999962 0.008595 0.059150 [component_container_isolated-3] -0.191246 -0.008725 0.981503 0.017675 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.556529571] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.509,11.026,-0.088} [component_container_isolated-3] [DEBUG] [1762964996.556562935] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.031,0.028} {-0.513,11.435,0.145} [component_container_isolated-3] [DEBUG] [1762964996.556614804] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.563563625] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.563613771] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.563647495] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.563691269] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000138 -0.000042 -0.000110 [component_container_isolated-3] 0.000138 1.000000 -0.000083 -0.000300 [component_container_isolated-3] 0.000042 0.000083 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] [1762964996.563723300] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.003} {-0.032,0.006,-0.100} [component_container_isolated-3] [DEBUG] [1762964996.563770029] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.563805376] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.563832568] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879422 0.000065 0.476043 -0.000977 [component_container_isolated-3] -0.004689 0.999953 0.008525 0.060200 [component_container_isolated-3] -0.476020 -0.009729 0.879381 0.018064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.563854079] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.634,28.426,-0.305} [component_container_isolated-3] [DEBUG] [1762964996.563892373] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.004,-0.003} {-0.547,28.420,-0.192} [component_container_isolated-3] [DEBUG] [1762964996.563987655] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.582264038] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.582322510] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.582364700] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.582410257] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000046 -0.000016 0.000209 [component_container_isolated-3] 0.000046 1.000000 -0.000035 -0.000066 [component_container_isolated-3] 0.000016 0.000035 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] [1762964996.582436227] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.006,0.257,0.147} [component_container_isolated-3] [DEBUG] [1762964996.582486393] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.582530487] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.582566716] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000019 0.203464 -0.007018 [component_container_isolated-3] 0.002364 0.999931 -0.011469 0.059786 [component_container_isolated-3] -0.203450 0.011710 0.979015 0.018896 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.582589059] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.685,11.739,0.138} [component_container_isolated-3] [DEBUG] [1762964996.582619828] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.009} {0.649,11.484,-0.015} [component_container_isolated-3] [DEBUG] [1762964996.582678840] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.582745979] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.582802306] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.582853724] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.582912276] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000138 -0.000042 -0.000110 [component_container_isolated-3] 0.000138 1.000000 -0.000083 -0.000300 [component_container_isolated-3] 0.000042 0.000083 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] [1762964996.582974966] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.003} {-0.027,0.004,-0.092} [component_container_isolated-3] [DEBUG] [1762964996.583110264] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.583188393] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.583245032] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879422 0.000065 0.476043 -0.000977 [component_container_isolated-3] -0.004689 0.999953 0.008525 0.060200 [component_container_isolated-3] -0.476020 -0.009729 0.879381 0.018064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.583275820] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.634,28.426,-0.305} [component_container_isolated-3] [DEBUG] [1762964996.583315346] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.003} {-0.556,28.423,-0.201} [component_container_isolated-3] [DEBUG] [1762964996.583389407] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.588234029] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.588289676] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.588329161] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.588375389] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000188 -0.000284 -0.000379 [component_container_isolated-3] 0.000188 1.000000 -0.000008 -0.000981 [component_container_isolated-3] 0.000284 0.000008 1.000000 -0.001132 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964996.588401128] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,-0.001,-0.057} {0.253,-0.674,-0.082} [component_container_isolated-3] [DEBUG] [1762964996.588467766] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.588524364] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.588477965] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.588570532] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.588620858] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.588667317] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000070 -0.000067 0.000120 [component_container_isolated-3] 0.000070 1.000000 -0.000049 -0.000507 [component_container_isolated-3] 0.000067 0.000049 1.000000 0.000140 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964996.588743071] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.029,-0.025} {0.053,-0.411,-0.229} [component_container_isolated-3] [DEBUG] [1762964996.588710850] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982749 -0.000184 0.184944 -0.006872 [component_container_isolated-3] 0.000088 1.000000 0.000525 0.059563 [component_container_isolated-3] -0.184944 -0.000500 0.982749 0.017243 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.588819317] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.029,10.658,0.005} [component_container_isolated-3] [DEBUG] [1762964996.588854404] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,0.001,0.056} {-0.266,11.333,0.085} [component_container_isolated-3] [DEBUG] [1762964996.588797535] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.588910581] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.588982208] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.589055308] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 -0.000162 0.191252 -0.006563 [component_container_isolated-3] -0.001510 0.999962 0.008595 0.059150 [component_container_isolated-3] -0.191246 -0.008725 0.981503 0.017675 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.589075386] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.509,11.026,-0.088} [component_container_isolated-3] [DEBUG] [1762964996.589099432] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.030,0.028} {-0.517,11.438,0.141} [component_container_isolated-3] [DEBUG] [1762964996.589176098] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.609987794] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.610039623] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.610077034] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.610122100] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000208 0.000241 0.000335 [component_container_isolated-3] -0.000208 1.000000 0.000067 0.001035 [component_container_isolated-3] -0.000241 -0.000067 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] [1762964996.610147048] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.000,-0.056} {0.249,-0.661,-0.093} [component_container_isolated-3] [DEBUG] [1762964996.610194378] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.610237130] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.610276736] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 0.000008 0.185181 -0.006855 [component_container_isolated-3] -0.000120 1.000000 0.000592 0.059680 [component_container_isolated-3] -0.185181 -0.000604 0.982704 0.017343 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.610300731] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.672,-0.007} [component_container_isolated-3] [DEBUG] [1762964996.610334125] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.000,0.055} {-0.266,11.333,0.085} [component_container_isolated-3] [DEBUG] [1762964996.610385734] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.619740679] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.619794031] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.619835250] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.619879625] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000138 -0.000042 -0.000110 [component_container_isolated-3] 0.000138 1.000000 -0.000083 -0.000300 [component_container_isolated-3] 0.000042 0.000083 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] [1762964996.619904703] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.003} {-0.023,0.002,-0.084} [component_container_isolated-3] [DEBUG] [1762964996.620008391] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.620056703] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.620097822] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879422 0.000065 0.476043 -0.000977 [component_container_isolated-3] -0.004689 0.999953 0.008525 0.060200 [component_container_isolated-3] -0.476020 -0.009729 0.879381 0.018064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.620122008] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.634,28.426,-0.305} [component_container_isolated-3] [DEBUG] [1762964996.620153117] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.003} {-0.565,28.425,-0.210} [component_container_isolated-3] [DEBUG] [1762964996.620201570] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.622370883] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.622426439] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.622466906] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.622510108] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000029 0.000057 -0.000114 [component_container_isolated-3] -0.000029 1.000000 -0.000100 -0.000047 [component_container_isolated-3] -0.000057 0.000100 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] [1762964996.622536639] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.012,0.260,0.145} [component_container_isolated-3] [DEBUG] [1762964996.622585893] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.622628555] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.622663902] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 0.000067 0.203520 -0.007008 [component_container_isolated-3] 0.002336 0.999930 -0.011568 0.059773 [component_container_isolated-3] -0.203506 0.011802 0.979002 0.018918 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.622685934] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.001} {0.691,11.742,0.137} [component_container_isolated-3] [DEBUG] [1762964996.622720129] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.649,11.484,-0.015} [component_container_isolated-3] [DEBUG] [1762964996.622772099] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.630772468] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.630828174] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.630868090] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.630912034] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000208 0.000241 0.000335 [component_container_isolated-3] -0.000208 1.000000 0.000067 0.001035 [component_container_isolated-3] -0.000241 -0.000067 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] [1762964996.630960707] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.055} {0.246,-0.647,-0.105} [component_container_isolated-3] [DEBUG] [1762964996.631011534] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.631055137] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.631092088] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982704 0.000008 0.185181 -0.006855 [component_container_isolated-3] -0.000120 1.000000 0.000592 0.059680 [component_container_isolated-3] -0.185181 -0.000604 0.982704 0.017343 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.631116404] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.672,-0.007} [component_container_isolated-3] [DEBUG] [1762964996.631149989] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.001,0.054} {-0.260,11.319,0.097} [component_container_isolated-3] [DEBUG] [1762964996.631200916] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.641849141] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.641907803] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.641975052] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.642021360] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000054 0.000169 0.000468 [component_container_isolated-3] -0.000054 1.000000 0.000241 0.000622 [component_container_isolated-3] -0.000169 -0.000241 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] [1762964996.642048512] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.030,-0.025} {0.039,-0.401,-0.232} [component_container_isolated-3] [DEBUG] [1762964996.642102174] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.642154074] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.642194531] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981508 -0.000155 0.191418 -0.006494 [component_container_isolated-3] -0.001565 0.999960 0.008835 0.059193 [component_container_isolated-3] -0.191412 -0.008971 0.981469 0.017683 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.642218667] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.524,11.035,-0.091} [component_container_isolated-3] [DEBUG] [1762964996.642249656] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.031,0.028} {-0.517,11.438,0.141} [component_container_isolated-3] [DEBUG] [1762964996.642299161] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.660995015] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.661050802] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.661089215] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.661132568] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000138 -0.000042 -0.000110 [component_container_isolated-3] 0.000138 1.000000 -0.000083 -0.000300 [component_container_isolated-3] 0.000042 0.000083 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] [1762964996.661157806] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.003} {-0.018,-0.001,-0.076} [component_container_isolated-3] [DEBUG] [1762964996.661206369] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.661247658] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.661283436] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879422 0.000065 0.476043 -0.000977 [component_container_isolated-3] -0.004689 0.999953 0.008525 0.060200 [component_container_isolated-3] -0.476020 -0.009729 0.879381 0.018064 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.661308654] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.634,28.426,-0.305} [component_container_isolated-3] [DEBUG] [1762964996.661342048] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.575,28.427,-0.219} [component_container_isolated-3] [DEBUG] [1762964996.661393386] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.671270248] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.671319933] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.671359349] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.671406429] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000021 -0.000058 0.000271 [component_container_isolated-3] -0.000021 1.000000 -0.000019 -0.000047 [component_container_isolated-3] 0.000058 0.000019 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] [1762964996.671432148] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.009} {0.013,0.257,0.144} [component_container_isolated-3] [DEBUG] [1762964996.671482885] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.671524454] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.671559280] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 0.000091 0.203463 -0.006968 [component_container_isolated-3] 0.002315 0.999930 -0.011588 0.059759 [component_container_isolated-3] -0.203450 0.011816 0.979014 0.018882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.671580962] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.739,0.135} [component_container_isolated-3] [DEBUG] [1762964996.671611330] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.649,11.484,-0.015} [component_container_isolated-3] [DEBUG] [1762964996.671672426] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.671734415] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.671780974] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.671831791] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000054 0.000169 0.000468 [component_container_isolated-3] -0.000054 1.000000 0.000241 0.000622 [component_container_isolated-3] -0.000169 -0.000241 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] [1762964996.671859534] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.031,-0.025} {0.025,-0.391,-0.235} [component_container_isolated-3] [DEBUG] [1762964996.671915230] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.671688718] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.672001104] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.672041712] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981508 -0.000155 0.191418 -0.006494 [component_container_isolated-3] -0.001565 0.999960 0.008835 0.059193 [component_container_isolated-3] -0.191412 -0.008971 0.981469 0.017683 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.672065096] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.524,11.035,-0.091} [component_container_isolated-3] [DEBUG] [1762964996.672098871] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.031,0.028} {-0.502,11.429,0.144} [component_container_isolated-3] [DEBUG] [1762964996.672151201] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.681764240] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.681814646] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.681857538] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.681901091] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000021 -0.000058 0.000271 [component_container_isolated-3] -0.000021 1.000000 -0.000019 -0.000047 [component_container_isolated-3] 0.000058 0.000019 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] [1762964996.681963851] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {0.014,0.254,0.143} [component_container_isolated-3] [DEBUG] [1762964996.682014407] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.682055476] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.682090723] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 0.000091 0.203463 -0.006968 [component_container_isolated-3] 0.002315 0.999930 -0.011588 0.059759 [component_container_isolated-3] -0.203450 0.011816 0.979014 0.018882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.682111763] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.739,0.135} [component_container_isolated-3] [DEBUG] [1762964996.682141290] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.008} {0.648,11.487,-0.014} [component_container_isolated-3] [DEBUG] [1762964996.682228386] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.692801037] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.692863626] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.692906609] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.692990218] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000014 -0.000092 0.000115 [component_container_isolated-3] 0.000014 1.000000 -0.000006 -0.000047 [component_container_isolated-3] 0.000092 0.000006 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] [1762964996.693019113] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.055} {0.246,-0.652,-0.105} [component_container_isolated-3] [DEBUG] [1762964996.693071343] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.693118834] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.693155424] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982722 -0.000004 0.185090 -0.006850 [component_container_isolated-3] -0.000106 1.000000 0.000586 0.059707 [component_container_isolated-3] -0.185090 -0.000595 0.982721 0.017366 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.693179730] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.666,-0.006} [component_container_isolated-3] [DEBUG] [1762964996.693212483] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.001,0.054} {-0.260,11.319,0.097} [component_container_isolated-3] [DEBUG] [1762964996.693263731] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.699970489] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.700033830] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.700076441] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.700121648] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000038 0.000007 0.000284 [component_container_isolated-3] 0.000038 1.000000 -0.000071 0.000052 [component_container_isolated-3] -0.000007 0.000071 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] [1762964996.700148108] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.003} {-0.014,-0.000,-0.074} [component_container_isolated-3] [DEBUG] [1762964996.700199967] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.700263689] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.700306150] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879419 0.000066 0.476049 -0.000939 [component_container_isolated-3] -0.004651 0.999954 0.008454 0.060192 [component_container_isolated-3] -0.476026 -0.009649 0.879378 0.018055 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.700329585] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.629,28.426,-0.303} [component_container_isolated-3] [DEBUG] [1762964996.700359893] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.003} {-0.575,28.427,-0.219} [component_container_isolated-3] [DEBUG] [1762964996.700410499] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.701713898] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.701764806] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.701807848] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.701853545] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000021 -0.000058 0.000271 [component_container_isolated-3] -0.000021 1.000000 -0.000019 -0.000047 [component_container_isolated-3] 0.000058 0.000019 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] [1762964996.701877831] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.008} {0.015,0.250,0.142} [component_container_isolated-3] [DEBUG] [1762964996.702055391] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.702105987] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.702144871] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979083 0.000091 0.203463 -0.006968 [component_container_isolated-3] 0.002315 0.999930 -0.011588 0.059759 [component_container_isolated-3] -0.203450 0.011816 0.979014 0.018882 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.702167304] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.739,0.135} [component_container_isolated-3] [DEBUG] [1762964996.702196690] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.008} {0.647,11.490,-0.012} [component_container_isolated-3] [DEBUG] [1762964996.702245243] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.710506691] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.710568398] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.710608415] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.710655044] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000038 0.000031 -0.000523 [component_container_isolated-3] -0.000038 1.000000 0.000014 -0.000432 [component_container_isolated-3] -0.000031 -0.000014 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] [1762964996.710681544] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.030,-0.024} {0.024,-0.389,-0.237} [component_container_isolated-3] [DEBUG] [1762964996.710731460] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.710777488] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.710817644] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 -0.000121 0.191449 -0.006532 [component_container_isolated-3] -0.001603 0.999960 0.008849 0.059140 [component_container_isolated-3] -0.191442 -0.008992 0.981463 0.017784 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.710842752] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.525,11.037,-0.094} [component_container_isolated-3] [DEBUG] [1762964996.710874323] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.031,0.028} {-0.502,11.429,0.144} [component_container_isolated-3] [DEBUG] [1762964996.710962711] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.715960957] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.716024528] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.716065527] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.716110122] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000024 -0.000067 0.000033 [component_container_isolated-3] -0.000024 1.000000 0.000019 0.000292 [component_container_isolated-3] 0.000067 -0.000019 1.000000 -0.000263 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964996.716136362] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.055} {0.245,-0.656,-0.106} [component_container_isolated-3] [DEBUG] [1762964996.716186838] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.716231183] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.716268634] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982734 0.000016 0.185024 -0.006847 [component_container_isolated-3] -0.000131 1.000000 0.000605 0.059793 [component_container_isolated-3] -0.185024 -0.000619 0.982734 0.017352 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.716294404] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.036,10.663,-0.008} [component_container_isolated-3] [DEBUG] [1762964996.716328068] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.055} {-0.260,11.319,0.097} [component_container_isolated-3] [DEBUG] [1762964996.716379887] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.722860012] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.722962057] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.723006913] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.723055145] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000038 0.000031 -0.000523 [component_container_isolated-3] -0.000038 1.000000 0.000014 -0.000432 [component_container_isolated-3] -0.000031 -0.000014 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] [1762964996.723082066] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.030,-0.024} {0.024,-0.388,-0.239} [component_container_isolated-3] [DEBUG] [1762964996.723136801] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.723186877] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.723226823] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981503 -0.000121 0.191449 -0.006532 [component_container_isolated-3] -0.001603 0.999960 0.008849 0.059140 [component_container_isolated-3] -0.191442 -0.008992 0.981463 0.017784 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.723251791] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.525,11.037,-0.094} [component_container_isolated-3] [DEBUG] [1762964996.723288801] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.031,0.027} {-0.501,11.427,0.147} [component_container_isolated-3] [DEBUG] [1762964996.723354316] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.731888144] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.731969429] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.732011069] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.732047829] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000057 -0.000042 -0.000221 [component_container_isolated-3] -0.000057 1.000000 -0.000065 -0.000040 [component_container_isolated-3] 0.000042 0.000065 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] [1762964996.732068819] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.010,-0.003,-0.078} [component_container_isolated-3] [DEBUG] [1762964996.732115919] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.732167367] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.732197405] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879439 0.000147 0.476012 -0.000945 [component_container_isolated-3] -0.004708 0.999954 0.008389 0.060182 [component_container_isolated-3] -0.475989 -0.009618 0.879399 0.018043 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.732215008] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.627,28.424,-0.307} [component_container_isolated-3] [DEBUG] [1762964996.732242952] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.575,28.427,-0.219} [component_container_isolated-3] [DEBUG] [1762964996.732309960] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.733765429] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.733815665] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.733854499] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.733900066] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000024 -0.000067 0.000033 [component_container_isolated-3] -0.000024 1.000000 0.000019 0.000292 [component_container_isolated-3] 0.000067 -0.000019 1.000000 -0.000263 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964996.733947968] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.055} {0.244,-0.660,-0.107} [component_container_isolated-3] [DEBUG] [1762964996.734000067] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.734044111] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.734079539] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982734 0.000016 0.185024 -0.006847 [component_container_isolated-3] -0.000131 1.000000 0.000605 0.059793 [component_container_isolated-3] -0.185024 -0.000619 0.982734 0.017352 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.734103084] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.036,10.663,-0.008} [component_container_isolated-3] [DEBUG] [1762964996.734137910] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.055} {-0.259,11.323,0.099} [component_container_isolated-3] [DEBUG] [1762964996.734189900] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.746002900] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.746058055] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.746098612] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.746141254] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000074 -0.000161 0.000255 [component_container_isolated-3] 0.000074 1.000000 -0.000011 0.000106 [component_container_isolated-3] 0.000161 0.000011 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] [1762964996.746166853] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.013,0.008} {0.016,0.241,0.146} [component_container_isolated-3] [DEBUG] [1762964996.746218341] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.746259840] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.746294426] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979115 0.000021 0.203305 -0.006907 [component_container_isolated-3] 0.002387 0.999930 -0.011600 0.059757 [component_container_isolated-3] -0.203291 0.011843 0.979047 0.018792 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.746316068] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.729,0.140} [component_container_isolated-3] [DEBUG] [1762964996.746349552] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.008} {0.647,11.490,-0.012} [component_container_isolated-3] [DEBUG] [1762964996.746403034] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.767381057] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.767432545] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.767471600] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.767514822] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000024 -0.000067 0.000033 [component_container_isolated-3] -0.000024 1.000000 0.000019 0.000292 [component_container_isolated-3] 0.000067 -0.000019 1.000000 -0.000263 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964996.767539329] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.056} {0.243,-0.664,-0.109} [component_container_isolated-3] [DEBUG] [1762964996.767586118] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.767627698] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.767663286] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982734 0.000016 0.185024 -0.006847 [component_container_isolated-3] -0.000131 1.000000 0.000605 0.059793 [component_container_isolated-3] -0.185024 -0.000619 0.982734 0.017352 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.767686059] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.036,10.663,-0.008} [component_container_isolated-3] [DEBUG] [1762964996.767718912] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.055} {-0.258,11.327,0.100} [component_container_isolated-3] [DEBUG] [1762964996.767770420] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.771350387] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.771446491] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.771491036] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.771527556] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000053 0.000112 -0.000022 [component_container_isolated-3] 0.000053 1.000000 0.000201 -0.000057 [component_container_isolated-3] -0.000112 -0.000201 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] [1762964996.771550489] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.003} {-0.022,0.004,-0.075} [component_container_isolated-3] [DEBUG] [1762964996.771611346] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.771651392] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.771679285] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879385 0.000005 0.476110 -0.000954 [component_container_isolated-3] -0.004655 0.999952 0.008589 0.060169 [component_container_isolated-3] -0.476088 -0.009769 0.879344 0.018038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.771696949] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.430,-0.303} [component_container_isolated-3] [DEBUG] [1762964996.771731756] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.575,28.427,-0.219} [component_container_isolated-3] [DEBUG] [1762964996.771791991] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.792624175] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.792725799] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.792783990] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.792847201] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000124 -0.000109 0.000045 [component_container_isolated-3] -0.000124 1.000000 -0.000080 0.000644 [component_container_isolated-3] 0.000109 0.000080 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] [1762964996.792882048] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.030,-0.024} {0.028,-0.394,-0.246} [component_container_isolated-3] [DEBUG] [1762964996.792993130] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.793045460] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.793084023] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 0.000016 0.191341 -0.006545 [component_container_isolated-3] -0.001726 0.999960 0.008769 0.059232 [component_container_isolated-3] -0.191333 -0.008937 0.981484 0.017793 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.793106877] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.522,11.031,-0.101} [component_container_isolated-3] [DEBUG] [1762964996.793137806] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.031,0.028} {-0.501,11.427,0.147} [component_container_isolated-3] [DEBUG] [1762964996.793187932] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.796729265] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.796776946] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.796808176] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.796842571] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000053 0.000112 -0.000022 [component_container_isolated-3] 0.000053 1.000000 0.000201 -0.000057 [component_container_isolated-3] -0.000112 -0.000201 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] [1762964996.796862349] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.003} {-0.033,0.010,-0.071} [component_container_isolated-3] [DEBUG] [1762964996.796900282] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.796963713] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.796992658] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879385 0.000005 0.476110 -0.000954 [component_container_isolated-3] -0.004655 0.999952 0.008589 0.060169 [component_container_isolated-3] -0.476088 -0.009769 0.879344 0.018038 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.797008869] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.637,28.430,-0.303} [component_container_isolated-3] [DEBUG] [1762964996.797030069] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.565,28.421,-0.222} [component_container_isolated-3] [DEBUG] [1762964996.797066399] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.803304692] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.803356070] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.803393742] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.803436745] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000024 -0.000067 0.000033 [component_container_isolated-3] -0.000024 1.000000 0.000019 0.000292 [component_container_isolated-3] 0.000067 -0.000019 1.000000 -0.000263 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964996.803461512] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.056} {0.242,-0.667,-0.110} [component_container_isolated-3] [DEBUG] [1762964996.803509483] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.803550632] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.803590498] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982734 0.000016 0.185024 -0.006847 [component_container_isolated-3] -0.000131 1.000000 0.000605 0.059793 [component_container_isolated-3] -0.185024 -0.000619 0.982734 0.017352 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.803614314] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.036,10.663,-0.008} [component_container_isolated-3] [DEBUG] [1762964996.803648028] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.055} {-0.256,11.330,0.102} [component_container_isolated-3] [DEBUG] [1762964996.803700378] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.807265837] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.807318247] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.807356731] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.807400204] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000028 0.000095 -0.000197 [component_container_isolated-3] 0.000028 1.000000 0.000028 -0.000064 [component_container_isolated-3] -0.000095 -0.000028 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] [1762964996.807425462] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.008} {0.014,0.246,0.148} [component_container_isolated-3] [DEBUG] [1762964996.807471380] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.807511927] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.807551783] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979096 -0.000011 0.203398 -0.006881 [component_container_isolated-3] 0.002416 0.999930 -0.011572 0.059749 [component_container_isolated-3] -0.203384 0.011821 0.979028 0.018769 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.807575178] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.735,0.141} [component_container_isolated-3] [DEBUG] [1762964996.807608071] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.008} {0.647,11.490,-0.012} [component_container_isolated-3] [DEBUG] [1762964996.807659268] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.809947488] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.809999488] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.810037440] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.810080713] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000124 -0.000109 0.000045 [component_container_isolated-3] -0.000124 1.000000 -0.000080 0.000644 [component_container_isolated-3] 0.000109 0.000080 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] [1762964996.810105200] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.031,-0.025} {0.033,-0.400,-0.253} [component_container_isolated-3] [DEBUG] [1762964996.810152730] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.810196775] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.810237102] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 0.000016 0.191341 -0.006545 [component_container_isolated-3] -0.001726 0.999960 0.008769 0.059232 [component_container_isolated-3] -0.191333 -0.008937 0.981484 0.017793 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.810261588] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.522,11.031,-0.101} [component_container_isolated-3] [DEBUG] [1762964996.810295142] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.032,0.028} {-0.504,11.433,0.154} [component_container_isolated-3] [DEBUG] [1762964996.810347993] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.815303197] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.815355557] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.815395102] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.815437182] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000028 0.000095 -0.000197 [component_container_isolated-3] 0.000028 1.000000 0.000028 -0.000064 [component_container_isolated-3] -0.000095 -0.000028 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] [1762964996.815462441] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {0.013,0.252,0.149} [component_container_isolated-3] [DEBUG] [1762964996.815508388] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.815548415] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.815582650] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979096 -0.000011 0.203398 -0.006881 [component_container_isolated-3] 0.002416 0.999930 -0.011572 0.059749 [component_container_isolated-3] -0.203384 0.011821 0.979028 0.018769 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.815603791] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.735,0.141} [component_container_isolated-3] [DEBUG] [1762964996.815633107] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.008} {0.648,11.485,-0.014} [component_container_isolated-3] [DEBUG] [1762964996.815685597] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.826431329] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.826484200] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.826521571] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.826564643] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000124 -0.000109 0.000045 [component_container_isolated-3] -0.000124 1.000000 -0.000080 0.000644 [component_container_isolated-3] 0.000109 0.000080 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] [1762964996.826589401] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.032,-0.025} {0.038,-0.406,-0.260} [component_container_isolated-3] [DEBUG] [1762964996.826636531] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.826681326] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.826721713] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 0.000016 0.191341 -0.006545 [component_container_isolated-3] -0.001726 0.999960 0.008769 0.059232 [component_container_isolated-3] -0.191333 -0.008937 0.981484 0.017793 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.826745278] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.522,11.031,-0.101} [component_container_isolated-3] [DEBUG] [1762964996.826778371] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.032,0.029} {-0.507,11.440,0.161} [component_container_isolated-3] [DEBUG] [1762964996.826830601] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.831983572] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.832038307] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.832078193] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.832121385] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000028 0.000095 -0.000197 [component_container_isolated-3] 0.000028 1.000000 0.000028 -0.000064 [component_container_isolated-3] -0.000095 -0.000028 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] [1762964996.832145842] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {0.011,0.257,0.151} [component_container_isolated-3] [DEBUG] [1762964996.832192711] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.832231736] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.832266132] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979096 -0.000011 0.203398 -0.006881 [component_container_isolated-3] 0.002416 0.999930 -0.011572 0.059749 [component_container_isolated-3] -0.203384 0.011821 0.979028 0.018769 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.832286481] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.735,0.141} [component_container_isolated-3] [DEBUG] [1762964996.832316939] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.650,11.479,-0.016} [component_container_isolated-3] [DEBUG] [1762964996.832368437] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.835123589] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.835178634] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.835220223] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.835265249] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000147 0.000007 -0.000005 [component_container_isolated-3] -0.000147 1.000000 0.000100 0.000271 [component_container_isolated-3] -0.000007 -0.000100 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] [1762964996.835290908] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.003} {-0.039,0.011,-0.080} [component_container_isolated-3] [DEBUG] [1762964996.835338960] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.835380429] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.835416147] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879382 0.000086 0.476117 -0.000948 [component_container_isolated-3] -0.004803 0.999951 0.008689 0.060194 [component_container_isolated-3] -0.476093 -0.009927 0.879339 0.018040 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.835438370] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.647,28.431,-0.313} [component_container_isolated-3] [DEBUG] [1762964996.835471403] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.565,28.421,-0.222} [component_container_isolated-3] [DEBUG] [1762964996.835522300] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.838236664] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.838288844] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.838326976] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.838372854] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000024 -0.000067 0.000033 [component_container_isolated-3] -0.000024 1.000000 0.000019 0.000292 [component_container_isolated-3] 0.000067 -0.000019 1.000000 -0.000263 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964996.838399365] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.003,-0.056} {0.241,-0.671,-0.112} [component_container_isolated-3] [DEBUG] [1762964996.838447827] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.838488665] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.838523462] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982734 0.000016 0.185024 -0.006847 [component_container_isolated-3] -0.000131 1.000000 0.000605 0.059793 [component_container_isolated-3] -0.185024 -0.000619 0.982734 0.017352 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.838545243] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.036,10.663,-0.008} [component_container_isolated-3] [DEBUG] [1762964996.838578797] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.003,0.056} {-0.255,11.334,0.103} [component_container_isolated-3] [DEBUG] [1762964996.838628733] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.871036915] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.871099334] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.871141324] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.871186921] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000137 -0.000060 -0.000177 [component_container_isolated-3] 0.000137 1.000000 0.000082 -0.000214 [component_container_isolated-3] 0.000060 -0.000082 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] [1762964996.871212760] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.014,0.031,-0.026} {0.033,-0.410,-0.253} [component_container_isolated-3] [DEBUG] [1762964996.871261874] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.871308633] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.871348480] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981535 -0.000134 0.191282 -0.006611 [component_container_isolated-3] -0.001588 0.999960 0.008851 0.059244 [component_container_isolated-3] -0.191276 -0.008991 0.981495 0.017748 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.871372576] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.525,11.027,-0.093} [component_container_isolated-3] [DEBUG] [1762964996.871406681] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.032,0.029} {-0.507,11.440,0.161} [component_container_isolated-3] [DEBUG] [1762964996.871465653] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.873341085] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.873395078] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.873436447] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.873481583] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000109 -0.000060 -0.000119 [component_container_isolated-3] 0.000109 1.000000 -0.000091 -0.000155 [component_container_isolated-3] 0.000060 0.000091 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] [1762964996.873507372] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.003} {-0.034,0.007,-0.074} [component_container_isolated-3] [DEBUG] [1762964996.873557588] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.873603546] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.873643302] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879410 0.000034 0.476065 -0.000964 [component_container_isolated-3] -0.004693 0.999952 0.008598 0.060188 [component_container_isolated-3] -0.476041 -0.009795 0.879368 0.018066 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.873667578] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.638,28.427,-0.306} [component_container_isolated-3] [DEBUG] [1762964996.873701143] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.565,28.421,-0.222} [component_container_isolated-3] [DEBUG] [1762964996.873751699] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.875192791] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.875238669] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.875293574] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.875335814] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000028 0.000095 -0.000197 [component_container_isolated-3] 0.000028 1.000000 0.000028 -0.000064 [component_container_isolated-3] -0.000095 -0.000028 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] [1762964996.875360361] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {0.009,0.263,0.152} [component_container_isolated-3] [DEBUG] [1762964996.875407902] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.875451946] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.875487133] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979096 -0.000011 0.203398 -0.006881 [component_container_isolated-3] 0.002416 0.999930 -0.011572 0.059749 [component_container_isolated-3] -0.203384 0.011821 0.979028 0.018769 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.875510077] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.735,0.141} [component_container_isolated-3] [DEBUG] [1762964996.875545234] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.651,11.474,-0.017} [component_container_isolated-3] [DEBUG] [1762964996.875597735] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.883047983] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.883103218] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.883144677] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.883190094] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000126 0.000029 0.000196 [component_container_isolated-3] -0.000126 1.000000 0.000047 0.000179 [component_container_isolated-3] -0.000029 -0.000047 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] [1762964996.883215783] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.003,-0.056} {0.238,-0.669,-0.119} [component_container_isolated-3] [DEBUG] [1762964996.883268504] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.883317978] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.883357574] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982728 0.000131 0.185053 -0.006807 [component_container_isolated-3] -0.000257 1.000000 0.000652 0.059884 [component_container_isolated-3] -0.185053 -0.000689 0.982728 0.017341 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.883381349] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.040,10.664,-0.015} [component_container_isolated-3] [DEBUG] [1762964996.883418090] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.003,0.056} {-0.255,11.334,0.103} [component_container_isolated-3] [DEBUG] [1762964996.883472473] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.900151196] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.900209217] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.900249203] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.900293698] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000023 0.000003 -0.000018 [component_container_isolated-3] 0.000023 1.000000 -0.000080 -0.000073 [component_container_isolated-3] -0.000003 0.000080 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] [1762964996.900320148] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.003} {-0.029,0.007,-0.072} [component_container_isolated-3] [DEBUG] [1762964996.900372669] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.900420340] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.900460807] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 0.000052 0.476067 -0.000976 [component_container_isolated-3] -0.004670 0.999953 0.008518 0.060174 [component_container_isolated-3] -0.476044 -0.009714 0.879368 0.018080 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.900484693] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.633,28.427,-0.304} [component_container_isolated-3] [DEBUG] [1762964996.900517185] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.565,28.421,-0.222} [component_container_isolated-3] [DEBUG] [1762964996.900567100] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.909193745] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.909237338] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.909266905] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.909300088] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000072 0.000064 0.000321 [component_container_isolated-3] 0.000072 1.000000 -0.000110 -0.000252 [component_container_isolated-3] -0.000064 0.000110 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] [1762964996.909323964] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.031,-0.026} {0.039,-0.406,-0.248} [component_container_isolated-3] [DEBUG] [1762964996.909382836] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.909425898] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.909453170] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981523 -0.000184 0.191345 -0.006613 [component_container_isolated-3] -0.001517 0.999961 0.008741 0.059214 [component_container_isolated-3] -0.191339 -0.008870 0.981484 0.017732 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.909469421] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.518,11.031,-0.089} [component_container_isolated-3] [DEBUG] [1762964996.909490962] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.032,0.029} {-0.507,11.440,0.161} [component_container_isolated-3] [DEBUG] [1762964996.909528654] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.914869675] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.914957061] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.914998020] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.915041162] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000050 0.000288 0.000054 [component_container_isolated-3] 0.000050 1.000000 0.000018 -0.000095 [component_container_isolated-3] -0.000288 -0.000018 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] [1762964996.915066601] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.003,-0.055} {0.237,-0.653,-0.116} [component_container_isolated-3] [DEBUG] [1762964996.915120664] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.915168645] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.915208652] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982675 0.000079 0.185336 -0.006737 [component_container_isolated-3] -0.000206 1.000000 0.000670 0.059930 [component_container_isolated-3] -0.185336 -0.000697 0.982675 0.017542 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.915232658] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,0.000} {-0.041,10.681,-0.012} [component_container_isolated-3] [DEBUG] [1762964996.915266763] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.003,0.055} {-0.255,11.334,0.103} [component_container_isolated-3] [DEBUG] [1762964996.915317420] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.915892468] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.915977891] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.916020783] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.916069305] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000028 0.000095 -0.000197 [component_container_isolated-3] 0.000028 1.000000 0.000028 -0.000064 [component_container_isolated-3] -0.000095 -0.000028 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] [1762964996.916097850] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {0.008,0.268,0.154} [component_container_isolated-3] [DEBUG] [1762964996.916150871] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.916193122] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.916228920] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979096 -0.000011 0.203398 -0.006881 [component_container_isolated-3] 0.002416 0.999930 -0.011572 0.059749 [component_container_isolated-3] -0.203384 0.011821 0.979028 0.018769 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.916250201] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.692,11.735,0.141} [component_container_isolated-3] [DEBUG] [1762964996.916280288] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.652,11.469,-0.019} [component_container_isolated-3] [DEBUG] [1762964996.916329512] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.931395926] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.931449939] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.931490436] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.931535242] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000023 0.000003 -0.000018 [component_container_isolated-3] 0.000023 1.000000 -0.000080 -0.000073 [component_container_isolated-3] -0.000003 0.000080 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] [1762964996.931560891] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.003} {-0.024,0.007,-0.071} [component_container_isolated-3] [DEBUG] [1762964996.931608812] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.931651644] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.931687362] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 0.000052 0.476067 -0.000976 [component_container_isolated-3] -0.004670 0.999953 0.008518 0.060174 [component_container_isolated-3] -0.476044 -0.009714 0.879368 0.018080 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.931709625] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.633,28.427,-0.304} [component_container_isolated-3] [DEBUG] [1762964996.931742017] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.570,28.421,-0.223} [component_container_isolated-3] [DEBUG] [1762964996.931795960] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.940441821] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.940491706] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.940529819] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.940570968] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000109 -0.000059 -0.000128 [component_container_isolated-3] -0.000109 1.000000 0.000025 0.000049 [component_container_isolated-3] 0.000059 -0.000025 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] [1762964996.940595665] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.031,-0.026} {0.038,-0.410,-0.255} [component_container_isolated-3] [DEBUG] [1762964996.940641262] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.940685426] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.940724741] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981534 -0.000081 0.191287 -0.006627 [component_container_isolated-3] -0.001626 0.999960 0.008766 0.059206 [component_container_isolated-3] -0.191280 -0.008915 0.981495 0.017700 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.940748958] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.520,11.027,-0.095} [component_container_isolated-3] [DEBUG] [1762964996.940782482] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.032,0.029} {-0.507,11.440,0.161} [component_container_isolated-3] [DEBUG] [1762964996.940832637] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.953649394] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.953699430] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.953738124] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.953780565] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000023 0.000003 -0.000018 [component_container_isolated-3] 0.000023 1.000000 -0.000080 -0.000073 [component_container_isolated-3] -0.000003 0.000080 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] [1762964996.953805212] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.003} {-0.020,0.008,-0.070} [component_container_isolated-3] [DEBUG] [1762964996.953853805] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.953898610] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.953973383] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 0.000052 0.476067 -0.000976 [component_container_isolated-3] -0.004670 0.999953 0.008518 0.060174 [component_container_isolated-3] -0.476044 -0.009714 0.879368 0.018080 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.953999814] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.633,28.427,-0.304} [component_container_isolated-3] [DEBUG] [1762964996.954033368] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.575,28.420,-0.225} [component_container_isolated-3] [DEBUG] [1762964996.954081430] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.954150732] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.954195187] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.954135282] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.954244912] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000128 -0.000061 -0.000222 [component_container_isolated-3] 0.000128 1.000000 -0.000077 -0.000269 [component_container_isolated-3] 0.000061 0.000077 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] [1762964996.954282574] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.003,-0.056} {0.241,-0.657,-0.109} [component_container_isolated-3] [DEBUG] [1762964996.954334232] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.954379439] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.954416079] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982687 -0.000033 0.185276 -0.006740 [component_container_isolated-3] -0.000078 1.000000 0.000593 0.059944 [component_container_isolated-3] -0.185276 -0.000597 0.982686 0.017569 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.954439123] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,0.000} {-0.035,10.677,-0.005} [component_container_isolated-3] [DEBUG] [1762964996.954470152] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.055} {-0.255,11.334,0.103} [component_container_isolated-3] [DEBUG] [1762964996.954520688] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.965728633] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.965791152] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.965833473] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.965878890] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000082 -0.000011 0.000153 [component_container_isolated-3] -0.000082 1.000000 0.000166 -0.000043 [component_container_isolated-3] 0.000011 -0.000166 1.000000 -0.000074 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964996.965905090] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {-0.002,0.268,0.149} [component_container_isolated-3] [DEBUG] [1762964996.965990072] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.966033375] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.966068903] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 0.000035 0.203387 -0.006839 [component_container_isolated-3] 0.002334 0.999932 -0.011405 0.059740 [component_container_isolated-3] -0.203374 0.011642 0.979032 0.018733 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.966093129] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.681,11.734,0.137} [component_container_isolated-3] [DEBUG] [1762964996.966126162] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.652,11.469,-0.019} [component_container_isolated-3] [DEBUG] [1762964996.966179464] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.975493311] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.975554969] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.975595847] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.975640242] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000078 -0.000084 -0.000062 [component_container_isolated-3] -0.000078 1.000000 -0.000010 0.000140 [component_container_isolated-3] 0.000084 0.000010 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] [1762964996.975663706] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.003,-0.056} {0.242,-0.661,-0.113} [component_container_isolated-3] [DEBUG] [1762964996.975710836] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.975751534] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.975787523] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000045 0.185193 -0.006743 [component_container_isolated-3] -0.000156 1.000000 0.000583 0.059971 [component_container_isolated-3] -0.185193 -0.000602 0.982702 0.017570 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.975808753] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,0.000} {-0.035,10.672,-0.009} [component_container_isolated-3] [DEBUG] [1762964996.975840795] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.003,0.056} {-0.255,11.334,0.103} [component_container_isolated-3] [DEBUG] [1762964996.975901561] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.983144162] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.983218805] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.983274411] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.983331039] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000090 0.000056 0.000411 [component_container_isolated-3] 0.000090 1.000000 -0.000053 -0.000452 [component_container_isolated-3] -0.000056 0.000053 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] [1762964996.983365094] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.031,-0.026} {0.041,-0.406,-0.250} [component_container_isolated-3] [DEBUG] [1762964996.983445137] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.983529208] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.983578221] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 -0.000159 0.191341 -0.006578 [component_container_isolated-3] -0.001536 0.999961 0.008713 0.059097 [component_container_isolated-3] -0.191335 -0.008846 0.981485 0.017660 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.983603990] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.516,11.031,-0.090} [component_container_isolated-3] [DEBUG] [1762964996.983636483] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.032,0.029} {-0.507,11.440,0.161} [component_container_isolated-3] [DEBUG] [1762964996.983715033] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.988016487] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.988067695] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.988106990] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.988169329] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000023 0.000003 -0.000018 [component_container_isolated-3] 0.000023 1.000000 -0.000080 -0.000073 [component_container_isolated-3] -0.000003 0.000080 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] [1762964996.988195359] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.015,0.008,-0.068} [component_container_isolated-3] [DEBUG] [1762964996.988244042] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.988293105] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.988338252] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 0.000052 0.476067 -0.000976 [component_container_isolated-3] -0.004670 0.999953 0.008518 0.060174 [component_container_isolated-3] -0.476044 -0.009714 0.879368 0.018080 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.988363390] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.633,28.427,-0.304} [component_container_isolated-3] [DEBUG] [1762964996.988397104] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.581,28.420,-0.226} [component_container_isolated-3] [DEBUG] [1762964996.988449153] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.993885826] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.993961601] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.994003170] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.994047665] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000090 0.000056 0.000411 [component_container_isolated-3] 0.000090 1.000000 -0.000053 -0.000452 [component_container_isolated-3] -0.000056 0.000053 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] [1762964996.994072192] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.030,-0.026} {0.044,-0.403,-0.244} [component_container_isolated-3] [DEBUG] [1762964996.994120544] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.994165580] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.994200357] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981524 -0.000159 0.191341 -0.006578 [component_container_isolated-3] -0.001536 0.999961 0.008713 0.059097 [component_container_isolated-3] -0.191335 -0.008846 0.981485 0.017660 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.994222469] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.516,11.031,-0.090} [component_container_isolated-3] [DEBUG] [1762964996.994253278] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.031,0.029} {-0.511,11.436,0.156} [component_container_isolated-3] [DEBUG] [1762964996.994309926] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964996.998103862] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964996.998159618] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964996.998200085] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964996.998242847] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000000 0.000104 -0.000477 [component_container_isolated-3] -0.000000 1.000000 -0.000066 0.000191 [component_container_isolated-3] -0.000104 0.000066 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] [1762964996.998268366] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {0.002,0.273,0.149} [component_container_isolated-3] [DEBUG] [1762964996.998314744] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964996.998356454] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964996.998392543] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979077 0.000048 0.203489 -0.006868 [component_container_isolated-3] 0.002335 0.999932 -0.011471 0.059752 [component_container_isolated-3] -0.203475 0.011707 0.979010 0.018762 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964996.998415607] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.685,11.740,0.137} [component_container_isolated-3] [DEBUG] [1762964996.998448951] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.652,11.469,-0.019} [component_container_isolated-3] [DEBUG] [1762964996.998501742] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.016131711] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.016184431] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.016224899] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.016273862] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000121 -0.000046 -0.000020 [component_container_isolated-3] -0.000121 1.000000 -0.000015 0.000447 [component_container_isolated-3] 0.000046 0.000015 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] [1762964997.016296034] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.003,-0.056} {0.243,-0.664,-0.120} [component_container_isolated-3] [DEBUG] [1762964997.016338465] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.016390164] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.016429660] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 0.000166 0.185148 -0.006745 [component_container_isolated-3] -0.000276 1.000000 0.000568 0.060102 [component_container_isolated-3] -0.185148 -0.000609 0.982710 0.017571 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.016448125] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,0.000} {-0.036,10.670,-0.016} [component_container_isolated-3] [DEBUG] [1762964997.016470347] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.003,0.056} {-0.255,11.334,0.103} [component_container_isolated-3] [DEBUG] [1762964997.016585026] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.023154152] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.023212663] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.023253822] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.023301944] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000051 -0.000004 -0.000156 [component_container_isolated-3] -0.000051 1.000000 0.000035 0.000040 [component_container_isolated-3] 0.000004 -0.000035 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] [1762964997.023328294] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.014,0.010} {0.000,0.273,0.146} [component_container_isolated-3] [DEBUG] [1762964997.023376096] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.023417294] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.023451880] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 0.000091 0.203485 -0.006905 [component_container_isolated-3] 0.002284 0.999932 -0.011436 0.059765 [component_container_isolated-3] -0.203472 0.011662 0.979011 0.018793 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.023473502] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.682,11.740,0.134} [component_container_isolated-3] [DEBUG] [1762964997.023502948] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.010} {0.652,11.469,-0.019} [component_container_isolated-3] [DEBUG] [1762964997.023552512] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.030783812] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.030837275] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.030879615] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.030962774] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000023 0.000003 -0.000018 [component_container_isolated-3] 0.000023 1.000000 -0.000080 -0.000073 [component_container_isolated-3] -0.000003 0.000080 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] [1762964997.030993513] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.002} {-0.011,0.008,-0.067} [component_container_isolated-3] [DEBUG] [1762964997.031050251] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.031098584] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.031139351] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879409 0.000052 0.476067 -0.000976 [component_container_isolated-3] -0.004670 0.999953 0.008518 0.060174 [component_container_isolated-3] -0.476044 -0.009714 0.879368 0.018080 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.031170361] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.633,28.427,-0.304} [component_container_isolated-3] [DEBUG] [1762964997.031200618] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.586,28.420,-0.228} [component_container_isolated-3] [DEBUG] [1762964997.031251315] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.053799497] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.053851396] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.053888617] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.053963380] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000011 -0.000120 -0.000308 [component_container_isolated-3] -0.000011 1.000000 0.000044 0.000490 [component_container_isolated-3] 0.000120 -0.000044 1.000000 -0.000396 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.053990602] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.031,-0.026} {0.041,-0.410,-0.245} [component_container_isolated-3] [DEBUG] [1762964997.054039195] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.054082648] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.054122614] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 -0.000157 0.191224 -0.006611 [component_container_isolated-3] -0.001547 0.999960 0.008758 0.059109 [component_container_isolated-3] -0.191218 -0.008892 0.981507 0.017535 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.054146169] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.519,11.024,-0.090} [component_container_isolated-3] [DEBUG] [1762964997.054179132] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.032,0.029} {-0.511,11.436,0.156} [component_container_isolated-3] [DEBUG] [1762964997.054230530] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.062955863] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.063036207] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.063081193] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.063132070] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000081 0.000027 -0.000005 [component_container_isolated-3] 0.000081 1.000000 0.000075 -0.000428 [component_container_isolated-3] -0.000027 -0.000075 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] [1762964997.063162318] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.003,-0.056} {0.238,-0.662,-0.115} [component_container_isolated-3] [DEBUG] [1762964997.063218214] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.063267508] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.063306212] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 0.000072 0.185174 -0.006766 [component_container_isolated-3] -0.000195 1.000000 0.000643 0.060118 [component_container_isolated-3] -0.185174 -0.000668 0.982705 0.017520 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.063329878] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,0.000,-0.000} {-0.039,10.671,-0.011} [component_container_isolated-3] [DEBUG] [1762964997.063361508] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.056} {-0.255,11.334,0.103} [component_container_isolated-3] [DEBUG] [1762964997.063412686] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.078025222] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.078082702] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.078117128] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.078154248] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000095 -0.000039 0.000337 [component_container_isolated-3] 0.000095 1.000000 0.000009 -0.000099 [component_container_isolated-3] 0.000039 -0.000009 1.000000 -0.000271 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.078181300] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {-0.000,0.271,0.152} [component_container_isolated-3] [DEBUG] [1762964997.078227158] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.078260882] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.078287483] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 -0.000005 0.203447 -0.006901 [component_container_isolated-3] 0.002379 0.999932 -0.011427 0.059765 [component_container_isolated-3] -0.203433 0.011672 0.979019 0.018774 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.078304125] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.683,11.738,0.139} [component_container_isolated-3] [DEBUG] [1762964997.078325335] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.652,11.469,-0.019} [component_container_isolated-3] [DEBUG] [1762964997.078362697] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.079044529] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.079131675] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.079184987] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.079241545] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000083 -0.000047 -0.000027 [component_container_isolated-3] -0.000083 1.000000 -0.000180 0.000154 [component_container_isolated-3] 0.000047 0.000180 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] [1762964997.079272805] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.000,0.005,-0.072} [component_container_isolated-3] [DEBUG] [1762964997.079328271] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.079374689] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.079412271] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 0.000210 0.476026 -0.000984 [component_container_isolated-3] -0.004753 0.999954 0.008338 0.060181 [component_container_isolated-3] -0.476002 -0.009595 0.879392 0.018092 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.079436557] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.625,28.425,-0.310} [component_container_isolated-3] [DEBUG] [1762964997.079468288] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.586,28.420,-0.228} [component_container_isolated-3] [DEBUG] [1762964997.079517883] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.082869834] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.082917555] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.082990855] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.083026604] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000095 -0.000039 0.000337 [component_container_isolated-3] 0.000095 1.000000 0.000009 -0.000099 [component_container_isolated-3] 0.000039 -0.000009 1.000000 -0.000271 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.083045710] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {-0.001,0.269,0.157} [component_container_isolated-3] [DEBUG] [1762964997.083085436] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.083117337] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.083142525] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 -0.000005 0.203447 -0.006901 [component_container_isolated-3] 0.002379 0.999932 -0.011427 0.059765 [component_container_isolated-3] -0.203433 0.011672 0.979019 0.018774 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.083158806] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.683,11.738,0.139} [component_container_isolated-3] [DEBUG] [1762964997.083179586] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.651,11.471,-0.025} [component_container_isolated-3] [DEBUG] [1762964997.083216136] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.090596340] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.090657156] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.090702873] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.090749833] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000053 0.000088 0.000125 [component_container_isolated-3] -0.000053 1.000000 -0.000055 0.000127 [component_container_isolated-3] -0.000088 0.000055 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] [1762964997.090778538] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.031,-0.026} {0.044,-0.405,-0.248} [component_container_isolated-3] [DEBUG] [1762964997.090829866] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.090877296] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.090914578] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000094 0.191310 -0.006602 [component_container_isolated-3] -0.001601 0.999961 0.008703 0.059133 [component_container_isolated-3] -0.191303 -0.008848 0.981491 0.017512 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.090969823] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.517,11.029,-0.093} [component_container_isolated-3] [DEBUG] [1762964997.091001403] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.032,0.029} {-0.511,11.436,0.156} [component_container_isolated-3] [DEBUG] [1762964997.091053653] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.091340371] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.091395666] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.091434711] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.091478505] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000083 -0.000047 -0.000027 [component_container_isolated-3] -0.000083 1.000000 -0.000180 0.000154 [component_container_isolated-3] 0.000047 0.000180 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] [1762964997.091503833] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.002,0.003,0.002} {0.010,0.003,-0.077} [component_container_isolated-3] [DEBUG] [1762964997.091553047] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.091593474] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.091629693] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879431 0.000210 0.476026 -0.000984 [component_container_isolated-3] -0.004753 0.999954 0.008338 0.060181 [component_container_isolated-3] -0.476002 -0.009595 0.879392 0.018092 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.091651826] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.625,28.425,-0.310} [component_container_isolated-3] [DEBUG] [1762964997.091682815] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.594,28.423,-0.223} [component_container_isolated-3] [DEBUG] [1762964997.091731708] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.102098466] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.102143302] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.102186655] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.102233033] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000053 0.000088 0.000125 [component_container_isolated-3] -0.000053 1.000000 -0.000055 0.000127 [component_container_isolated-3] -0.000088 0.000055 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] [1762964997.102253963] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.031,-0.025} {0.048,-0.400,-0.251} [component_container_isolated-3] [DEBUG] [1762964997.102295422] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.102339346] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.102386256] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000094 0.191310 -0.006602 [component_container_isolated-3] -0.001601 0.999961 0.008703 0.059133 [component_container_isolated-3] -0.191303 -0.008848 0.981491 0.017512 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.102405302] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.517,11.029,-0.093} [component_container_isolated-3] [DEBUG] [1762964997.102428016] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.032,0.029} {-0.514,11.431,0.159} [component_container_isolated-3] [DEBUG] [1762964997.102505904] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.112866310] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.112970840] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.113014654] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.113061533] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000121 0.000051 -0.000376 [component_container_isolated-3] 0.000121 1.000000 0.000067 -0.000720 [component_container_isolated-3] -0.000051 -0.000067 1.000000 0.000785 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.113088154] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.055} {0.234,-0.660,-0.108} [component_container_isolated-3] [DEBUG] [1762964997.113138640] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.113183005] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.113221368] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 -0.000059 0.185225 -0.006825 [component_container_isolated-3] -0.000074 1.000000 0.000710 0.059947 [component_container_isolated-3] -0.185225 -0.000711 0.982696 0.017670 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.113245565] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,0.000} {-0.041,10.674,-0.004} [component_container_isolated-3] [DEBUG] [1762964997.113278868] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.055} {-0.255,11.334,0.103} [component_container_isolated-3] [DEBUG] [1762964997.113329845] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.118911335] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.118992349] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.119031785] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.119076119] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000121 0.000051 -0.000376 [component_container_isolated-3] 0.000121 1.000000 0.000067 -0.000720 [component_container_isolated-3] -0.000051 -0.000067 1.000000 0.000785 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.119101889] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.055} {0.231,-0.657,-0.101} [component_container_isolated-3] [DEBUG] [1762964997.119154579] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.119199525] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.119238830] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982696 -0.000059 0.185225 -0.006825 [component_container_isolated-3] -0.000074 1.000000 0.000710 0.059947 [component_container_isolated-3] -0.185225 -0.000711 0.982696 0.017670 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.119262746] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,0.000} {-0.041,10.674,-0.004} [component_container_isolated-3] [DEBUG] [1762964997.119295949] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.001,0.054} {-0.252,11.331,0.096} [component_container_isolated-3] [DEBUG] [1762964997.119345594] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.126869373] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.126990434] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.127038726] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.127090585] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000052 0.000137 -0.000233 [component_container_isolated-3] -0.000052 1.000000 -0.000042 0.000061 [component_container_isolated-3] -0.000137 0.000042 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] [1762964997.127121003] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {0.001,0.277,0.154} [component_container_isolated-3] [DEBUG] [1762964997.127172962] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.127216866] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.127253446] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979058 0.000055 0.203582 -0.006914 [component_container_isolated-3] 0.002328 0.999932 -0.011469 0.059771 [component_container_isolated-3] -0.203568 0.011702 0.978991 0.018805 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.127276330] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.685,11.746,0.136} [component_container_isolated-3] [DEBUG] [1762964997.127306698] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.651,11.471,-0.025} [component_container_isolated-3] [DEBUG] [1762964997.127360170] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.131069374] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.131123166] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.131162471] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.131206756] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000053 0.000088 0.000125 [component_container_isolated-3] -0.000053 1.000000 -0.000055 0.000127 [component_container_isolated-3] -0.000088 0.000055 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] [1762964997.131231874] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.031,-0.025} {0.051,-0.395,-0.254} [component_container_isolated-3] [DEBUG] [1762964997.131279755] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.131322687] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.131362343] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000094 0.191310 -0.006602 [component_container_isolated-3] -0.001601 0.999961 0.008703 0.059133 [component_container_isolated-3] -0.191303 -0.008848 0.981491 0.017512 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.131386640] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.517,11.029,-0.093} [component_container_isolated-3] [DEBUG] [1762964997.131421236] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.032,0.028} {-0.517,11.426,0.162} [component_container_isolated-3] [DEBUG] [1762964997.131479687] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.133608813] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.133670471] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.133710958] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.133756095] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000088 0.000023 0.000171 [component_container_isolated-3] 0.000088 1.000000 0.000149 -0.000053 [component_container_isolated-3] -0.000023 -0.000149 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] [1762964997.133781503] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {0.001,0.004,-0.071} [component_container_isolated-3] [DEBUG] [1762964997.133830697] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.133876064] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.133916301] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 0.000062 0.476046 -0.000992 [component_container_isolated-3] -0.004664 0.999953 0.008487 0.060183 [component_container_isolated-3] -0.476023 -0.009685 0.879380 0.018081 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.133961577] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.631,28.426,-0.304} [component_container_isolated-3] [DEBUG] [1762964997.133995582] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.594,28.423,-0.223} [component_container_isolated-3] [DEBUG] [1762964997.134047181] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.143015217] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.143079620] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.143122663] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.143169352] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000119 -0.000066 0.000430 [component_container_isolated-3] -0.000119 1.000000 -0.000109 0.000678 [component_container_isolated-3] 0.000066 0.000109 1.000000 -0.000795 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.143196514] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.055} {0.237,-0.660,-0.108} [component_container_isolated-3] [DEBUG] [1762964997.143251188] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.143299520] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.143337202] [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 -0.006823 [component_container_isolated-3] -0.000193 1.000000 0.000601 0.059991 [component_container_isolated-3] -0.185159 -0.000626 0.982708 0.017575 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.143359284] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,0.000} {-0.037,10.670,-0.011} [component_container_isolated-3] [DEBUG] [1762964997.143389813] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.055} {-0.252,11.331,0.096} [component_container_isolated-3] [DEBUG] [1762964997.143439468] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.154083465] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.154139392] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.154180580] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.154224835] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000088 0.000023 0.000171 [component_container_isolated-3] 0.000088 1.000000 0.000149 -0.000053 [component_container_isolated-3] -0.000023 -0.000149 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] [1762964997.154250163] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.007,0.005,-0.066} [component_container_isolated-3] [DEBUG] [1762964997.154298756] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.154342760] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.154382005] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879420 0.000062 0.476046 -0.000992 [component_container_isolated-3] -0.004664 0.999953 0.008487 0.060183 [component_container_isolated-3] -0.476023 -0.009685 0.879380 0.018081 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.154404799] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.631,28.426,-0.304} [component_container_isolated-3] [DEBUG] [1762964997.154435117] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.588,28.421,-0.228} [component_container_isolated-3] [DEBUG] [1762964997.154486405] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.157672098] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.157738125] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.157779363] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.157824740] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000106 -0.000066 0.000458 [component_container_isolated-3] 0.000106 1.000000 0.000175 -0.000269 [component_container_isolated-3] 0.000066 -0.000175 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] [1762964997.157850389] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {-0.009,0.273,0.160} [component_container_isolated-3] [DEBUG] [1762964997.157899853] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.157978614] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.158017658] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 -0.000085 0.203517 -0.006862 [component_container_isolated-3] 0.002434 0.999933 -0.011294 0.059739 [component_container_isolated-3] -0.203503 0.011553 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] [1762964997.158043678] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.676,11.742,0.142} [component_container_isolated-3] [DEBUG] [1762964997.158077753] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.651,11.471,-0.025} [component_container_isolated-3] [DEBUG] [1762964997.158128089] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.160705642] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.160762450] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.160802767] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.160847723] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000053 0.000088 0.000125 [component_container_isolated-3] -0.000053 1.000000 -0.000055 0.000127 [component_container_isolated-3] -0.000088 0.000055 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] [1762964997.160873232] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.031,-0.025} {0.054,-0.390,-0.257} [component_container_isolated-3] [DEBUG] [1762964997.160963093] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.161018459] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.161060970] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000094 0.191310 -0.006602 [component_container_isolated-3] -0.001601 0.999961 0.008703 0.059133 [component_container_isolated-3] -0.191303 -0.008848 0.981491 0.017512 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.161087080] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.517,11.029,-0.093} [component_container_isolated-3] [DEBUG] [1762964997.161122027] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.032,0.028} {-0.519,11.421,0.165} [component_container_isolated-3] [DEBUG] [1762964997.161173054] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.175332375] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.175394714] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.175432516] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.175475919] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000106 -0.000066 0.000458 [component_container_isolated-3] 0.000106 1.000000 0.000175 -0.000269 [component_container_isolated-3] 0.000066 -0.000175 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] [1762964997.175501087] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.002,-0.014,0.009} {-0.019,0.269,0.167} [component_container_isolated-3] [DEBUG] [1762964997.175547336] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.175588565] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.175624503] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 -0.000085 0.203517 -0.006862 [component_container_isolated-3] 0.002434 0.999933 -0.011294 0.059739 [component_container_isolated-3] -0.203503 0.011553 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] [1762964997.175648729] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.676,11.742,0.142} [component_container_isolated-3] [DEBUG] [1762964997.175681612] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.014,-0.009} {0.660,11.475,-0.031} [component_container_isolated-3] [DEBUG] [1762964997.175739373] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.177512869] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.177567474] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.177608502] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.177653719] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000108 -0.000034 0.000214 [component_container_isolated-3] 0.000108 1.000000 0.000011 -0.000409 [component_container_isolated-3] 0.000034 -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] [1762964997.177679067] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.055} {0.236,-0.662,-0.102} [component_container_isolated-3] [DEBUG] [1762964997.177729062] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.177773788] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.177810869] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982715 -0.000030 0.185126 -0.006796 [component_container_isolated-3] -0.000085 1.000000 0.000612 0.059945 [component_container_isolated-3] -0.185126 -0.000617 0.982715 0.017512 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.177835075] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.036,10.668,-0.005} [component_container_isolated-3] [DEBUG] [1762964997.177868920] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.001,0.055} {-0.252,11.331,0.096} [component_container_isolated-3] [DEBUG] [1762964997.177956056] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.195713789] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.195769826] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.195813139] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.195857874] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000046 -0.000061 -0.000061 [component_container_isolated-3] -0.000046 1.000000 -0.000301 -0.000052 [component_container_isolated-3] 0.000061 0.000301 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] [1762964997.195884575] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {0.010,0.002,-0.069} [component_container_isolated-3] [DEBUG] [1762964997.195968355] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.196015154] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.196053528] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879449 0.000245 0.475992 -0.000991 [component_container_isolated-3] -0.004710 0.999955 0.008187 0.060174 [component_container_isolated-3] -0.475969 -0.009442 0.879411 0.018087 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.196076472] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.615,28.422,-0.307} [component_container_isolated-3] [DEBUG] [1762964997.196106559] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.588,28.421,-0.228} [component_container_isolated-3] [DEBUG] [1762964997.196157937] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.209343578] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.209406789] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.209448910] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.209494056] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000022 0.000132 -0.000254 [component_container_isolated-3] -0.000022 1.000000 -0.000026 0.000117 [component_container_isolated-3] -0.000132 0.000026 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] [1762964997.209519364] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.055} {0.238,-0.655,-0.103} [component_container_isolated-3] [DEBUG] [1762964997.209568919] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.209613203] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.209649302] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982690 -0.000003 0.185256 -0.006797 [component_container_isolated-3] -0.000107 1.000000 0.000586 0.059934 [component_container_isolated-3] -0.185255 -0.000595 0.982690 0.017506 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.209675152] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.676,-0.006} [component_container_isolated-3] [DEBUG] [1762964997.209708786] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.055} {-0.252,11.331,0.096} [component_container_isolated-3] [DEBUG] [1762964997.209761146] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.212863060] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.212966638] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.213012976] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.213060968] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000084 -0.000168 0.000225 [component_container_isolated-3] 0.000084 1.000000 -0.000188 -0.000397 [component_container_isolated-3] 0.000168 0.000188 1.000000 -0.000733 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.213087358] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.031,-0.025} {0.065,-0.400,-0.253} [component_container_isolated-3] [DEBUG] [1762964997.213139087] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.213189503] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.213227897] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981562 -0.000140 0.191144 -0.006602 [component_container_isolated-3] -0.001515 0.999963 0.008514 0.059083 [component_container_isolated-3] -0.191138 -0.008647 0.981525 0.017306 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.213251592] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.505,11.019,-0.088} [component_container_isolated-3] [DEBUG] [1762964997.213287470] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.032,0.028} {-0.519,11.421,0.165} [component_container_isolated-3] [DEBUG] [1762964997.213339991] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.232394590] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.232457180] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.232499190] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.232543745] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000084 -0.000168 0.000225 [component_container_isolated-3] 0.000084 1.000000 -0.000188 -0.000397 [component_container_isolated-3] 0.000168 0.000188 1.000000 -0.000733 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.232569484] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.031,-0.026} {0.075,-0.409,-0.248} [component_container_isolated-3] [DEBUG] [1762964997.232617696] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.232664927] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.232705604] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981562 -0.000140 0.191144 -0.006602 [component_container_isolated-3] -0.001515 0.999963 0.008514 0.059083 [component_container_isolated-3] -0.191138 -0.008647 0.981525 0.017306 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.232730091] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.505,11.019,-0.088} [component_container_isolated-3] [DEBUG] [1762964997.232763735] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.031,0.029} {-0.531,11.431,0.160} [component_container_isolated-3] [DEBUG] [1762964997.232813761] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.234627855] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.234680516] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.234721614] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.234766220] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000030 0.000046 -0.000164 [component_container_isolated-3] -0.000030 1.000000 0.000244 0.000041 [component_container_isolated-3] -0.000046 -0.000244 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] [1762964997.234797800] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.004,0.004,-0.071} [component_container_isolated-3] [DEBUG] [1762964997.234777852] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.234958286] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.235006709] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.235055883] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000050 0.000002 -0.000461 [component_container_isolated-3] -0.000050 1.000000 -0.000243 0.000055 [component_container_isolated-3] -0.000002 0.000243 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] [1762964997.235082774] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {-0.005,0.269,0.164} [component_container_isolated-3] [DEBUG] [1762964997.234849178] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.235215508] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.235258139] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879428 0.000156 0.476033 -0.001022 [component_container_isolated-3] -0.004740 0.999953 0.008430 0.060178 [component_container_isolated-3] -0.476009 -0.009670 0.879387 0.018083 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.235284820] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.630,28.425,-0.309} [component_container_isolated-3] [DEBUG] [1762964997.235317733] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.588,28.421,-0.228} [component_container_isolated-3] [DEBUG] [1762964997.235370373] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.235407765] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.235471176] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.235519328] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 0.000014 0.203519 -0.006896 [component_container_isolated-3] 0.002384 0.999931 -0.011538 0.059724 [component_container_isolated-3] -0.203505 0.011781 0.979003 0.018792 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.235539587] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.742,0.140} [component_container_isolated-3] [DEBUG] [1762964997.235561348] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.660,11.475,-0.031} [component_container_isolated-3] [DEBUG] [1762964997.235600824] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.242949027] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.243012227] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.243056783] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.243102640] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000012 -0.000132 0.000175 [component_container_isolated-3] -0.000012 1.000000 -0.000021 0.000024 [component_container_isolated-3] 0.000132 0.000021 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] [1762964997.243128830] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.055} {0.239,-0.662,-0.104} [component_container_isolated-3] [DEBUG] [1762964997.243179457] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.243222729] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.243258518] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982715 0.000012 0.185126 -0.006790 [component_container_isolated-3] -0.000119 1.000000 0.000565 0.059928 [component_container_isolated-3] -0.185126 -0.000577 0.982715 0.017443 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.243281932] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.034,10.668,-0.007} [component_container_isolated-3] [DEBUG] [1762964997.243315386] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.055} {-0.252,11.331,0.096} [component_container_isolated-3] [DEBUG] [1762964997.243369620] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.249002578] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.249066319] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.249107708] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.249151222] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000050 0.000002 -0.000461 [component_container_isolated-3] -0.000050 1.000000 -0.000243 0.000055 [component_container_isolated-3] -0.000002 0.000243 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] [1762964997.249176450] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {0.009,0.269,0.161} [component_container_isolated-3] [DEBUG] [1762964997.249223650] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.249265289] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.249300416] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 0.000014 0.203519 -0.006896 [component_container_isolated-3] 0.002384 0.999931 -0.011538 0.059724 [component_container_isolated-3] -0.203505 0.011781 0.979003 0.018792 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.249321807] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.689,11.742,0.140} [component_container_isolated-3] [DEBUG] [1762964997.249354019] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.647,11.475,-0.028} [component_container_isolated-3] [DEBUG] [1762964997.249404615] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.279236257] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.279328944] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.279371816] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.279420599] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000011 0.000010 0.000247 [component_container_isolated-3] 0.000011 1.000000 -0.000148 0.000012 [component_container_isolated-3] -0.000010 0.000148 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] [1762964997.279447510] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {0.005,0.005,-0.070} [component_container_isolated-3] [DEBUG] [1762964997.279501924] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.279549104] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.279588750] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879423 0.000216 0.476042 -0.001003 [component_container_isolated-3] -0.004729 0.999955 0.008282 0.060176 [component_container_isolated-3] -0.476018 -0.009535 0.879384 0.018095 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.279612706] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.621,28.426,-0.308} [component_container_isolated-3] [DEBUG] [1762964997.279643043] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.588,28.421,-0.228} [component_container_isolated-3] [DEBUG] [1762964997.279692558] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.281152426] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.281215326] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.281258068] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.281305498] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000021 0.000097 0.000015 [component_container_isolated-3] -0.000021 1.000000 0.000077 -0.000126 [component_container_isolated-3] -0.000097 -0.000077 1.000000 0.000366 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.281332560] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.055} {0.235,-0.657,-0.105} [component_container_isolated-3] [DEBUG] [1762964997.281383217] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.281428313] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.281470183] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 0.000018 0.185221 -0.006771 [component_container_isolated-3] -0.000140 1.000000 0.000642 0.059907 [component_container_isolated-3] -0.185221 -0.000657 0.982697 0.017446 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.281495932] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.038,10.674,-0.008} [component_container_isolated-3] [DEBUG] [1762964997.281529897] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.001,0.055} {-0.252,11.331,0.096} [component_container_isolated-3] [DEBUG] [1762964997.281582317] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.285767840] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.285817595] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.285849556] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.285884463] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000011 0.000010 0.000247 [component_container_isolated-3] 0.000011 1.000000 -0.000148 0.000012 [component_container_isolated-3] -0.000010 0.000148 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] [1762964997.285915472] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {0.013,0.006,-0.069} [component_container_isolated-3] [DEBUG] [1762964997.286012377] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.286059057] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.286096879] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879423 0.000216 0.476042 -0.001003 [component_container_isolated-3] -0.004729 0.999955 0.008282 0.060176 [component_container_isolated-3] -0.476018 -0.009535 0.879384 0.018095 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.286119662] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.621,28.426,-0.308} [component_container_isolated-3] [DEBUG] [1762964997.286150551] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.003} {-0.597,28.421,-0.229} [component_container_isolated-3] [DEBUG] [1762964997.286200356] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.288495059] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.288554663] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.288595651] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.288640667] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000041 0.000107 -0.000016 [component_container_isolated-3] 0.000041 1.000000 0.000158 -0.000237 [component_container_isolated-3] -0.000107 -0.000158 1.000000 0.000649 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.288667889] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.030,-0.025} {0.066,-0.403,-0.245} [component_container_isolated-3] [DEBUG] [1762964997.288717183] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.288763111] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.288799039] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 -0.000211 0.191249 -0.006580 [component_container_isolated-3] -0.001475 0.999961 0.008672 0.059013 [component_container_isolated-3] -0.191243 -0.008794 0.981503 0.017297 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.288823646] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.513,11.025,-0.086} [component_container_isolated-3] [DEBUG] [1762964997.288856168] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.031,0.029} {-0.531,11.431,0.160} [component_container_isolated-3] [DEBUG] [1762964997.288911664] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.292889411] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.292991917] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.293033576] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.293077751] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000015 -0.000152 0.000559 [component_container_isolated-3] -0.000015 1.000000 -0.000092 0.000009 [component_container_isolated-3] 0.000152 0.000092 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] [1762964997.293103009] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {0.015,0.261,0.160} [component_container_isolated-3] [DEBUG] [1762964997.293151712] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.293193612] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.293228779] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979102 0.000047 0.203370 -0.006822 [component_container_isolated-3] 0.002367 0.999930 -0.011630 0.059713 [component_container_isolated-3] -0.203356 0.011869 0.979033 0.018741 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.293252414] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.695,11.733,0.139} [component_container_isolated-3] [DEBUG] [1762964997.293285628] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.647,11.475,-0.028} [component_container_isolated-3] [DEBUG] [1762964997.293335533] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.293947121] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.293999791] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.294040409] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.294083842] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000041 0.000107 -0.000016 [component_container_isolated-3] 0.000041 1.000000 0.000158 -0.000237 [component_container_isolated-3] -0.000107 -0.000158 1.000000 0.000649 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.294107758] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.030,-0.025} {0.057,-0.397,-0.243} [component_container_isolated-3] [DEBUG] [1762964997.294156421] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.294200014] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.294235051] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 -0.000211 0.191249 -0.006580 [component_container_isolated-3] -0.001475 0.999961 0.008672 0.059013 [component_container_isolated-3] -0.191243 -0.008794 0.981503 0.017297 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.294258646] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.513,11.025,-0.086} [component_container_isolated-3] [DEBUG] [1762964997.294291949] [zed_multi.right]: +++ Diff [map -> odom] - {-0.011,-0.031,0.028} {-0.522,11.425,0.158} [component_container_isolated-3] [DEBUG] [1762964997.294345221] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.300200493] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.300262862] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.300302358] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.300346141] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000021 0.000097 0.000015 [component_container_isolated-3] -0.000021 1.000000 0.000077 -0.000126 [component_container_isolated-3] -0.000097 -0.000077 1.000000 0.000366 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.300371139] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.055} {0.230,-0.651,-0.106} [component_container_isolated-3] [DEBUG] [1762964997.300420453] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.300462694] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.300498202] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 0.000018 0.185221 -0.006771 [component_container_isolated-3] -0.000140 1.000000 0.000642 0.059907 [component_container_isolated-3] -0.185221 -0.000657 0.982697 0.017446 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.300522298] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.038,10.674,-0.008} [component_container_isolated-3] [DEBUG] [1762964997.300555912] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.001,0.054} {-0.248,11.326,0.097} [component_container_isolated-3] [DEBUG] [1762964997.300606739] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.338968471] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.339061899] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.339107426] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.339157452] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000025 0.000032 -0.000237 [component_container_isolated-3] -0.000025 1.000000 0.000279 0.000038 [component_container_isolated-3] -0.000032 -0.000279 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] [1762964997.339186257] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {-0.001,0.262,0.159} [component_container_isolated-3] [DEBUG] [1762964997.339237835] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.339285677] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.339323369] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 0.000015 0.203401 -0.006816 [component_container_isolated-3] 0.002342 0.999933 -0.011351 0.059713 [component_container_isolated-3] -0.203388 0.011590 0.979030 0.018712 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.339347154] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.678,11.735,0.137} [component_container_isolated-3] [DEBUG] [1762964997.339378574] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.647,11.475,-0.028} [component_container_isolated-3] [DEBUG] [1762964997.339428219] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.340559439] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.340615656] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.340657987] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.340704225] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000041 -0.000088 -0.000097 [component_container_isolated-3] 0.000041 1.000000 0.000109 0.000041 [component_container_isolated-3] 0.000088 -0.000109 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] [1762964997.340730275] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {0.007,0.001,-0.067} [component_container_isolated-3] [DEBUG] [1762964997.340779870] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.340957679] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.341010731] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.341052511] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.341097176] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000041 0.000107 -0.000016 [component_container_isolated-3] 0.000041 1.000000 0.000158 -0.000237 [component_container_isolated-3] -0.000107 -0.000158 1.000000 0.000649 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.341122424] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.030,-0.024} {0.048,-0.391,-0.241} [component_container_isolated-3] [DEBUG] [1762964997.341172510] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.341215432] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.341252693] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981542 -0.000211 0.191249 -0.006580 [component_container_isolated-3] -0.001475 0.999961 0.008672 0.059013 [component_container_isolated-3] -0.191243 -0.008794 0.981503 0.017297 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.341275496] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.513,11.025,-0.086} [component_container_isolated-3] [DEBUG] [1762964997.341307878] [zed_multi.right]: +++ Diff [map -> odom] - {-0.011,-0.031,0.027} {-0.514,11.419,0.155} [component_container_isolated-3] [DEBUG] [1762964997.341373604] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.341391839] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.341450761] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879464 0.000129 0.475965 -0.001035 [component_container_isolated-3] -0.004688 0.999954 0.008392 0.060183 [component_container_isolated-3] -0.475942 -0.009612 0.879424 0.018051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.341507870] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.626,28.421,-0.305} [component_container_isolated-3] [DEBUG] [1762964997.341541164] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.003} {-0.597,28.421,-0.229} [component_container_isolated-3] [DEBUG] [1762964997.341593033] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.344181366] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.344232313] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.344271779] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.344316304] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000025 0.000032 -0.000237 [component_container_isolated-3] -0.000025 1.000000 0.000279 0.000038 [component_container_isolated-3] -0.000032 -0.000279 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] [1762964997.344340991] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {-0.017,0.264,0.157} [component_container_isolated-3] [DEBUG] [1762964997.344387680] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.344428939] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.344464216] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 0.000015 0.203401 -0.006816 [component_container_isolated-3] 0.002342 0.999933 -0.011351 0.059713 [component_container_isolated-3] -0.203388 0.011590 0.979030 0.018712 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.344488032] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.678,11.735,0.137} [component_container_isolated-3] [DEBUG] [1762964997.344520514] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.663,11.473,-0.026} [component_container_isolated-3] [DEBUG] [1762964997.344575489] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.346832679] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.346888877] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.346953069] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.347002614] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000058 0.000077 -0.000079 [component_container_isolated-3] 0.000058 1.000000 -0.000078 -0.000010 [component_container_isolated-3] -0.000077 0.000078 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] [1762964997.347029626] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.055} {0.235,-0.647,-0.103} [component_container_isolated-3] [DEBUG] [1762964997.347079441] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.347125990] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.347166878] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982683 -0.000024 0.185296 -0.006765 [component_container_isolated-3] -0.000082 1.000000 0.000563 0.059888 [component_container_isolated-3] -0.185296 -0.000569 0.982683 0.017455 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.347191304] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.033,10.678,-0.005} [component_container_isolated-3] [DEBUG] [1762964997.347225409] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.001,0.054} {-0.248,11.326,0.097} [component_container_isolated-3] [DEBUG] [1762964997.347276497] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.359845932] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.359902049] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.359975058] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.360023300] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000041 -0.000088 -0.000097 [component_container_isolated-3] 0.000041 1.000000 0.000109 0.000041 [component_container_isolated-3] 0.000088 -0.000109 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] [1762964997.360049641] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {0.001,-0.004,-0.065} [component_container_isolated-3] [DEBUG] [1762964997.360101359] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.360150754] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.360188596] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879464 0.000129 0.475965 -0.001035 [component_container_isolated-3] -0.004688 0.999954 0.008392 0.060183 [component_container_isolated-3] -0.475942 -0.009612 0.879424 0.018051 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.360213854] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.626,28.421,-0.305} [component_container_isolated-3] [DEBUG] [1762964997.360246957] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.592,28.426,-0.232} [component_container_isolated-3] [DEBUG] [1762964997.360296121] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.371199454] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.371258547] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.371297421] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.371341706] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000058 0.000077 -0.000079 [component_container_isolated-3] 0.000058 1.000000 -0.000078 -0.000010 [component_container_isolated-3] -0.000077 0.000078 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] [1762964997.371366774] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.001,-0.055} {0.239,-0.642,-0.100} [component_container_isolated-3] [DEBUG] [1762964997.371415116] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.371458779] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.371497724] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982683 -0.000024 0.185296 -0.006765 [component_container_isolated-3] -0.000082 1.000000 0.000563 0.059888 [component_container_isolated-3] -0.185296 -0.000569 0.982683 0.017455 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.371522120] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.033,10.678,-0.005} [component_container_isolated-3] [DEBUG] [1762964997.371555614] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.001,0.054} {-0.253,11.321,0.094} [component_container_isolated-3] [DEBUG] [1762964997.371609688] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.381534061] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.381590919] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.381632729] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.381676903] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000078 0.000120 0.000031 [component_container_isolated-3] -0.000078 1.000000 0.000072 0.000529 [component_container_isolated-3] -0.000120 -0.000072 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] [1762964997.381702693] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.030,-0.024} {0.044,-0.384,-0.245} [component_container_isolated-3] [DEBUG] [1762964997.381751326] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.381796281] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.381832511] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981519 -0.000148 0.191367 -0.006547 [component_container_isolated-3] -0.001554 0.999961 0.008744 0.059048 [component_container_isolated-3] -0.191360 -0.008879 0.981480 0.017301 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.381854863] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.518,11.032,-0.091} [component_container_isolated-3] [DEBUG] [1762964997.381889109] [zed_multi.right]: +++ Diff [map -> odom] - {-0.011,-0.031,0.027} {-0.514,11.419,0.155} [component_container_isolated-3] [DEBUG] [1762964997.381968881] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.391682782] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.391730003] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.391763186] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.391813492] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000025 0.000032 -0.000237 [component_container_isolated-3] -0.000025 1.000000 0.000279 0.000038 [component_container_isolated-3] -0.000032 -0.000279 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] [1762964997.391840213] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.014,0.009} {-0.033,0.266,0.156} [component_container_isolated-3] [DEBUG] [1762964997.391890229] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.391968358] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.392006961] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 0.000015 0.203401 -0.006816 [component_container_isolated-3] 0.002342 0.999933 -0.011351 0.059713 [component_container_isolated-3] -0.203388 0.011590 0.979030 0.018712 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.392029905] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.678,11.735,0.137} [component_container_isolated-3] [DEBUG] [1762964997.392059993] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.679,11.471,-0.025} [component_container_isolated-3] [DEBUG] [1762964997.392110820] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.411531438] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.411582215] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.411621300] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.411664372] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000025 0.000032 -0.000237 [component_container_isolated-3] -0.000025 1.000000 0.000279 0.000038 [component_container_isolated-3] -0.000032 -0.000279 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] [1762964997.411688939] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.014,0.009} {-0.049,0.268,0.154} [component_container_isolated-3] [DEBUG] [1762964997.411735929] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.411776997] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.411811623] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 0.000015 0.203401 -0.006816 [component_container_isolated-3] 0.002342 0.999933 -0.011351 0.059713 [component_container_isolated-3] -0.203388 0.011590 0.979030 0.018712 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.411832553] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.678,11.735,0.137} [component_container_isolated-3] [DEBUG] [1762964997.411864084] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.014,-0.009} {0.696,11.469,-0.024} [component_container_isolated-3] [DEBUG] [1762964997.411917315] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.412786004] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.412841080] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.412883841] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.412969695] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000022 0.000066 -0.000076 [component_container_isolated-3] 0.000022 1.000000 0.000032 -0.000053 [component_container_isolated-3] -0.000066 -0.000032 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] [1762964997.413000264] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.001,-0.001,-0.064} [component_container_isolated-3] [DEBUG] [1762964997.413055790] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.413103150] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.413142786] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879433 0.000094 0.476023 -0.001044 [component_container_isolated-3] -0.004666 0.999954 0.008424 0.060182 [component_container_isolated-3] -0.476000 -0.009629 0.879392 0.018060 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.413166020] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.627,28.424,-0.304} [component_container_isolated-3] [DEBUG] [1762964997.413196558] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.592,28.426,-0.232} [component_container_isolated-3] [DEBUG] [1762964997.413271451] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.424276278] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.424332836] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.424373654] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.424418369] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000022 0.000153 -0.000575 [component_container_isolated-3] 0.000022 1.000000 0.000096 -0.000134 [component_container_isolated-3] -0.000153 -0.000096 1.000000 0.000671 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.424443808] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.030,-0.023} {0.039,-0.375,-0.244} [component_container_isolated-3] [DEBUG] [1762964997.424492551] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.424535744] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.424572003] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981489 -0.000188 0.191517 -0.006590 [component_container_isolated-3] -0.001533 0.999960 0.008839 0.059051 [component_container_isolated-3] -0.191511 -0.008969 0.981449 0.017499 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.424595718] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.524,11.041,-0.089} [component_container_isolated-3] [DEBUG] [1762964997.424629152] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.031,0.027} {-0.514,11.419,0.155} [component_container_isolated-3] [DEBUG] [1762964997.424678957] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.435361969] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.435441581] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.435486497] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.435536051] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 -0.000154 -0.000040 [component_container_isolated-3] 0.000003 1.000000 0.000039 0.000130 [component_container_isolated-3] 0.000154 -0.000039 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] [1762964997.435563824] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.055} {0.237,-0.651,-0.100} [component_container_isolated-3] [DEBUG] [1762964997.435614842] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.435660299] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.435697750] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 -0.000034 0.185145 -0.006763 [component_container_isolated-3] -0.000079 1.000000 0.000603 0.059886 [component_container_isolated-3] -0.185145 -0.000607 0.982711 0.017474 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.435722127] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964997.435754038] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.001,0.054} {-0.253,11.321,0.094} [component_container_isolated-3] [DEBUG] [1762964997.435806448] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.438876992] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.438980880] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.439036046] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.439099527] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000110 0.000089 0.000041 [component_container_isolated-3] -0.000110 1.000000 0.000124 0.000129 [component_container_isolated-3] -0.000089 -0.000124 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] [1762964997.439137339] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.008,0.004,-0.070} [component_container_isolated-3] [DEBUG] [1762964997.439206020] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.439270974] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.439324857] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879391 0.000131 0.476101 -0.001040 [component_container_isolated-3] -0.004777 0.999952 0.008548 0.060200 [component_container_isolated-3] -0.476077 -0.009791 0.879349 0.018063 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.439360325] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.638,28.429,-0.311} [component_container_isolated-3] [DEBUG] [1762964997.439402936] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.592,28.426,-0.232} [component_container_isolated-3] [DEBUG] [1762964997.439479542] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.441542733] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.441598519] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.441636642] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.441681077] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 -0.000154 -0.000040 [component_container_isolated-3] 0.000003 1.000000 0.000039 0.000130 [component_container_isolated-3] 0.000154 -0.000039 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] [1762964997.441705694] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.235,-0.660,-0.099} [component_container_isolated-3] [DEBUG] [1762964997.441752864] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.441796577] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.441837355] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 -0.000034 0.185145 -0.006763 [component_container_isolated-3] -0.000079 1.000000 0.000603 0.059886 [component_container_isolated-3] -0.185145 -0.000607 0.982711 0.017474 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.441862413] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964997.441895657] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.054} {-0.251,11.330,0.094} [component_container_isolated-3] [DEBUG] [1762964997.441977303] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.446858504] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.446912528] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.446979285] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.447013430] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000025 0.000032 -0.000237 [component_container_isolated-3] -0.000025 1.000000 0.000279 0.000038 [component_container_isolated-3] -0.000032 -0.000279 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] [1762964997.447031986] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.014,0.009} {-0.065,0.270,0.153} [component_container_isolated-3] [DEBUG] [1762964997.447069888] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.447104214] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.447129863] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 0.000015 0.203401 -0.006816 [component_container_isolated-3] 0.002342 0.999933 -0.011351 0.059713 [component_container_isolated-3] -0.203388 0.011590 0.979030 0.018712 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.447145653] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.678,11.735,0.137} [component_container_isolated-3] [DEBUG] [1762964997.447166212] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.014,-0.009} {0.712,11.467,-0.022} [component_container_isolated-3] [DEBUG] [1762964997.447203183] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.447261294] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.447309305] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.447350825] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.447395811] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000075 -0.000144 0.000237 [component_container_isolated-3] 0.000075 1.000000 -0.000206 -0.000989 [component_container_isolated-3] 0.000144 0.000206 1.000000 -0.000713 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.447420858] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.029,-0.024} {0.050,-0.384,-0.239} [component_container_isolated-3] [DEBUG] [1762964997.447470163] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.447517152] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.447557860] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981517 -0.000222 0.191376 -0.006606 [component_container_isolated-3] -0.001457 0.999962 0.008633 0.058749 [component_container_isolated-3] -0.191370 -0.008753 0.981479 0.017480 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.447581004] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.511,11.033,-0.085} [component_container_isolated-3] [DEBUG] [1762964997.447611903] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.030,0.027} {-0.514,11.419,0.155} [component_container_isolated-3] [DEBUG] [1762964997.447660105] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.465076056] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.465138695] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.465180285] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.465227114] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 -0.000154 -0.000040 [component_container_isolated-3] 0.000003 1.000000 0.000039 0.000130 [component_container_isolated-3] 0.000154 -0.000039 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] [1762964997.465258745] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.232,-0.669,-0.099} [component_container_isolated-3] [DEBUG] [1762964997.465315703] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.465360880] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.465397379] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 -0.000034 0.185145 -0.006763 [component_container_isolated-3] -0.000079 1.000000 0.000603 0.059886 [component_container_isolated-3] -0.185145 -0.000607 0.982711 0.017474 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.465422908] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964997.465456733] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.054} {-0.248,11.339,0.094} [component_container_isolated-3] [DEBUG] [1762964997.465510255] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.466069473] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.466119178] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.466160246] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.466204230] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000100 -0.000009 -0.000190 [component_container_isolated-3] 0.000100 1.000000 -0.000081 -0.000076 [component_container_isolated-3] 0.000009 0.000081 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] [1762964997.466230641] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.004,0.004,-0.064} [component_container_isolated-3] [DEBUG] [1762964997.466282820] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.466328538] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.466368083] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879395 0.000082 0.476093 -0.001069 [component_container_isolated-3] -0.004677 0.999953 0.008467 0.060201 [component_container_isolated-3] -0.476070 -0.009672 0.879354 0.018091 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.466391698] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.630,28.429,-0.305} [component_container_isolated-3] [DEBUG] [1762964997.466423118] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.592,28.426,-0.232} [component_container_isolated-3] [DEBUG] [1762964997.466472442] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.476034303] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.476094228] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.476135707] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.476180332] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000011 0.000014 0.000493 [component_container_isolated-3] -0.000011 1.000000 0.000092 0.000514 [component_container_isolated-3] -0.000014 -0.000092 1.000000 0.000415 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.476205811] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.030,-0.024} {0.045,-0.383,-0.240} [component_container_isolated-3] [DEBUG] [1762964997.476255626] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.476302035] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.476340258] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981514 -0.000229 0.191389 -0.006499 [component_container_isolated-3] -0.001468 0.999961 0.008725 0.058717 [component_container_isolated-3] -0.191384 -0.008845 0.981475 0.017509 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.476364774] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.516,11.034,-0.086} [component_container_isolated-3] [DEBUG] [1762964997.476398789] [zed_multi.right]: +++ Diff [map -> odom] - {-0.011,-0.031,0.027} {-0.514,11.419,0.155} [component_container_isolated-3] [DEBUG] [1762964997.476449887] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.490213703] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.490277434] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.490319655] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.490364981] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000032 0.000029 -0.000365 [component_container_isolated-3] -0.000032 1.000000 -0.000258 0.000320 [component_container_isolated-3] -0.000029 0.000258 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] [1762964997.490390540] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.014,0.010} {-0.051,0.271,0.151} [component_container_isolated-3] [DEBUG] [1762964997.490438412] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.490481514] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.490521240] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979090 0.000100 0.203429 -0.006864 [component_container_isolated-3] 0.002310 0.999930 -0.011609 0.059756 [component_container_isolated-3] -0.203416 0.011836 0.979021 0.018751 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.490545346] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.737,0.135} [component_container_isolated-3] [DEBUG] [1762964997.490575724] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.014,-0.010} {0.712,11.467,-0.022} [component_container_isolated-3] [DEBUG] [1762964997.490624597] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.494002017] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.494084304] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.494146483] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.494202180] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000177 0.000080 0.000320 [component_container_isolated-3] -0.000177 1.000000 0.000307 0.000185 [component_container_isolated-3] -0.000080 -0.000307 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] [1762964997.494233930] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.021,0.008,-0.074} [component_container_isolated-3] [DEBUG] [1762964997.494295408] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.494340794] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.494378616] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879357 0.000091 0.476163 -0.001040 [component_container_isolated-3] -0.004854 0.999950 0.008773 0.060236 [component_container_isolated-3] -0.476139 -0.010026 0.879313 0.018082 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.494400238] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.653,28.434,-0.316} [component_container_isolated-3] [DEBUG] [1762964997.494430746] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.003} {-0.592,28.426,-0.232} [component_container_isolated-3] [DEBUG] [1762964997.494478477] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.498743753] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.498798047] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.498835348] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.498879031] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 -0.000154 -0.000040 [component_container_isolated-3] 0.000003 1.000000 0.000039 0.000130 [component_container_isolated-3] 0.000154 -0.000039 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] [1762964997.498903859] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.230,-0.678,-0.099} [component_container_isolated-3] [DEBUG] [1762964997.498988230] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.499036983] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.499078582] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 -0.000034 0.185145 -0.006763 [component_container_isolated-3] -0.000079 1.000000 0.000603 0.059886 [component_container_isolated-3] -0.185145 -0.000607 0.982711 0.017474 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.499102939] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964997.499134168] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.054} {-0.246,11.348,0.093} [component_container_isolated-3] [DEBUG] [1762964997.499183473] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.503903286] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.503995122] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.504035399] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.504084803] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000032 0.000029 -0.000365 [component_container_isolated-3] -0.000032 1.000000 -0.000258 0.000320 [component_container_isolated-3] -0.000029 0.000258 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] [1762964997.504111634] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.036,0.273,0.149} [component_container_isolated-3] [DEBUG] [1762964997.504163814] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.504209130] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.504250710] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979090 0.000100 0.203429 -0.006864 [component_container_isolated-3] 0.002310 0.999930 -0.011609 0.059756 [component_container_isolated-3] -0.203416 0.011836 0.979021 0.018751 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.504275237] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.693,11.737,0.135} [component_container_isolated-3] [DEBUG] [1762964997.504305404] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.010} {0.698,11.466,-0.020} [component_container_isolated-3] [DEBUG] [1762964997.504359898] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.504896583] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.504980594] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.505020209] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.505063402] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000020 -0.000173 -0.000443 [component_container_isolated-3] -0.000020 1.000000 0.000053 0.000001 [component_container_isolated-3] 0.000173 -0.000053 1.000000 -0.000574 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.505089903] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.030,-0.024} {0.042,-0.393,-0.241} [component_container_isolated-3] [DEBUG] [1762964997.505141010] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.505185415] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.505221404] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 -0.000220 0.191220 -0.006529 [component_container_isolated-3] -0.001486 0.999960 0.008778 0.058702 [component_container_isolated-3] -0.191214 -0.008900 0.981508 0.017440 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.505243316] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.520,11.024,-0.087} [component_container_isolated-3] [DEBUG] [1762964997.505273223] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.031,0.027} {-0.514,11.419,0.155} [component_container_isolated-3] [DEBUG] [1762964997.505321605] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.527342700] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.527407774] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.527450346] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.527497656] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000209 -0.000125 -0.000161 [component_container_isolated-3] 0.000209 1.000000 -0.000240 -0.000250 [component_container_isolated-3] 0.000125 0.000240 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] [1762964997.527525559] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.008,0.001,-0.062} [component_container_isolated-3] [DEBUG] [1762964997.527576527] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.527625791] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.527666238] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879416 0.000022 0.476054 -0.001051 [component_container_isolated-3] -0.004644 0.999953 0.008534 0.060220 [component_container_isolated-3] -0.476031 -0.009715 0.879375 0.018108 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.527691055] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.633,28.426,-0.303} [component_container_isolated-3] [DEBUG] [1762964997.527726513] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.592,28.426,-0.232} [component_container_isolated-3] [DEBUG] [1762964997.527785836] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.529233210] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.529283867] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.529322120] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.529367226] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 -0.000154 -0.000040 [component_container_isolated-3] 0.000003 1.000000 0.000039 0.000130 [component_container_isolated-3] 0.000154 -0.000039 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] [1762964997.529391603] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.228,-0.687,-0.099} [component_container_isolated-3] [DEBUG] [1762964997.529438653] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.529481244] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.529521471] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 -0.000034 0.185145 -0.006763 [component_container_isolated-3] -0.000079 1.000000 0.000603 0.059886 [component_container_isolated-3] -0.185145 -0.000607 0.982711 0.017474 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.529546378] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964997.529577117] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.054} {-0.244,11.357,0.093} [component_container_isolated-3] [DEBUG] [1762964997.529627373] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.537637751] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.537694169] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.537737952] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.537783469] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000223 0.000274 0.000252 [component_container_isolated-3] -0.000223 1.000000 0.000077 0.001482 [component_container_isolated-3] -0.000274 -0.000077 1.000000 0.000926 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.537809138] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.031,-0.023} {0.038,-0.377,-0.254} [component_container_isolated-3] [DEBUG] [1762964997.537858953] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.537904270] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.537968773] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981495 -0.000016 0.191488 -0.006453 [component_container_isolated-3] -0.001711 0.999959 0.008855 0.059205 [component_container_isolated-3] -0.191481 -0.009019 0.981455 0.017610 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.537995675] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.526,11.039,-0.100} [component_container_isolated-3] [DEBUG] [1762964997.538029199] [zed_multi.right]: +++ Diff [map -> odom] - {-0.011,-0.032,0.027} {-0.514,11.419,0.155} [component_container_isolated-3] [DEBUG] [1762964997.538082921] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.552720365] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.552776292] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.552814254] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.552856956] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000036 0.000051 0.000168 [component_container_isolated-3] 0.000036 1.000000 0.000232 -0.000071 [component_container_isolated-3] -0.000051 -0.000232 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] [1762964997.552882535] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.010} {-0.049,0.276,0.151} [component_container_isolated-3] [DEBUG] [1762964997.552960594] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.553008105] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.553047760] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979079 0.000017 0.203479 -0.006877 [component_container_isolated-3] 0.002347 0.999933 -0.011376 0.059775 [component_container_isolated-3] -0.203465 0.011616 0.979013 0.018745 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.553071405] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.680,11.740,0.137} [component_container_isolated-3] [DEBUG] [1762964997.553104980] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.014,-0.010} {0.698,11.466,-0.020} [component_container_isolated-3] [DEBUG] [1762964997.553154434] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.565301091] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.565362669] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.565408006] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.565455216] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000002 0.000017 0.000007 [component_container_isolated-3] 0.000002 1.000000 0.000070 -0.000028 [component_container_isolated-3] -0.000017 -0.000070 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] [1762964997.565481316] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.012,0.002,-0.062} [component_container_isolated-3] [DEBUG] [1762964997.565531030] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.565574954] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.565611805] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879408 -0.000013 0.476068 -0.001054 [component_container_isolated-3] -0.004642 0.999952 0.008603 0.060212 [component_container_isolated-3] -0.476046 -0.009776 0.879366 0.018111 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.565636903] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.427,-0.302} [component_container_isolated-3] [DEBUG] [1762964997.565669745] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.592,28.426,-0.232} [component_container_isolated-3] [DEBUG] [1762964997.565720081] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.566031055] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.566105267] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.566148269] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.566199106] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 -0.000154 -0.000040 [component_container_isolated-3] 0.000003 1.000000 0.000039 0.000130 [component_container_isolated-3] 0.000154 -0.000039 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] [1762964997.566225687] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.226,-0.696,-0.099} [component_container_isolated-3] [DEBUG] [1762964997.566276424] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.566319606] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.566355936] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 -0.000034 0.185145 -0.006763 [component_container_isolated-3] -0.000079 1.000000 0.000603 0.059886 [component_container_isolated-3] -0.185145 -0.000607 0.982711 0.017474 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.566378168] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964997.566409648] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.054} {-0.242,11.366,0.093} [component_container_isolated-3] [DEBUG] [1762964997.566458341] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.575687487] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.575745948] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.575785684] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.575829738] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000111 -0.000159 -0.000808 [component_container_isolated-3] 0.000111 1.000000 -0.000002 -0.000958 [component_container_isolated-3] 0.000159 0.000002 1.000000 -0.000524 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.575854967] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.030,-0.024} {0.038,-0.386,-0.248} [component_container_isolated-3] [DEBUG] [1762964997.575903229] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.575987740] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.576031383] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981525 -0.000125 0.191333 -0.006632 [component_container_isolated-3] -0.001598 0.999960 0.008853 0.059176 [component_container_isolated-3] -0.191326 -0.008995 0.981485 0.017638 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.576057704] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.525,11.030,-0.093} [component_container_isolated-3] [DEBUG] [1762964997.576090827] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.031,0.027} {-0.514,11.419,0.155} [component_container_isolated-3] [DEBUG] [1762964997.576145381] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.596372440] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.596437905] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.596478994] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.596524460] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000081 0.000049 0.000029 [component_container_isolated-3] -0.000081 1.000000 -0.000016 -0.000064 [component_container_isolated-3] -0.000049 0.000016 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] [1762964997.596550089] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.010} {-0.048,0.279,0.146} [component_container_isolated-3] [DEBUG] [1762964997.596597139] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.596638939] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.596677793] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979069 0.000100 0.203527 -0.006875 [component_container_isolated-3] 0.002266 0.999933 -0.011392 0.059784 [component_container_isolated-3] -0.203514 0.011615 0.979003 0.018751 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.596701899] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.680,11.743,0.133} [component_container_isolated-3] [DEBUG] [1762964997.596735724] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.014,-0.010} {0.698,11.466,-0.020} [component_container_isolated-3] [DEBUG] [1762964997.596787924] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.598469475] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.598520031] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.598558385] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.598602198] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000017 0.000111 0.000116 [component_container_isolated-3] -0.000017 1.000000 -0.000108 -0.000007 [component_container_isolated-3] -0.000111 0.000108 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] [1762964997.598627246] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.005,0.009,-0.063} [component_container_isolated-3] [DEBUG] [1762964997.598676370] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.598721336] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.598762394] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879356 0.000053 0.476166 -0.001031 [component_container_isolated-3] -0.004660 0.999953 0.008495 0.060202 [component_container_isolated-3] -0.476143 -0.009689 0.879315 0.018128 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.598785378] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.631,28.434,-0.304} [component_container_isolated-3] [DEBUG] [1762964997.598816457] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.003} {-0.592,28.426,-0.232} [component_container_isolated-3] [DEBUG] [1762964997.598866012] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.599296073] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.599344756] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.599383060] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.599427074] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000003 -0.000154 -0.000040 [component_container_isolated-3] 0.000003 1.000000 0.000039 0.000130 [component_container_isolated-3] 0.000154 -0.000039 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] [1762964997.599451340] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.223,-0.704,-0.099} [component_container_isolated-3] [DEBUG] [1762964997.599500634] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.599548906] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.599588873] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982711 -0.000034 0.185145 -0.006763 [component_container_isolated-3] -0.000079 1.000000 0.000603 0.059886 [component_container_isolated-3] -0.185145 -0.000607 0.982711 0.017474 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.599612267] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.035,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964997.599644619] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.053} {-0.239,11.374,0.093} [component_container_isolated-3] [DEBUG] [1762964997.599694885] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.610418925] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.610478119] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.610519868] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.610564544] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000001 0.000030 0.000044 [component_container_isolated-3] -0.000001 1.000000 -0.000144 0.000006 [component_container_isolated-3] -0.000030 0.000144 1.000000 0.000422 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.610590563] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.030,-0.023} {0.046,-0.385,-0.248} [component_container_isolated-3] [DEBUG] [1762964997.610641440] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.610689332] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.610730420] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981520 -0.000097 0.191362 -0.006664 [component_container_isolated-3] -0.001599 0.999961 0.008709 0.059166 [component_container_isolated-3] -0.191355 -0.008854 0.981481 0.017724 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.610755588] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.517,11.032,-0.093} [component_container_isolated-3] [DEBUG] [1762964997.610787920] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.031,0.027} {-0.514,11.419,0.155} [component_container_isolated-3] [DEBUG] [1762964997.610836764] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.639254805] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.639318647] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.639364044] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.639409230] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000002 -0.000028 -0.000174 [component_container_isolated-3] 0.000002 1.000000 0.000122 0.000068 [component_container_isolated-3] 0.000028 -0.000122 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] [1762964997.639434759] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.055,0.277,0.147} [component_container_isolated-3] [DEBUG] [1762964997.639484203] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.639527536] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.639569666] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979075 0.000073 0.203499 -0.006903 [component_container_isolated-3] 0.002268 0.999934 -0.011271 0.059800 [component_container_isolated-3] -0.203487 0.011496 0.979010 0.018764 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.639597620] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.673,11.741,0.133} [component_container_isolated-3] [DEBUG] [1762964997.639633919] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.014,-0.010} {0.698,11.466,-0.020} [component_container_isolated-3] [DEBUG] [1762964997.639693633] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.642987434] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.643046456] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.643085801] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.643129274] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000074 -0.000188 -0.000111 [component_container_isolated-3] -0.000074 1.000000 -0.000087 0.000029 [component_container_isolated-3] 0.000188 0.000087 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] [1762964997.643155044] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.000,-0.002,-0.067} [component_container_isolated-3] [DEBUG] [1762964997.643206772] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.643249514] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.643286294] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879445 0.000159 0.476000 -0.001038 [component_container_isolated-3] -0.004733 0.999953 0.008409 0.060197 [component_container_isolated-3] -0.475977 -0.009648 0.879405 0.018126 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.643308647] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.629,28.423,-0.308} [component_container_isolated-3] [DEBUG] [1762964997.643338965] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.592,28.426,-0.232} [component_container_isolated-3] [DEBUG] [1762964997.643387337] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.645724891] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.645784856] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.645825884] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.645872243] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000002 -0.000028 -0.000174 [component_container_isolated-3] 0.000002 1.000000 0.000122 0.000068 [component_container_isolated-3] 0.000028 -0.000122 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] [1762964997.645898884] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.062,0.276,0.147} [component_container_isolated-3] [DEBUG] [1762964997.645979397] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.646024544] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.646060913] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979075 0.000073 0.203499 -0.006903 [component_container_isolated-3] 0.002268 0.999934 -0.011271 0.059800 [component_container_isolated-3] -0.203487 0.011496 0.979010 0.018764 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.646082434] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.673,11.741,0.133} [component_container_isolated-3] [DEBUG] [1762964997.646112031] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.010} {0.704,11.467,-0.021} [component_container_isolated-3] [DEBUG] [1762964997.646166144] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.652792689] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.652867111] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.652913039] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.653006888] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000019 -0.000037 -0.000007 [component_container_isolated-3] -0.000019 1.000000 0.000018 0.000082 [component_container_isolated-3] 0.000037 -0.000018 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] [1762964997.653032377] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.222,-0.707,-0.100} [component_container_isolated-3] [DEBUG] [1762964997.653083725] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.653129222] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.653165451] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982718 -0.000019 0.185109 -0.006762 [component_container_isolated-3] -0.000098 1.000000 0.000620 0.059895 [component_container_isolated-3] -0.185109 -0.000627 0.982718 0.017475 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.653189657] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.037,10.667,-0.006} [component_container_isolated-3] [DEBUG] [1762964997.653220787] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.054} {-0.239,11.374,0.093} [component_container_isolated-3] [DEBUG] [1762964997.653270472] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.668990213] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.669055627] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.669094892] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.669137804] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000015 -0.000054 0.000595 [component_container_isolated-3] 0.000015 1.000000 0.000072 0.000141 [component_container_isolated-3] 0.000054 -0.000072 1.000000 -0.000522 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.669163073] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.030,-0.024} {0.042,-0.388,-0.247} [component_container_isolated-3] [DEBUG] [1762964997.669211335] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.669255940] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.669296798] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000125 0.191309 -0.006628 [component_container_isolated-3] -0.001584 0.999960 0.008781 0.059176 [component_container_isolated-3] -0.191302 -0.008922 0.981491 0.017671 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.669319742] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.521,11.029,-0.092} [component_container_isolated-3] [DEBUG] [1762964997.669350731] [zed_multi.right]: +++ Diff [map -> odom] - {-0.011,-0.031,0.027} {-0.514,11.419,0.155} [component_container_isolated-3] [DEBUG] [1762964997.669400436] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.673755182] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.673810678] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.673849833] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.673892505] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000015 -0.000054 0.000595 [component_container_isolated-3] 0.000015 1.000000 0.000072 0.000141 [component_container_isolated-3] 0.000054 -0.000072 1.000000 -0.000522 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.673916651] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.031,-0.024} {0.038,-0.391,-0.246} [component_container_isolated-3] [DEBUG] [1762964997.673999108] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.674043152] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.674084251] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000125 0.191309 -0.006628 [component_container_isolated-3] -0.001584 0.999960 0.008781 0.059176 [component_container_isolated-3] -0.191302 -0.008922 0.981491 0.017671 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.674108838] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.521,11.029,-0.092} [component_container_isolated-3] [DEBUG] [1762964997.674139466] [zed_multi.right]: +++ Diff [map -> odom] - {-0.011,-0.031,0.028} {-0.510,11.422,0.155} [component_container_isolated-3] [DEBUG] [1762964997.674199571] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.675011181] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.675082227] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.675129637] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.675180534] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000127 0.000145 0.000116 [component_container_isolated-3] -0.000128 1.000000 0.000061 0.000218 [component_container_isolated-3] -0.000145 -0.000061 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] [1762964997.675206915] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.004,0.006,-0.075} [component_container_isolated-3] [DEBUG] [1762964997.675256810] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.675300263] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.675337985] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879376 0.000242 0.476128 -0.001013 [component_container_isolated-3] -0.004861 0.999952 0.008470 0.060226 [component_container_isolated-3] -0.476103 -0.009763 0.879335 0.018133 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.675362282] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.636,28.431,-0.317} [component_container_isolated-3] [DEBUG] [1762964997.675393631] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.003} {-0.592,28.426,-0.232} [component_container_isolated-3] [DEBUG] [1762964997.675445681] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.703203131] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.703258196] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.703298703] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.703341074] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000123 -0.000095 0.000752 [component_container_isolated-3] 0.000123 1.000000 -0.000139 -0.000202 [component_container_isolated-3] 0.000095 0.000139 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] [1762964997.703367956] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.014,0.009} {-0.054,0.270,0.154} [component_container_isolated-3] [DEBUG] [1762964997.703415837] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.703458018] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.703492514] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 -0.000020 0.203406 -0.006781 [component_container_isolated-3] 0.002390 0.999932 -0.011409 0.059786 [component_container_isolated-3] -0.203392 0.011657 0.979028 0.018668 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.703514315] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.682,11.735,0.140} [component_container_isolated-3] [DEBUG] [1762964997.703544423] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.014,-0.009} {0.704,11.467,-0.021} [component_container_isolated-3] [DEBUG] [1762964997.703594498] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.709818114] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.709891785] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.709969443] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.710020511] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000020 0.000043 -0.000057 [component_container_isolated-3] 0.000020 1.000000 -0.000008 -0.000064 [component_container_isolated-3] -0.000043 0.000008 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] [1762964997.710046580] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.223,-0.704,-0.099} [component_container_isolated-3] [DEBUG] [1762964997.710098309] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.710143726] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.710180486] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 -0.000037 0.185151 -0.006767 [component_container_isolated-3] -0.000077 1.000000 0.000612 0.059893 [component_container_isolated-3] -0.185151 -0.000615 0.982710 0.017482 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.710203801] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.036,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964997.710237144] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.054} {-0.239,11.374,0.093} [component_container_isolated-3] [DEBUG] [1762964997.710286979] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.712706861] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.712778978] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.712820147] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.712865233] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000049 -0.000007 0.000036 [component_container_isolated-3] 0.000049 1.000000 0.000192 0.000048 [component_container_isolated-3] 0.000007 -0.000192 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] [1762964997.712890521] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.015,0.006,-0.072} [component_container_isolated-3] [DEBUG] [1762964997.712972097] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.713018245] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.713056028] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879379 0.000108 0.476122 -0.001001 [component_container_isolated-3] -0.004812 0.999951 0.008662 0.060251 [component_container_isolated-3] -0.476097 -0.009908 0.879337 0.018140 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.713078801] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.646,28.431,-0.314} [component_container_isolated-3] [DEBUG] [1762964997.713109570] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.003} {-0.592,28.426,-0.232} [component_container_isolated-3] [DEBUG] [1762964997.713158744] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.715833993] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.715897424] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.715970814] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.716017383] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000020 0.000043 -0.000057 [component_container_isolated-3] 0.000020 1.000000 -0.000008 -0.000064 [component_container_isolated-3] -0.000043 0.000008 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] [1762964997.716042361] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.002,-0.054} {0.223,-0.702,-0.098} [component_container_isolated-3] [DEBUG] [1762964997.716089711] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.716131611] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.716166868] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982710 -0.000037 0.185151 -0.006767 [component_container_isolated-3] -0.000077 1.000000 0.000612 0.059893 [component_container_isolated-3] -0.185151 -0.000615 0.982710 0.017482 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.716189552] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.036,10.670,-0.005} [component_container_isolated-3] [DEBUG] [1762964997.716221012] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.053} {-0.240,11.372,0.092} [component_container_isolated-3] [DEBUG] [1762964997.716274855] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.728903693] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.729002642] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.729045293] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.729090229] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000098 -0.000016 -0.000344 [component_container_isolated-3] 0.000098 1.000000 -0.000035 -0.000349 [component_container_isolated-3] 0.000016 0.000035 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] [1762964997.729115998] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.030,-0.025} {0.040,-0.392,-0.240} [component_container_isolated-3] [DEBUG] [1762964997.729169831] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.729218284] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.729259723] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981533 -0.000214 0.191292 -0.006670 [component_container_isolated-3] -0.001486 0.999961 0.008746 0.059125 [component_container_isolated-3] -0.191287 -0.008869 0.981494 0.017634 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.729283919] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.518,11.028,-0.087} [component_container_isolated-3] [DEBUG] [1762964997.729315660] [zed_multi.right]: +++ Diff [map -> odom] - {-0.011,-0.031,0.028} {-0.510,11.422,0.155} [component_container_isolated-3] [DEBUG] [1762964997.729366687] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.734319285] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.734374841] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.734413585] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.734455455] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000098 -0.000016 -0.000344 [component_container_isolated-3] 0.000098 1.000000 -0.000035 -0.000349 [component_container_isolated-3] 0.000016 0.000035 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] [1762964997.734479772] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.030,-0.025} {0.042,-0.393,-0.235} [component_container_isolated-3] [DEBUG] [1762964997.734526581] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.734569503] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.734604420] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981533 -0.000214 0.191292 -0.006670 [component_container_isolated-3] -0.001486 0.999961 0.008746 0.059125 [component_container_isolated-3] -0.191287 -0.008869 0.981494 0.017634 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.734627183] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.518,11.028,-0.087} [component_container_isolated-3] [DEBUG] [1762964997.734661619] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.031,0.028} {-0.513,11.423,0.149} [component_container_isolated-3] [DEBUG] [1762964997.734711785] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.737770697] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.737831944] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.737873042] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.737917587] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000034 -0.000071 -0.000029 [component_container_isolated-3] 0.000034 1.000000 -0.000253 -0.000194 [component_container_isolated-3] 0.000071 0.000253 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] [1762964997.737966551] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.001,0.002,-0.070} [component_container_isolated-3] [DEBUG] [1762964997.738017177] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.738060169] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.738096759] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879413 0.000198 0.476060 -0.000992 [component_container_isolated-3] -0.004778 0.999953 0.008409 0.060244 [component_container_isolated-3] -0.476036 -0.009670 0.879373 0.018151 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.738120324] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.630,28.427,-0.311} [component_container_isolated-3] [DEBUG] [1762964997.738153277] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.592,28.426,-0.232} [component_container_isolated-3] [DEBUG] [1762964997.738204966] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.739788330] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.739868653] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.739965478] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.740024080] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000023 0.000014 -0.000294 [component_container_isolated-3] 0.000023 1.000000 -0.000105 0.000012 [component_container_isolated-3] -0.000014 0.000105 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] [1762964997.740056532] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.014,0.009} {-0.048,0.271,0.155} [component_container_isolated-3] [DEBUG] [1762964997.740110485] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.740190227] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.740230214] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 -0.000021 0.203420 -0.006766 [component_container_isolated-3] 0.002413 0.999931 -0.011514 0.059778 [component_container_isolated-3] -0.203405 0.011764 0.979024 0.018651 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.740254089] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.736,0.141} [component_container_isolated-3] [DEBUG] [1762964997.740285099] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.014,-0.010} {0.704,11.467,-0.021} [component_container_isolated-3] [DEBUG] [1762964997.740343941] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.756222726] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.756283251] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.756331814] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.756388192] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000033 -0.000025 0.000069 [component_container_isolated-3] -0.000033 1.000000 -0.000083 0.000018 [component_container_isolated-3] 0.000025 0.000083 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] [1762964997.756421625] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.228,-0.703,-0.099} [component_container_isolated-3] [DEBUG] [1762964997.756486279] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.756549971] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.756599896] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982715 0.000011 0.185127 -0.006759 [component_container_isolated-3] -0.000111 1.000000 0.000529 0.059894 [component_container_isolated-3] -0.185127 -0.000540 0.982714 0.017502 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.756628350] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.031,10.669,-0.006} [component_container_isolated-3] [DEBUG] [1762964997.756667375] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.053} {-0.240,11.372,0.092} [component_container_isolated-3] [DEBUG] [1762964997.756738310] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.762174031] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.762246910] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.762287388] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.762336742] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000023 0.000014 -0.000294 [component_container_isolated-3] 0.000023 1.000000 -0.000105 0.000012 [component_container_isolated-3] -0.000014 0.000105 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] [1762964997.762363443] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.010} {-0.042,0.272,0.156} [component_container_isolated-3] [DEBUG] [1762964997.762415903] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.762461210] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.762498761] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 -0.000021 0.203420 -0.006766 [component_container_isolated-3] 0.002413 0.999931 -0.011514 0.059778 [component_container_isolated-3] -0.203405 0.011764 0.979024 0.018651 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.762520212] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.736,0.141} [component_container_isolated-3] [DEBUG] [1762964997.762550791] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.014,-0.010} {0.698,11.466,-0.022} [component_container_isolated-3] [DEBUG] [1762964997.762599193] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.770294539] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.770356407] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.770398528] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.770444345] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000046 -0.000030 -0.000015 [component_container_isolated-3] 0.000046 1.000000 -0.000190 -0.000027 [component_container_isolated-3] 0.000030 0.000190 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] [1762964997.770470696] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {0.010,-0.000,-0.067} [component_container_isolated-3] [DEBUG] [1762964997.770519509] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.770563894] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.770600013] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879427 0.000248 0.476033 -0.000991 [component_container_isolated-3] -0.004731 0.999955 0.008220 0.060236 [component_container_isolated-3] -0.476009 -0.009481 0.879389 0.018152 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.770627495] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.618,28.425,-0.308} [component_container_isolated-3] [DEBUG] [1762964997.770661921] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.592,28.426,-0.232} [component_container_isolated-3] [DEBUG] [1762964997.770602057] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.770758004] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.770716175] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.770801347] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.770892251] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000033 -0.000025 0.000069 [component_container_isolated-3] -0.000033 1.000000 -0.000083 0.000018 [component_container_isolated-3] 0.000025 0.000083 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] [1762964997.770917689] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.233,-0.704,-0.101} [component_container_isolated-3] [DEBUG] [1762964997.771010647] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.771052747] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.771080631] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982715 0.000011 0.185127 -0.006759 [component_container_isolated-3] -0.000111 1.000000 0.000529 0.059894 [component_container_isolated-3] -0.185127 -0.000540 0.982714 0.017502 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.771097944] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.031,10.669,-0.006} [component_container_isolated-3] [DEBUG] [1762964997.771121388] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.053} {-0.245,11.373,0.094} [component_container_isolated-3] [DEBUG] [1762964997.771159361] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.781016636] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.781085828] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.781126526] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.781178164] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000112 -0.000056 -0.000133 [component_container_isolated-3] -0.000112 1.000000 0.000078 0.000262 [component_container_isolated-3] 0.000056 -0.000078 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] [1762964997.781205226] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.030,-0.025} {0.037,-0.396,-0.241} [component_container_isolated-3] [DEBUG] [1762964997.781263688] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.781313813] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.781353930] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981544 -0.000119 0.191238 -0.006709 [component_container_isolated-3] -0.001598 0.999960 0.008824 0.059131 [component_container_isolated-3] -0.191231 -0.008966 0.981504 0.017617 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.781378547] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.523,11.025,-0.093} [component_container_isolated-3] [DEBUG] [1762964997.781410047] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.031,0.028} {-0.513,11.423,0.149} [component_container_isolated-3] [DEBUG] [1762964997.781459802] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.782128750] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.782175259] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.782209775] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.782247276] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000023 0.000014 -0.000294 [component_container_isolated-3] 0.000023 1.000000 -0.000105 0.000012 [component_container_isolated-3] -0.000014 0.000105 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] [1762964997.782267254] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.010} {-0.036,0.272,0.158} [component_container_isolated-3] [DEBUG] [1762964997.782307050] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.782340975] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.782367125] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979092 -0.000021 0.203420 -0.006766 [component_container_isolated-3] 0.002413 0.999931 -0.011514 0.059778 [component_container_isolated-3] -0.203405 0.011764 0.979024 0.018651 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.782384037] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.736,0.141} [component_container_isolated-3] [DEBUG] [1762964997.782406029] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.010} {0.692,11.466,-0.023} [component_container_isolated-3] [DEBUG] [1762964997.782442850] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.802672093] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.802774819] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.802833140] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.802891131] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000011 -0.000061 -0.000007 [component_container_isolated-3] -0.000011 1.000000 0.000135 -0.000017 [component_container_isolated-3] 0.000061 -0.000135 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] [1762964997.802949362] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {0.003,-0.004,-0.068} [component_container_isolated-3] [DEBUG] [1762964997.803006421] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.803050816] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.803088758] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879456 0.000193 0.475979 -0.001000 [component_container_isolated-3] -0.004741 0.999954 0.008355 0.060233 [component_container_isolated-3] -0.475956 -0.009604 0.879417 0.018130 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.803112734] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.626,28.422,-0.309} [component_container_isolated-3] [DEBUG] [1762964997.803143783] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.592,28.426,-0.232} [component_container_isolated-3] [DEBUG] [1762964997.803192446] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.814682179] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.814749027] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.814788492] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.814833147] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000049 0.000091 0.000356 [component_container_isolated-3] 0.000049 1.000000 -0.000099 -0.000026 [component_container_isolated-3] -0.000091 0.000099 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] [1762964997.814860009] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.030,-0.025} {0.043,-0.391,-0.238} [component_container_isolated-3] [DEBUG] [1762964997.814909984] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.814994065] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.815032728] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981526 -0.000148 0.191327 -0.006696 [component_container_isolated-3] -0.001549 0.999961 0.008725 0.059129 [component_container_isolated-3] -0.191321 -0.008860 0.981487 0.017590 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.815058237] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.517,11.030,-0.090} [component_container_isolated-3] [DEBUG] [1762964997.815091871] [zed_multi.right]: +++ Diff [map -> odom] - {-0.011,-0.031,0.028} {-0.513,11.423,0.149} [component_container_isolated-3] [DEBUG] [1762964997.815146085] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.819327280] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.819393366] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.819434755] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.819479350] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000028 0.000063 -0.000114 [component_container_isolated-3] -0.000028 1.000000 0.000039 -0.000013 [component_container_isolated-3] -0.000063 -0.000039 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] [1762964997.819504639] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.002,-0.054} {0.231,-0.701,-0.103} [component_container_isolated-3] [DEBUG] [1762964997.819553382] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.819596374] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.819632393] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000031 0.185189 -0.006769 [component_container_isolated-3] -0.000139 1.000000 0.000568 0.059894 [component_container_isolated-3] -0.185189 -0.000584 0.982703 0.017504 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.819656859] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.034,10.672,-0.008} [component_container_isolated-3] [DEBUG] [1762964997.819690974] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.053} {-0.245,11.373,0.094} [component_container_isolated-3] [DEBUG] [1762964997.819744697] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.824137957] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.824210215] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.824250652] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.824297061] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000011 -0.000061 -0.000007 [component_container_isolated-3] -0.000011 1.000000 0.000135 -0.000017 [component_container_isolated-3] 0.000061 -0.000135 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] [1762964997.824323592] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.005,-0.007,-0.069} [component_container_isolated-3] [DEBUG] [1762964997.824373166] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.824416279] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.824455033] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879456 0.000193 0.475979 -0.001000 [component_container_isolated-3] -0.004741 0.999954 0.008355 0.060233 [component_container_isolated-3] -0.475956 -0.009604 0.879417 0.018130 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.824479790] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.626,28.422,-0.309} [component_container_isolated-3] [DEBUG] [1762964997.824512783] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.584,28.429,-0.231} [component_container_isolated-3] [DEBUG] [1762964997.824562979] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.838876985] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.838984481] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.839026120] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.839070094] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000033 -0.000010 -0.000057 [component_container_isolated-3] -0.000033 1.000000 -0.000001 0.000060 [component_container_isolated-3] 0.000010 0.000001 1.000000 0.000174 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.839095102] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.036,0.272,0.156} [component_container_isolated-3] [DEBUG] [1762964997.839144035] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.839189121] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.839228557] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979094 0.000011 0.203410 -0.006758 [component_container_isolated-3] 0.002381 0.999931 -0.011515 0.059780 [component_container_isolated-3] -0.203396 0.011758 0.979026 0.018650 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.839252603] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.736,0.139} [component_container_isolated-3] [DEBUG] [1762964997.839285395] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.010} {0.692,11.466,-0.023} [component_container_isolated-3] [DEBUG] [1762964997.839338737] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.844588172] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.844640051] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.844677613] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.844719573] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000033 -0.000010 -0.000057 [component_container_isolated-3] -0.000033 1.000000 -0.000001 0.000060 [component_container_isolated-3] 0.000010 0.000001 1.000000 0.000174 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.844742898] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.036,0.271,0.154} [component_container_isolated-3] [DEBUG] [1762964997.844789126] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.844832238] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.844870772] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979094 0.000011 0.203410 -0.006758 [component_container_isolated-3] 0.002381 0.999931 -0.011515 0.059780 [component_container_isolated-3] -0.203396 0.011758 0.979026 0.018650 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.844893786] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.736,0.139} [component_container_isolated-3] [DEBUG] [1762964997.844954993] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.010} {0.692,11.466,-0.021} [component_container_isolated-3] [DEBUG] [1762964997.845014927] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.845866754] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.845954782] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.845999508] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.846044744] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000004 -0.000020 -0.000125 [component_container_isolated-3] -0.000004 1.000000 -0.000179 -0.000519 [component_container_isolated-3] 0.000020 0.000179 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] [1762964997.846070403] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.030,-0.025} {0.053,-0.392,-0.239} [component_container_isolated-3] [DEBUG] [1762964997.846120118] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.846163942] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.846200551] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000110 0.191308 -0.006699 [component_container_isolated-3] -0.001553 0.999962 0.008546 0.059016 [component_container_isolated-3] -0.191302 -0.008686 0.981493 0.017595 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.846225790] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.507,11.029,-0.091} [component_container_isolated-3] [DEBUG] [1762964997.846259855] [zed_multi.right]: +++ Diff [map -> odom] - {-0.011,-0.031,0.028} {-0.513,11.423,0.149} [component_container_isolated-3] [DEBUG] [1762964997.846317355] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.854076633] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.854244744] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.854284059] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.854327732] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000004 -0.000020 -0.000125 [component_container_isolated-3] -0.000004 1.000000 -0.000179 -0.000519 [component_container_isolated-3] 0.000020 0.000179 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] [1762964997.854353842] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.029,-0.024} {0.064,-0.393,-0.239} [component_container_isolated-3] [DEBUG] [1762964997.854401243] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.854443894] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.854479572] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000110 0.191308 -0.006699 [component_container_isolated-3] -0.001553 0.999962 0.008546 0.059016 [component_container_isolated-3] -0.191302 -0.008686 0.981493 0.017595 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.854504069] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.507,11.029,-0.091} [component_container_isolated-3] [DEBUG] [1762964997.854534347] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.030,0.028} {-0.523,11.424,0.149} [component_container_isolated-3] [DEBUG] [1762964997.854583621] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.856281724] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.856444485] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.856485914] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.856531852] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000092 0.000097 0.000152 [component_container_isolated-3] 0.000092 1.000000 0.000135 -0.000090 [component_container_isolated-3] -0.000097 -0.000135 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] [1762964997.856560827] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.223,-0.695,-0.098} [component_container_isolated-3] [DEBUG] [1762964997.856610512] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.856654686] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.856690685] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982685 -0.000084 0.185285 -0.006763 [component_container_isolated-3] -0.000047 1.000000 0.000703 0.059885 [component_container_isolated-3] -0.185285 -0.000700 0.982685 0.017508 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.856714250] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.041,10.678,-0.003} [component_container_isolated-3] [DEBUG] [1762964997.856747143] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.053} {-0.245,11.373,0.094} [component_container_isolated-3] [DEBUG] [1762964997.856798932] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.873392622] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.873454770] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.873498594] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.873544522] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000085 0.000172 0.000051 [component_container_isolated-3] 0.000085 1.000000 0.000157 -0.000004 [component_container_isolated-3] -0.000172 -0.000157 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] [1762964997.873570061] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.014,0.003,-0.064} [component_container_isolated-3] [DEBUG] [1762964997.873619515] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.873659982] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.873698516] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879375 0.000044 0.476131 -0.000996 [component_container_isolated-3] -0.004658 0.999953 0.008511 0.060229 [component_container_isolated-3] -0.476108 -0.009702 0.879333 0.018123 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.873725948] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.632,28.432,-0.303} [component_container_isolated-3] [DEBUG] [1762964997.873751337] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.584,28.429,-0.231} [component_container_isolated-3] [DEBUG] [1762964997.873792475] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.883107765] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.883168111] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.883209209] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.883254616] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000065 0.000031 -0.000018 [component_container_isolated-3] -0.000065 1.000000 -0.000002 -0.000004 [component_container_isolated-3] -0.000031 0.000002 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] [1762964997.883280445] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.223,-0.693,-0.101} [component_container_isolated-3] [DEBUG] [1762964997.883330451] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.883373633] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.883410824] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982679 -0.000020 0.185316 -0.006753 [component_container_isolated-3] -0.000112 1.000000 0.000702 0.059877 [component_container_isolated-3] -0.185316 -0.000710 0.982679 0.017515 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.883432686] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.041,10.680,-0.007} [component_container_isolated-3] [DEBUG] [1762964997.883463855] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.053} {-0.245,11.373,0.094} [component_container_isolated-3] [DEBUG] [1762964997.883515023] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.896987372] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.897059329] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.897101340] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.897147478] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000009 0.000036 0.000115 [component_container_isolated-3] -0.000009 1.000000 0.000002 -0.000068 [component_container_isolated-3] -0.000036 -0.000002 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] [1762964997.897172966] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.036,0.273,0.153} [component_container_isolated-3] [DEBUG] [1762964997.897228142] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.897271094] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.897307203] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 0.000020 0.203445 -0.006741 [component_container_isolated-3] 0.002372 0.999931 -0.011513 0.059773 [component_container_isolated-3] -0.203431 0.011755 0.979019 0.018629 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.897330197] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.738,0.139} [component_container_isolated-3] [DEBUG] [1762964997.897359703] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.010} {0.692,11.466,-0.021} [component_container_isolated-3] [DEBUG] [1762964997.897180521] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.897541029] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.897579673] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.897623226] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000004 -0.000020 -0.000125 [component_container_isolated-3] -0.000004 1.000000 -0.000179 -0.000519 [component_container_isolated-3] 0.000020 0.000179 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] [1762964997.897647693] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.029,-0.024} {0.074,-0.394,-0.239} [component_container_isolated-3] [DEBUG] [1762964997.897695855] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.897738106] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.897775217] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000110 0.191308 -0.006699 [component_container_isolated-3] -0.001553 0.999962 0.008546 0.059016 [component_container_isolated-3] -0.191302 -0.008686 0.981493 0.017595 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.897797158] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.507,11.029,-0.091} [component_container_isolated-3] [DEBUG] [1762964997.897827987] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.030,0.028} {-0.533,11.425,0.149} [component_container_isolated-3] [DEBUG] [1762964997.897966342] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.897994535] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.898804853] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.898866471] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.898907709] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.898981601] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000084 -0.000032 0.000137 [component_container_isolated-3] -0.000084 1.000000 0.000136 0.000152 [component_container_isolated-3] 0.000032 -0.000136 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] [1762964997.899009484] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.022,0.001,-0.068} [component_container_isolated-3] [DEBUG] [1762964997.899060010] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.899102692] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.899139833] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879390 0.000053 0.476102 -0.000966 [component_container_isolated-3] -0.004742 0.999951 0.008647 0.060245 [component_container_isolated-3] -0.476078 -0.009862 0.879348 0.018113 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.899164540] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.643,28.430,-0.309} [component_container_isolated-3] [DEBUG] [1762964997.899198445] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.584,28.429,-0.231} [component_container_isolated-3] [DEBUG] [1762964997.899250484] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.906608396] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.906664112] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.906715320] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.906776156] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000009 0.000036 0.000115 [component_container_isolated-3] -0.000009 1.000000 0.000002 -0.000068 [component_container_isolated-3] -0.000036 -0.000002 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] [1762964997.906812085] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.014,0.010} {-0.036,0.275,0.153} [component_container_isolated-3] [DEBUG] [1762964997.906880065] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.906976569] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.907034970] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979086 0.000020 0.203445 -0.006741 [component_container_isolated-3] 0.002372 0.999931 -0.011513 0.059773 [component_container_isolated-3] -0.203431 0.011755 0.979019 0.018629 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.907067943] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.688,11.738,0.139} [component_container_isolated-3] [DEBUG] [1762964997.907112158] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.010} {0.692,11.464,-0.021} [component_container_isolated-3] [DEBUG] [1762964997.907189846] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.908140983] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.908192671] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.908232978] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.908277283] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000025 -0.000060 0.000026 [component_container_isolated-3] 0.000025 1.000000 -0.000080 0.000004 [component_container_isolated-3] 0.000060 0.000080 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] [1762964997.908302231] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.228,-0.697,-0.100} [component_container_isolated-3] [DEBUG] [1762964997.908349591] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.908420607] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.908460543] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982690 -0.000030 0.185257 -0.006748 [component_container_isolated-3] -0.000087 1.000000 0.000621 0.059868 [component_container_isolated-3] -0.185256 -0.000627 0.982690 0.017524 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.908484479] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.037,10.676,-0.005} [component_container_isolated-3] [DEBUG] [1762964997.908517321] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.053} {-0.245,11.373,0.094} [component_container_isolated-3] [DEBUG] [1762964997.908567437] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.925762516] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.925807792] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.925843099] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.925883507] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000004 -0.000020 -0.000125 [component_container_isolated-3] -0.000004 1.000000 -0.000179 -0.000519 [component_container_isolated-3] 0.000020 0.000179 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] [1762964997.925907122] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.016,0.028,-0.024} {0.084,-0.395,-0.239} [component_container_isolated-3] [DEBUG] [1762964997.925987796] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.926031980] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.926072027] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000110 0.191308 -0.006699 [component_container_isolated-3] -0.001553 0.999962 0.008546 0.059016 [component_container_isolated-3] -0.191302 -0.008686 0.981493 0.017595 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.926096393] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.507,11.029,-0.091} [component_container_isolated-3] [DEBUG] [1762964997.926129456] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.029,0.027} {-0.543,11.426,0.149} [component_container_isolated-3] [DEBUG] [1762964997.926181866] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.932302776] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.932360586] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.932401064] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.932445508] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000052 -0.000001 -0.000129 [component_container_isolated-3] 0.000052 1.000000 -0.000143 -0.000144 [component_container_isolated-3] 0.000001 0.000143 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] [1762964997.932470166] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.014,0.001,-0.065} [component_container_isolated-3] [DEBUG] [1762964997.932517175] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.932558745] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.932594252] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879391 0.000075 0.476101 -0.000960 [component_container_isolated-3] -0.004689 0.999953 0.008504 0.060235 [component_container_isolated-3] -0.476078 -0.009711 0.879349 0.018117 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.932615804] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.633,28.430,-0.306} [component_container_isolated-3] [DEBUG] [1762964997.932646923] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.584,28.429,-0.231} [component_container_isolated-3] [DEBUG] [1762964997.932697450] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.948885084] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.948994703] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.949034189] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.949077091] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000014 -0.000582 0.000479 [component_container_isolated-3] 0.000014 1.000000 -0.000241 -0.000330 [component_container_isolated-3] 0.000582 0.000240 1.000000 -0.002626 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964997.949101347] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.056} {0.241,-0.730,-0.099} [component_container_isolated-3] [DEBUG] [1762964997.949151212] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.949198513] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.949238539] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982798 0.000001 0.184684 -0.006879 [component_container_isolated-3] -0.000073 1.000000 0.000381 0.059796 [component_container_isolated-3] -0.184684 -0.000388 0.982798 0.016265 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.949261944] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.023,10.643,-0.004} [component_container_isolated-3] [DEBUG] [1762964997.949295187] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.055} {-0.245,11.373,0.094} [component_container_isolated-3] [DEBUG] [1762964997.949345073] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.971477019] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.971537214] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.971575387] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.971617097] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000004 -0.000020 -0.000125 [component_container_isolated-3] -0.000004 1.000000 -0.000179 -0.000519 [component_container_isolated-3] 0.000020 0.000179 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] [1762964997.971641062] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.028,-0.024} {0.094,-0.396,-0.239} [component_container_isolated-3] [DEBUG] [1762964997.971686880] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.971731195] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.971770910] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000110 0.191308 -0.006699 [component_container_isolated-3] -0.001553 0.999962 0.008546 0.059016 [component_container_isolated-3] -0.191302 -0.008686 0.981493 0.017595 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.971795177] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.507,11.029,-0.091} [component_container_isolated-3] [DEBUG] [1762964997.971828380] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.028,0.027} {-0.554,11.427,0.149} [component_container_isolated-3] [DEBUG] [1762964997.971880049] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.975086052] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.975143642] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.975187165] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.975233303] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000046 -0.000061 -0.000024 [component_container_isolated-3] -0.000046 1.000000 -0.000050 0.000306 [component_container_isolated-3] 0.000061 0.000050 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] [1762964997.975258882] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.033,0.272,0.150} [component_container_isolated-3] [DEBUG] [1762964997.975308527] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.975350607] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.975392036] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979099 0.000075 0.203385 -0.006731 [component_container_isolated-3] 0.002326 0.999930 -0.011563 0.059816 [component_container_isolated-3] -0.203372 0.011794 0.979030 0.018611 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.975422204] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.690,11.734,0.136} [component_container_isolated-3] [DEBUG] [1762964997.975453503] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.010} {0.692,11.464,-0.021} [component_container_isolated-3] [DEBUG] [1762964997.975506084] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.977731263] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.977788312] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.977827697] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.977871261] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000034 0.000002 0.000251 [component_container_isolated-3] -0.000034 1.000000 0.000100 0.000041 [component_container_isolated-3] -0.000002 -0.000100 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] [1762964997.977896349] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.019,0.001,-0.067} [component_container_isolated-3] [DEBUG] [1762964997.977975470] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.978019494] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.978055993] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 0.000058 0.476103 -0.000925 [component_container_isolated-3] -0.004724 0.999952 0.008604 0.060236 [component_container_isolated-3] -0.476080 -0.009815 0.879347 0.018082 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.978079969] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.430,-0.308} [component_container_isolated-3] [DEBUG] [1762964997.978112932] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.584,28.429,-0.231} [component_container_isolated-3] [DEBUG] [1762964997.978161926] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964997.980689172] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964997.980749938] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964997.980788843] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964997.980831634] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000046 -0.000061 -0.000024 [component_container_isolated-3] -0.000046 1.000000 -0.000050 0.000306 [component_container_isolated-3] 0.000061 0.000050 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] [1762964997.980856301] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.031,0.268,0.148} [component_container_isolated-3] [DEBUG] [1762964997.980903872] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964997.980972864] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964997.981011678] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979099 0.000075 0.203385 -0.006731 [component_container_isolated-3] 0.002326 0.999930 -0.011563 0.059816 [component_container_isolated-3] -0.203372 0.011794 0.979030 0.018611 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964997.981035864] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.690,11.734,0.136} [component_container_isolated-3] [DEBUG] [1762964997.981069188] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.010} {0.690,11.468,-0.018} [component_container_isolated-3] [DEBUG] [1762964997.981122089] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.001141281] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.001206225] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.001244688] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.001286979] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000093 0.000512 -0.000701 [component_container_isolated-3] -0.000093 1.000000 0.000230 0.000376 [component_container_isolated-3] -0.000512 -0.000230 1.000000 0.002592 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.001312067] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.002,-0.054} {0.228,-0.701,-0.105} [component_container_isolated-3] [DEBUG] [1762964998.001360099] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.001402730] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.001443438] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000050 0.185188 -0.006827 [component_container_isolated-3] -0.000166 1.000000 0.000611 0.059809 [component_container_isolated-3] -0.185188 -0.000631 0.982703 0.016839 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.001468305] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.001} {-0.037,10.672,-0.010} [component_container_isolated-3] [DEBUG] [1762964998.001502060] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.053} {-0.245,11.373,0.094} [component_container_isolated-3] [DEBUG] [1762964998.001554790] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.006143764] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.006209319] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.006248294] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.006291056] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000053 -0.000025 -0.000225 [component_container_isolated-3] 0.000053 1.000000 -0.000089 -0.000115 [component_container_isolated-3] 0.000025 0.000089 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] [1762964998.006315422] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.014,-0.000,-0.064} [component_container_isolated-3] [DEBUG] [1762964998.006362933] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.006403871] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.006440511] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879401 0.000053 0.476081 -0.000928 [component_container_isolated-3] -0.004670 0.999953 0.008515 0.060219 [component_container_isolated-3] -0.476058 -0.009711 0.879360 0.018076 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.006463825] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.633,28.428,-0.304} [component_container_isolated-3] [DEBUG] [1762964998.006496047] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.584,28.429,-0.231} [component_container_isolated-3] [DEBUG] [1762964998.006546373] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.016820985] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.016885038] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.016971984] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.017033491] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000004 -0.000020 -0.000125 [component_container_isolated-3] -0.000004 1.000000 -0.000179 -0.000519 [component_container_isolated-3] 0.000020 0.000179 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] [1762964998.017068718] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.027,-0.024} {0.104,-0.397,-0.240} [component_container_isolated-3] [DEBUG] [1762964998.017136037] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.017199729] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.017247901] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000110 0.191308 -0.006699 [component_container_isolated-3] -0.001553 0.999962 0.008546 0.059016 [component_container_isolated-3] -0.191302 -0.008686 0.981493 0.017595 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.017277888] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.507,11.029,-0.091} [component_container_isolated-3] [DEBUG] [1762964998.017319497] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.028,0.027} {-0.564,11.429,0.150} [component_container_isolated-3] [DEBUG] [1762964998.017388729] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.044246672] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.044305424] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.044354948] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.044411246] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000117 -0.000015 -0.000166 [component_container_isolated-3] 0.000117 1.000000 -0.000018 -0.000299 [component_container_isolated-3] 0.000015 0.000018 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] [1762964998.044446443] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.030,0.268,0.154} [component_container_isolated-3] [DEBUG] [1762964998.044513501] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.044576031] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.044626818] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979102 -0.000036 0.203371 -0.006746 [component_container_isolated-3] 0.002443 0.999930 -0.011581 0.059800 [component_container_isolated-3] -0.203356 0.011835 0.979033 0.018610 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.044655232] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.693,11.733,0.143} [component_container_isolated-3] [DEBUG] [1762964998.044693615] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.010} {0.690,11.468,-0.018} [component_container_isolated-3] [DEBUG] [1762964998.044762417] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.045521196] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.045570029] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.045618351] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.045662155] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000082 0.000048 -0.000116 [component_container_isolated-3] -0.000082 1.000000 -0.000167 0.000153 [component_container_isolated-3] -0.000048 0.000167 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] [1762964998.045687674] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.005,0.002,-0.069} [component_container_isolated-3] [DEBUG] [1762964998.045735775] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.045780621] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.045820407] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879378 0.000205 0.476124 -0.000923 [component_container_isolated-3] -0.004752 0.999954 0.008348 0.060224 [component_container_isolated-3] -0.476100 -0.009604 0.879339 0.018100 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.045844223] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.045903997] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.045845004] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.626,28.431,-0.310} [component_container_isolated-3] [DEBUG] [1762964998.046076155] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.003} {-0.584,28.429,-0.231} [component_container_isolated-3] [DEBUG] [1762964998.045998637] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.046169734] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.046207657] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000004 -0.000020 -0.000125 [component_container_isolated-3] -0.000004 1.000000 -0.000179 -0.000519 [component_container_isolated-3] 0.000020 0.000179 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] [1762964998.046257612] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.027,-0.024} {0.115,-0.398,-0.240} [component_container_isolated-3] [DEBUG] [1762964998.046311084] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.046354527] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.046382721] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000110 0.191308 -0.006699 [component_container_isolated-3] -0.001553 0.999962 0.008546 0.059016 [component_container_isolated-3] -0.191302 -0.008686 0.981493 0.017595 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.046400595] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.507,11.029,-0.091} [component_container_isolated-3] [DEBUG] [1762964998.046422697] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.027,0.027} {-0.574,11.430,0.150} [component_container_isolated-3] [DEBUG] [1762964998.046464046] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.056646031] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.056706056] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.056744119] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.056786981] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000016 0.000035 0.000232 [component_container_isolated-3] 0.000016 1.000000 -0.000008 0.000025 [component_container_isolated-3] -0.000035 0.000008 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] [1762964998.056811277] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.229,-0.699,-0.104} [component_container_isolated-3] [DEBUG] [1762964998.056859920] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.056902161] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.056966083] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 0.000036 0.185222 -0.006795 [component_container_isolated-3] -0.000150 1.000000 0.000603 0.059816 [component_container_isolated-3] -0.185222 -0.000621 0.982696 0.016999 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.056992333] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.001} {-0.036,10.674,-0.009} [component_container_isolated-3] [DEBUG] [1762964998.057026157] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.053} {-0.245,11.373,0.094} [component_container_isolated-3] [DEBUG] [1762964998.057081944] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.063368129] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.063428524] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.063467328] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.063510371] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000004 -0.000020 -0.000125 [component_container_isolated-3] -0.000004 1.000000 -0.000179 -0.000519 [component_container_isolated-3] 0.000020 0.000179 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] [1762964998.063535368] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.026,-0.023} {0.125,-0.400,-0.240} [component_container_isolated-3] [DEBUG] [1762964998.063582468] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.063630280] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.063670446] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981530 -0.000110 0.191308 -0.006699 [component_container_isolated-3] -0.001553 0.999962 0.008546 0.059016 [component_container_isolated-3] -0.191302 -0.008686 0.981493 0.017595 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.063695204] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.000} {-0.507,11.029,-0.091} [component_container_isolated-3] [DEBUG] [1762964998.063729870] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.027,0.027} {-0.584,11.431,0.150} [component_container_isolated-3] [DEBUG] [1762964998.063782070] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.064267587] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.064319265] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.064361145] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.064410961] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000016 0.000035 0.000232 [component_container_isolated-3] 0.000016 1.000000 -0.000008 0.000025 [component_container_isolated-3] -0.000035 0.000008 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] [1762964998.064438333] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.229,-0.697,-0.103} [component_container_isolated-3] [DEBUG] [1762964998.064488940] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.064533184] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.064570415] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 0.000036 0.185222 -0.006795 [component_container_isolated-3] -0.000150 1.000000 0.000603 0.059816 [component_container_isolated-3] -0.185222 -0.000621 0.982696 0.016999 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.064592778] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.001} {-0.036,10.674,-0.009} [component_container_isolated-3] [DEBUG] [1762964998.064624889] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.053} {-0.245,11.371,0.093} [component_container_isolated-3] [DEBUG] [1762964998.064675005] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.074750867] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.074820180] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.074862681] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.074909340] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000041 0.000017 0.000016 [component_container_isolated-3] -0.000041 1.000000 0.000034 0.000022 [component_container_isolated-3] -0.000017 -0.000034 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] [1762964998.074967842] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.032,0.269,0.152} [component_container_isolated-3] [DEBUG] [1762964998.075020973] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.075066450] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.075106987] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 -0.000003 0.203388 -0.006745 [component_container_isolated-3] 0.002402 0.999930 -0.011547 0.059796 [component_container_isolated-3] -0.203374 0.011794 0.979030 0.018613 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.075131965] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.690,11.734,0.141} [component_container_isolated-3] [DEBUG] [1762964998.075163075] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.010} {0.690,11.468,-0.018} [component_container_isolated-3] [DEBUG] [1762964998.075212809] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.077750556] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.077804609] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.077848763] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.077895944] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000127 -0.000024 0.000001 [component_container_isolated-3] 0.000127 1.000000 0.000128 -0.000053 [component_container_isolated-3] 0.000024 -0.000128 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] [1762964998.077959755] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.012,0.001,-0.062} [component_container_isolated-3] [DEBUG] [1762964998.078016023] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.078061380] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.078098671] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879390 0.000033 0.476103 -0.000939 [component_container_isolated-3] -0.004626 0.999953 0.008476 0.060223 [component_container_isolated-3] -0.476081 -0.009656 0.879349 0.018103 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.078131403] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.629,28.430,-0.301} [component_container_isolated-3] [DEBUG] [1762964998.078167242] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.584,28.429,-0.231} [component_container_isolated-3] [DEBUG] [1762964998.078219171] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.080415996] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.080476813] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.080523412] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.080574459] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000041 0.000017 0.000016 [component_container_isolated-3] -0.000041 1.000000 0.000034 0.000022 [component_container_isolated-3] -0.000017 -0.000034 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] [1762964998.080600639] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.033,0.270,0.150} [component_container_isolated-3] [DEBUG] [1762964998.080648551] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.080690941] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.080727241] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 -0.000003 0.203388 -0.006745 [component_container_isolated-3] 0.002402 0.999930 -0.011547 0.059796 [component_container_isolated-3] -0.203374 0.011794 0.979030 0.018613 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.080749994] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.690,11.734,0.141} [component_container_isolated-3] [DEBUG] [1762964998.080780382] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.010} {0.693,11.467,-0.016} [component_container_isolated-3] [DEBUG] [1762964998.080829135] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.085677324] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.085739052] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.085781092] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.085825247] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000127 -0.000024 0.000001 [component_container_isolated-3] 0.000127 1.000000 0.000128 -0.000053 [component_container_isolated-3] 0.000024 -0.000128 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] [1762964998.085849603] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.019,-0.000,-0.055} [component_container_isolated-3] [DEBUG] [1762964998.085897465] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.085975955] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.086015260] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879390 0.000033 0.476103 -0.000939 [component_container_isolated-3] -0.004626 0.999953 0.008476 0.060223 [component_container_isolated-3] -0.476081 -0.009656 0.879349 0.018103 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.086039626] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.629,28.430,-0.301} [component_container_isolated-3] [DEBUG] [1762964998.086073831] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.580,28.431,-0.239} [component_container_isolated-3] [DEBUG] [1762964998.086124568] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.088282059] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.088350539] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.088390265] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.088435331] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000240 -0.000276 -0.000438 [component_container_isolated-3] 0.000240 1.000000 -0.000222 -0.001057 [component_container_isolated-3] 0.000276 0.000222 1.000000 -0.001155 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.088460279] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.055} {0.242,-0.713,-0.089} [component_container_isolated-3] [DEBUG] [1762964998.088508681] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.088554138] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.088594856] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982748 -0.000159 0.184951 -0.006917 [component_container_isolated-3] 0.000090 1.000000 0.000381 0.059505 [component_container_isolated-3] -0.184951 -0.000358 0.982748 0.016871 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.088618421] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.021,10.658,0.005} [component_container_isolated-3] [DEBUG] [1762964998.088649901] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.054} {-0.245,11.371,0.093} [component_container_isolated-3] [DEBUG] [1762964998.088699796] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.108555225] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.108612715] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.108662941] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.108723377] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000041 0.000017 0.000016 [component_container_isolated-3] -0.000041 1.000000 0.000034 0.000022 [component_container_isolated-3] -0.000017 -0.000034 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] [1762964998.108759385] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.035,0.271,0.147} [component_container_isolated-3] [DEBUG] [1762964998.108828317] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.108889724] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.108964597] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979098 -0.000003 0.203388 -0.006745 [component_container_isolated-3] 0.002402 0.999930 -0.011547 0.059796 [component_container_isolated-3] -0.203374 0.011794 0.979030 0.018613 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.109000847] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.690,11.734,0.141} [component_container_isolated-3] [DEBUG] [1762964998.109045151] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.010} {0.695,11.466,-0.013} [component_container_isolated-3] [DEBUG] [1762964998.109127448] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.112614488] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.112672769] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.112713907] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.112758833] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000049 -0.000058 -0.000119 [component_container_isolated-3] -0.000049 1.000000 0.000144 0.000204 [component_container_isolated-3] 0.000058 -0.000144 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] [1762964998.112785424] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.001,-0.055} {0.233,-0.716,-0.092} [component_container_isolated-3] [DEBUG] [1762964998.112836291] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.112883371] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.112967081] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982759 -0.000137 0.184894 -0.006985 [component_container_isolated-3] 0.000041 1.000000 0.000525 0.059454 [component_container_isolated-3] -0.184894 -0.000508 0.982758 0.016837 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.112993782] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.001,-0.001} {-0.030,10.655,0.002} [component_container_isolated-3] [DEBUG] [1762964998.113025773] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.054} {-0.245,11.371,0.093} [component_container_isolated-3] [DEBUG] [1762964998.113082511] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.116837833] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.116908779] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.116975897] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.117025602] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000127 -0.000024 0.000001 [component_container_isolated-3] 0.000127 1.000000 0.000128 -0.000053 [component_container_isolated-3] 0.000024 -0.000128 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] [1762964998.117052283] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.027,-0.002,-0.047} [component_container_isolated-3] [DEBUG] [1762964998.117103891] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.117147655] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.117185758] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879390 0.000033 0.476103 -0.000939 [component_container_isolated-3] -0.004626 0.999953 0.008476 0.060223 [component_container_isolated-3] -0.476081 -0.009656 0.879349 0.018103 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.117208631] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.629,28.430,-0.301} [component_container_isolated-3] [DEBUG] [1762964998.117239691] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.577,28.432,-0.248} [component_container_isolated-3] [DEBUG] [1762964998.117294285] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.124960906] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.125020580] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.125060527] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.125104270] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000015 -0.000004 -0.000158 [component_container_isolated-3] 0.000015 1.000000 0.000290 0.000292 [component_container_isolated-3] 0.000004 -0.000290 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] [1762964998.125132254] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.026,-0.023} {0.108,-0.400,-0.239} [component_container_isolated-3] [DEBUG] [1762964998.125184814] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.125231994] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.125271319] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981531 -0.000181 0.191304 -0.006726 [component_container_isolated-3] -0.001538 0.999960 0.008837 0.059003 [component_container_isolated-3] -0.191298 -0.008968 0.981491 0.017599 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.125294784] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.523,11.029,-0.090} [component_container_isolated-3] [DEBUG] [1762964998.125326705] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.027,0.026} {-0.584,11.431,0.150} [component_container_isolated-3] [DEBUG] [1762964998.125375679] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.133088197] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.133149234] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.133190373] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.133234968] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000015 -0.000004 -0.000158 [component_container_isolated-3] 0.000015 1.000000 0.000290 0.000292 [component_container_isolated-3] 0.000004 -0.000290 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] [1762964998.133263111] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.027,-0.023} {0.092,-0.400,-0.238} [component_container_isolated-3] [DEBUG] [1762964998.133317014] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.133364976] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.133403940] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981531 -0.000181 0.191304 -0.006726 [component_container_isolated-3] -0.001538 0.999960 0.008837 0.059003 [component_container_isolated-3] -0.191298 -0.008968 0.981491 0.017599 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.133427596] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.523,11.029,-0.090} [component_container_isolated-3] [DEBUG] [1762964998.133459156] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.028,0.026} {-0.568,11.431,0.149} [component_container_isolated-3] [DEBUG] [1762964998.133508781] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.146106379] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.146171143] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.146210107] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.146253821] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000137 0.000298 0.000494 [component_container_isolated-3] -0.000137 1.000000 0.000149 0.000848 [component_container_isolated-3] -0.000298 -0.000149 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] [1762964998.146278889] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.225,-0.699,-0.100} [component_container_isolated-3] [DEBUG] [1762964998.146326439] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.146369131] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.146408957] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 -0.000029 0.185187 -0.006914 [component_container_isolated-3] -0.000097 1.000000 0.000674 0.059571 [component_container_isolated-3] -0.185187 -0.000680 0.982703 0.017041 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.146433223] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.040,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964998.146466437] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.003,0.053} {-0.245,11.371,0.093} [component_container_isolated-3] [DEBUG] [1762964998.146517965] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.151253359] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.151324384] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.151363268] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.151407824] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000127 -0.000024 0.000001 [component_container_isolated-3] 0.000127 1.000000 0.000128 -0.000053 [component_container_isolated-3] 0.000024 -0.000128 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] [1762964998.151433763] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.034,-0.003,-0.040} [component_container_isolated-3] [DEBUG] [1762964998.151487927] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.151536269] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.151575323] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879390 0.000033 0.476103 -0.000939 [component_container_isolated-3] -0.004626 0.999953 0.008476 0.060223 [component_container_isolated-3] -0.476081 -0.009656 0.879349 0.018103 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.151597886] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.629,28.430,-0.301} [component_container_isolated-3] [DEBUG] [1762964998.151627413] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.573,28.433,-0.256} [component_container_isolated-3] [DEBUG] [1762964998.151715952] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.154473118] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.154536779] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.154575844] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.154620329] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000073 0.000066 -0.000194 [component_container_isolated-3] -0.000073 1.000000 0.000152 0.000181 [component_container_isolated-3] -0.000066 -0.000152 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] [1762964998.154645276] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.044,0.274,0.143} [component_container_isolated-3] [DEBUG] [1762964998.154693619] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.154735228] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.154771618] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979085 0.000037 0.203452 -0.006773 [component_container_isolated-3] 0.002330 0.999932 -0.011394 0.059817 [component_container_isolated-3] -0.203439 0.011630 0.979019 0.018618 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.154796195] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.681,11.738,0.136} [component_container_isolated-3] [DEBUG] [1762964998.154828296] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.010} {0.695,11.466,-0.013} [component_container_isolated-3] [DEBUG] [1762964998.154877610] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.156825259] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.156891937] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.156965337] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.157011385] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000015 -0.000004 -0.000158 [component_container_isolated-3] 0.000015 1.000000 0.000290 0.000292 [component_container_isolated-3] 0.000004 -0.000290 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] [1762964998.157036092] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.027,-0.023} {0.075,-0.400,-0.238} [component_container_isolated-3] [DEBUG] [1762964998.157084905] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.157128549] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.157164988] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981531 -0.000181 0.191304 -0.006726 [component_container_isolated-3] -0.001538 0.999960 0.008837 0.059003 [component_container_isolated-3] -0.191298 -0.008968 0.981491 0.017599 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.157190437] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.523,11.029,-0.090} [component_container_isolated-3] [DEBUG] [1762964998.157223530] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.028,0.026} {-0.551,11.431,0.148} [component_container_isolated-3] [DEBUG] [1762964998.157273235] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.175074331] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.175129887] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.175167118] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.175209739] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000006 0.000031 -0.000014 [component_container_isolated-3] 0.000006 1.000000 -0.000097 0.000074 [component_container_isolated-3] -0.000031 0.000097 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] [1762964998.175234647] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.231,-0.697,-0.099} [component_container_isolated-3] [DEBUG] [1762964998.175282859] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.175326232] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.175367270] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982697 -0.000018 0.185218 -0.006896 [component_container_isolated-3] -0.000091 1.000000 0.000576 0.059623 [component_container_isolated-3] -0.185218 -0.000583 0.982697 0.017102 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.175390795] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.034,10.674,-0.005} [component_container_isolated-3] [DEBUG] [1762964998.175423798] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.003,0.053} {-0.245,11.371,0.093} [component_container_isolated-3] [DEBUG] [1762964998.175476429] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.191051573] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.191117309] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.191158508] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.191204075] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000127 -0.000024 0.000001 [component_container_isolated-3] 0.000127 1.000000 0.000128 -0.000053 [component_container_isolated-3] 0.000024 -0.000128 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] [1762964998.191230946] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.041,-0.004,-0.033} [component_container_isolated-3] [DEBUG] [1762964998.191280300] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.191325326] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.191362056] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879390 0.000033 0.476103 -0.000939 [component_container_isolated-3] -0.004626 0.999953 0.008476 0.060223 [component_container_isolated-3] -0.476081 -0.009656 0.879349 0.018103 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.191385070] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.629,28.430,-0.301} [component_container_isolated-3] [DEBUG] [1762964998.191418594] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.570,28.434,-0.264} [component_container_isolated-3] [DEBUG] [1762964998.191471025] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.198836882] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.198898930] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.198977550] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.199025752] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000025 0.000012 -0.000130 [component_container_isolated-3] 0.000025 1.000000 -0.000088 -0.000034 [component_container_isolated-3] -0.000012 0.000088 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] [1762964998.199052503] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.039,0.275,0.145} [component_container_isolated-3] [DEBUG] [1762964998.199104793] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.199150941] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.199190076] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979082 0.000031 0.203465 -0.006811 [component_container_isolated-3] 0.002354 0.999931 -0.011482 0.059823 [component_container_isolated-3] -0.203451 0.011721 0.979015 0.018655 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.199212218] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.686,11.739,0.138} [component_container_isolated-3] [DEBUG] [1762964998.199243067] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.011} {0.695,11.466,-0.013} [component_container_isolated-3] [DEBUG] [1762964998.199292221] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.214049063] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.214109859] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.214150317] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.214194491] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000224 0.000278 0.000164 [component_container_isolated-3] -0.000224 1.000000 0.000103 0.001005 [component_container_isolated-3] -0.000278 -0.000103 1.000000 0.000915 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.214220070] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.028,-0.022} {0.069,-0.384,-0.250} [component_container_isolated-3] [DEBUG] [1762964998.214267991] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.214311795] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.214348595] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981478 0.000019 0.191577 -0.006654 [component_container_isolated-3] -0.001765 0.999959 0.008939 0.059285 [component_container_isolated-3] -0.191569 -0.009111 0.981437 0.017880 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.214372351] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.532,11.044,-0.103} [component_container_isolated-3] [DEBUG] [1762964998.214406626] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.029,0.025} {-0.551,11.431,0.148} [component_container_isolated-3] [DEBUG] [1762964998.214459437] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.219899506] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.219992544] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.220030727] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.220073538] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000024 0.000023 0.000080 [component_container_isolated-3] -0.000024 1.000000 0.000085 -0.000040 [component_container_isolated-3] -0.000023 -0.000085 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] [1762964998.220097614] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.226,-0.696,-0.101} [component_container_isolated-3] [DEBUG] [1762964998.220146588] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.220188568] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.220225318] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982693 -0.000010 0.185240 -0.006872 [component_container_isolated-3] -0.000114 1.000000 0.000661 0.059652 [component_container_isolated-3] -0.185240 -0.000671 0.982693 0.017136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.220249484] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.675,-0.007} [component_container_isolated-3] [DEBUG] [1762964998.220282578] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.053} {-0.245,11.371,0.093} [component_container_isolated-3] [DEBUG] [1762964998.220334697] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.243994732] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.244061480] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.244101105] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.244144168] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000055 0.000013 0.000031 [component_container_isolated-3] -0.000055 1.000000 0.000071 -0.000051 [component_container_isolated-3] -0.000013 -0.000071 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] [1762964998.244168614] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.043,0.276,0.141} [component_container_isolated-3] [DEBUG] [1762964998.244216385] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.244257444] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.244294925] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 0.000071 0.203477 -0.006828 [component_container_isolated-3] 0.002299 0.999932 -0.011411 0.059827 [component_container_isolated-3] -0.203464 0.011640 0.979013 0.018672 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.244319302] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.681,11.740,0.135} [component_container_isolated-3] [DEBUG] [1762964998.244352405] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.011} {0.695,11.466,-0.013} [component_container_isolated-3] [DEBUG] [1762964998.244402070] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.249144327] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.249198881] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.249236513] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.249278593] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000055 0.000013 0.000031 [component_container_isolated-3] -0.000055 1.000000 0.000071 -0.000051 [component_container_isolated-3] -0.000013 -0.000071 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] [1762964998.249303340] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.047,0.277,0.138} [component_container_isolated-3] [DEBUG] [1762964998.249350570] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.249390707] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.249429551] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979080 0.000071 0.203477 -0.006828 [component_container_isolated-3] 0.002299 0.999932 -0.011411 0.059827 [component_container_isolated-3] -0.203464 0.011640 0.979013 0.018672 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.249452746] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.681,11.740,0.135} [component_container_isolated-3] [DEBUG] [1762964998.249485749] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.011} {0.700,11.465,-0.010} [component_container_isolated-3] [DEBUG] [1762964998.249535504] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.252515635] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.252586110] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.252626086] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.252669910] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000099 -0.000175 0.000603 [component_container_isolated-3] 0.000099 1.000000 -0.000141 0.000034 [component_container_isolated-3] 0.000175 0.000141 1.000000 -0.000590 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.252695539] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.015,0.028,-0.023} {0.077,-0.394,-0.245} [component_container_isolated-3] [DEBUG] [1762964998.252744272] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.252787655] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.252823854] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981511 -0.000051 0.191406 -0.006519 [component_container_isolated-3] -0.001664 0.999960 0.008798 0.059374 [component_container_isolated-3] -0.191399 -0.008954 0.981472 0.017885 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.252849352] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.523,11.034,-0.097} [component_container_isolated-3] [DEBUG] [1762964998.252882696] [zed_multi.right]: +++ Diff [map -> odom] - {-0.010,-0.029,0.026} {-0.551,11.431,0.148} [component_container_isolated-3] [DEBUG] [1762964998.252965153] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.254525694] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.254577763] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.254617259] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.254660571] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000024 0.000023 0.000080 [component_container_isolated-3] -0.000024 1.000000 0.000085 -0.000040 [component_container_isolated-3] -0.000023 -0.000085 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] [1762964998.254684477] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.004,0.002,-0.054} {0.221,-0.694,-0.102} [component_container_isolated-3] [DEBUG] [1762964998.254730745] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.254771864] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.254807482] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982693 -0.000010 0.185240 -0.006872 [component_container_isolated-3] -0.000114 1.000000 0.000661 0.059652 [component_container_isolated-3] -0.185240 -0.000671 0.982693 0.017136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.254828672] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.039,10.675,-0.007} [component_container_isolated-3] [DEBUG] [1762964998.254860193] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.053} {-0.240,11.370,0.094} [component_container_isolated-3] [DEBUG] [1762964998.254945255] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.255799426] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.255846586] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.255883807] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.255958310] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000056 -0.000120 0.000082 [component_container_isolated-3] -0.000056 1.000000 -0.000089 0.000021 [component_container_isolated-3] 0.000120 0.000089 1.000000 -0.000194 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.255984770] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.036,-0.011,-0.036} [component_container_isolated-3] [DEBUG] [1762964998.256032171] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.256072327] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.256107194] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879447 0.000124 0.475997 -0.000947 [component_container_isolated-3] -0.004681 0.999954 0.008387 0.060223 [component_container_isolated-3] -0.475974 -0.009604 0.879407 0.018083 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.256130118] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.626,28.423,-0.305} [component_container_isolated-3] [DEBUG] [1762964998.256161778] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.570,28.434,-0.264} [component_container_isolated-3] [DEBUG] [1762964998.256211173] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.283586914] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.283646588] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.283686143] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.283731109] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000011 0.000046 -0.000087 [component_container_isolated-3] 0.000011 1.000000 0.000051 -0.000081 [component_container_isolated-3] -0.000046 -0.000051 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] [1762964998.283757399] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.002} {-0.039,-0.009,-0.035} [component_container_isolated-3] [DEBUG] [1762964998.283807906] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.283853483] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.283895423] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879425 0.000090 0.476038 -0.000959 [component_container_isolated-3] -0.004670 0.999954 0.008438 0.060216 [component_container_isolated-3] -0.476015 -0.009644 0.879384 0.018078 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.283946551] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.628,28.425,-0.304} [component_container_isolated-3] [DEBUG] [1762964998.283981517] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.002} {-0.570,28.434,-0.264} [component_container_isolated-3] [DEBUG] [1762964998.284033577] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.302321462] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.302375505] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.302413508] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.302457843] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000172 -0.000076 0.000213 [component_container_isolated-3] 0.000172 1.000000 -0.000002 0.000117 [component_container_isolated-3] 0.000076 0.000002 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] [1762964998.302482740] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.047,0.272,0.148} [component_container_isolated-3] [DEBUG] [1762964998.302530622] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.302574786] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.302614251] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 -0.000097 0.203403 -0.006840 [component_container_isolated-3] 0.002470 0.999932 -0.011412 0.059842 [component_container_isolated-3] -0.203388 0.011676 0.979029 0.018675 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.302637736] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.683,11.735,0.145} [component_container_isolated-3] [DEBUG] [1762964998.302669226] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.010} {0.700,11.465,-0.010} [component_container_isolated-3] [DEBUG] [1762964998.302727918] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.307815975] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.307872103] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.307914143] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.307998364] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000115 -0.000235 -0.000762 [component_container_isolated-3] 0.000115 1.000000 -0.000256 -0.000710 [component_container_isolated-3] 0.000235 0.000256 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] [1762964998.308027589] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.003,0.002,-0.055} {0.235,-0.708,-0.095} [component_container_isolated-3] [DEBUG] [1762964998.308083075] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.308131428] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.308170051] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982737 -0.000076 0.185009 -0.007071 [component_container_isolated-3] 0.000001 1.000000 0.000405 0.059532 [component_container_isolated-3] -0.185009 -0.000398 0.982737 0.017019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.308193106] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.023,10.662,0.000} [component_container_isolated-3] [DEBUG] [1762964998.308223964] [zed_multi.front]: +++ Diff [map -> odom] - {0.007,-0.002,0.054} {-0.240,11.370,0.094} [component_container_isolated-3] [DEBUG] [1762964998.308273930] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.310679574] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.310731413] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.310770097] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.310813109] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000172 -0.000076 0.000213 [component_container_isolated-3] 0.000172 1.000000 -0.000002 0.000117 [component_container_isolated-3] 0.000076 0.000002 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] [1762964998.310837896] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.047,0.268,0.158} [component_container_isolated-3] [DEBUG] [1762964998.310883924] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.310963556] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.311002681] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979095 -0.000097 0.203403 -0.006840 [component_container_isolated-3] 0.002470 0.999932 -0.011412 0.059842 [component_container_isolated-3] -0.203388 0.011676 0.979029 0.018675 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.311026296] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.683,11.735,0.145} [component_container_isolated-3] [DEBUG] [1762964998.311059129] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.010} {0.698,11.469,-0.020} [component_container_isolated-3] [DEBUG] [1762964998.311111349] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.315320547] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.315387675] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.315427952] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.315472357] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000065 0.000100 -0.001344 [component_container_isolated-3] 0.000065 1.000000 -0.000168 -0.000759 [component_container_isolated-3] -0.000100 0.000168 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] [1762964998.315497706] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.014,0.027,-0.022} {0.087,-0.389,-0.241} [component_container_isolated-3] [DEBUG] [1762964998.315546489] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.315590783] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.315630409] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981492 -0.000082 0.191504 -0.006798 [component_container_isolated-3] -0.001600 0.999961 0.008630 0.059324 [component_container_isolated-3] -0.191498 -0.008776 0.981454 0.018032 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.315655767] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.512,11.040,-0.093} [component_container_isolated-3] [DEBUG] [1762964998.315689622] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.028,0.026} {-0.551,11.431,0.148} [component_container_isolated-3] [DEBUG] [1762964998.315740128] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.317969015] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.318028268] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.318071621] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.318118070] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 0.000079 0.000263 [component_container_isolated-3] -0.000037 1.000000 0.000097 0.000017 [component_container_isolated-3] -0.000079 -0.000097 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] [1762964998.318144280] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.002} {-0.045,-0.004,-0.038} [component_container_isolated-3] [DEBUG] [1762964998.318194846] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.318239953] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.318276723] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879387 0.000076 0.476108 -0.000926 [component_container_isolated-3] -0.004707 0.999952 0.008534 0.060213 [component_container_isolated-3] -0.476084 -0.009746 0.879346 0.018070 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.318299907] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.635,28.430,-0.307} [component_container_isolated-3] [DEBUG] [1762964998.318333802] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.002,-0.002} {-0.570,28.434,-0.264} [component_container_isolated-3] [DEBUG] [1762964998.318384368] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.321963283] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.322029029] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.322076109] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.322126595] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000115 -0.000235 -0.000762 [component_container_isolated-3] 0.000115 1.000000 -0.000256 -0.000710 [component_container_isolated-3] 0.000235 0.000256 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] [1762964998.322155270] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.001,-0.056} {0.250,-0.721,-0.089} [component_container_isolated-3] [DEBUG] [1762964998.322216998] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.322265090] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.322306589] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982737 -0.000076 0.185009 -0.007071 [component_container_isolated-3] 0.000001 1.000000 0.000405 0.059532 [component_container_isolated-3] -0.185009 -0.000398 0.982737 0.017019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.322331907] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.023,10.662,0.000} [component_container_isolated-3] [DEBUG] [1762964998.322364079] [zed_multi.front]: +++ Diff [map -> odom] - {0.008,-0.001,0.054} {-0.256,11.384,0.087} [component_container_isolated-3] [DEBUG] [1762964998.322415667] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.322992889] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.323044147] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.323085516] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.323129240] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000065 0.000100 -0.001344 [component_container_isolated-3] 0.000065 1.000000 -0.000168 -0.000759 [component_container_isolated-3] -0.000100 0.000168 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] [1762964998.323154869] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.022} {0.096,-0.383,-0.237} [component_container_isolated-3] [DEBUG] [1762964998.323202540] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.323245863] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.323281681] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981492 -0.000082 0.191504 -0.006798 [component_container_isolated-3] -0.001600 0.999961 0.008630 0.059324 [component_container_isolated-3] -0.191498 -0.008776 0.981454 0.018032 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.323304214] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.512,11.040,-0.093} [component_container_isolated-3] [DEBUG] [1762964998.323336355] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.027,0.025} {-0.562,11.425,0.144} [component_container_isolated-3] [DEBUG] [1762964998.323390489] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.328414784] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.328471312] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.328511008] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.328555463] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 0.000079 0.000263 [component_container_isolated-3] -0.000037 1.000000 0.000097 0.000017 [component_container_isolated-3] -0.000079 -0.000097 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] [1762964998.328580921] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.002,0.002} {-0.050,0.000,-0.040} [component_container_isolated-3] [DEBUG] [1762964998.328629394] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.328674029] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.328714927] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879387 0.000076 0.476108 -0.000926 [component_container_isolated-3] -0.004707 0.999952 0.008534 0.060213 [component_container_isolated-3] -0.476084 -0.009746 0.879346 0.018070 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.328740997] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.635,28.430,-0.307} [component_container_isolated-3] [DEBUG] [1762964998.328773389] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.002,-0.002} {-0.563,28.430,-0.262} [component_container_isolated-3] [DEBUG] [1762964998.328824096] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.347148541] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.347205991] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.347245837] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.347290492] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000037 0.000079 0.000263 [component_container_isolated-3] -0.000037 1.000000 0.000097 0.000017 [component_container_isolated-3] -0.000079 -0.000097 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] [1762964998.347315370] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.056,0.005,-0.042} [component_container_isolated-3] [DEBUG] [1762964998.347362991] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.347404380] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.347440428] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879387 0.000076 0.476108 -0.000926 [component_container_isolated-3] -0.004707 0.999952 0.008534 0.060213 [component_container_isolated-3] -0.476084 -0.009746 0.879346 0.018070 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.347464384] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.635,28.430,-0.307} [component_container_isolated-3] [DEBUG] [1762964998.347497608] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.001,-0.002,-0.002} {-0.557,28.425,-0.259} [component_container_isolated-3] [DEBUG] [1762964998.347547813] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.351253561] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.351331790] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.351382206] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.351435258] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000078 -0.000161 0.000498 [component_container_isolated-3] 0.000078 1.000000 0.000183 -0.000171 [component_container_isolated-3] 0.000161 -0.000183 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] [1762964998.351465746] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.022} {0.086,-0.392,-0.233} [component_container_isolated-3] [DEBUG] [1762964998.351519899] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.351569404] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.351608539] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981523 -0.000194 0.191346 -0.006826 [component_container_isolated-3] -0.001521 0.999960 0.008813 0.059276 [component_container_isolated-3] -0.191340 -0.008941 0.981483 0.018003 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.351632925] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.522,11.031,-0.089} [component_container_isolated-3] [DEBUG] [1762964998.351664856] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.027,0.026} {-0.562,11.425,0.144} [component_container_isolated-3] [DEBUG] [1762964998.351714731] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.355605141] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.355678060] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.355667270] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.355791788] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.355849317] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.355960129] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000006 0.000092 -0.000099 [component_container_isolated-3] 0.000006 1.000000 0.000185 -0.000200 [component_container_isolated-3] -0.000092 -0.000185 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] [1762964998.356003903] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.058,0.273,0.158} [component_container_isolated-3] [DEBUG] [1762964998.356075620] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.356147958] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.356204235] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979076 -0.000141 0.203493 -0.006849 [component_container_isolated-3] 0.002477 0.999934 -0.011228 0.059833 [component_container_isolated-3] -0.203478 0.011497 0.979012 0.018685 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.356235775] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,0.000,0.000} {0.673,11.740,0.145} [component_container_isolated-3] [DEBUG] [1762964998.356273768] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.010} {0.698,11.469,-0.020} [component_container_isolated-3] [DEBUG] [1762964998.355726162] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.356324815] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.356402554] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000115 -0.000235 -0.000762 [component_container_isolated-3] 0.000115 1.000000 -0.000256 -0.000710 [component_container_isolated-3] 0.000235 0.000256 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] [1762964998.356453862] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.265,-0.735,-0.082} [component_container_isolated-3] [DEBUG] [1762964998.356507795] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.356547841] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.356575955] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982737 -0.000076 0.185009 -0.007071 [component_container_isolated-3] 0.000001 1.000000 0.000405 0.059532 [component_container_isolated-3] -0.185009 -0.000398 0.982737 0.017019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.356593308] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.023,10.662,0.000} [component_container_isolated-3] [DEBUG] [1762964998.356615982] [zed_multi.front]: +++ Diff [map -> odom] - {0.009,-0.000,0.055} {-0.272,11.397,0.080} [component_container_isolated-3] [DEBUG] [1762964998.356654736] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.362574581] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.362638443] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.362685874] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.362739646] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000115 -0.000235 -0.000762 [component_container_isolated-3] 0.000115 1.000000 -0.000256 -0.000710 [component_container_isolated-3] 0.000235 0.000256 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] [1762964998.362770084] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,-0.000,-0.058} {0.279,-0.748,-0.076} [component_container_isolated-3] [DEBUG] [1762964998.362829758] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.362883070] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.362967962] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982737 -0.000076 0.185009 -0.007071 [component_container_isolated-3] 0.000001 1.000000 0.000405 0.059532 [component_container_isolated-3] -0.185009 -0.000398 0.982737 0.017019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.362998731] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.023,10.662,0.000} [component_container_isolated-3] [DEBUG] [1762964998.363036623] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,0.000,0.056} {-0.288,11.410,0.073} [component_container_isolated-3] [DEBUG] [1762964998.363102369] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.381851345] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.381956626] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.382000259] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.382046989] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000010 -0.000096 0.000470 [component_container_isolated-3] -0.000010 1.000000 -0.000140 0.000099 [component_container_isolated-3] 0.000096 0.000140 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] [1762964998.382073189] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.014,0.026,-0.023} {0.094,-0.398,-0.233} [component_container_isolated-3] [DEBUG] [1762964998.382123364] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.382274253] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.382315832] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981541 -0.000158 0.191252 -0.006755 [component_container_isolated-3] -0.001529 0.999961 0.008673 0.059255 [component_container_isolated-3] -0.191246 -0.008805 0.981503 0.017917 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.382341261] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.514,11.026,-0.089} [component_container_isolated-3] [DEBUG] [1762964998.382375616] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.027,0.026} {-0.562,11.425,0.144} [component_container_isolated-3] [DEBUG] [1762964998.382425992] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.387587329] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.387669516] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.387723039] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.387786820] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000126 -0.000260 -0.000974 [component_container_isolated-3] -0.000126 1.000000 -0.000393 0.000146 [component_container_isolated-3] 0.000260 0.000393 1.000000 -0.000804 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.387825164] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.013,0.009} {-0.035,0.258,0.151} [component_container_isolated-3] [DEBUG] [1762964998.387897973] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.388009355] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.388074390] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979129 0.000063 0.203239 -0.007193 [component_container_isolated-3] 0.002348 0.999930 -0.011621 0.059839 [component_container_isolated-3] -0.203225 0.011856 0.979060 0.018586 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.388108485] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.000} {0.694,11.726,0.137} [component_container_isolated-3] [DEBUG] [1762964998.388149142] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.010} {0.698,11.469,-0.020} [component_container_isolated-3] [DEBUG] [1762964998.388214156] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.392628086] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.392700344] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.392740751] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.392785877] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000115 -0.000235 -0.000762 [component_container_isolated-3] 0.000115 1.000000 -0.000256 -0.000710 [component_container_isolated-3] 0.000235 0.000256 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] [1762964998.392812067] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.000,-0.001,-0.058} {0.294,-0.762,-0.069} [component_container_isolated-3] [DEBUG] [1762964998.392861251] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.392908351] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.392975780] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982737 -0.000076 0.185009 -0.007071 [component_container_isolated-3] 0.000001 1.000000 0.000405 0.059532 [component_container_isolated-3] -0.185009 -0.000398 0.982737 0.017019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.393002541] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.001} {-0.023,10.662,0.000} [component_container_isolated-3] [DEBUG] [1762964998.393035123] [zed_multi.front]: +++ Diff [map -> odom] - {0.011,0.001,0.057} {-0.304,11.424,0.066} [component_container_isolated-3] [DEBUG] [1762964998.393088706] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.398182283] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.398242819] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.398283236] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.398327731] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000070 -0.000089 -0.000121 [component_container_isolated-3] -0.000070 1.000000 0.000004 0.000148 [component_container_isolated-3] 0.000089 -0.000004 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] [1762964998.398353099] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.000,0.003,0.002} {-0.056,-0.000,-0.046} [component_container_isolated-3] [DEBUG] [1762964998.398400810] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.398442089] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.398478038] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 0.000137 0.476030 -0.000925 [component_container_isolated-3] -0.004777 0.999952 0.008538 0.060227 [component_container_isolated-3] -0.476006 -0.009783 0.879388 0.018056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.398502284] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.425,-0.311} [component_container_isolated-3] [DEBUG] [1762964998.398534325] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.557,28.425,-0.259} [component_container_isolated-3] [DEBUG] [1762964998.398582968] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.408565483] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.408626229] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.408667237] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.408712363] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000069 -0.000123 -0.000124 [component_container_isolated-3] 0.000069 1.000000 0.000085 -0.000150 [component_container_isolated-3] 0.000123 -0.000085 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] [1762964998.408738202] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.023} {0.089,-0.405,-0.229} [component_container_isolated-3] [DEBUG] [1762964998.408786465] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.408833084] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.408874022] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981565 -0.000241 0.191131 -0.006767 [component_container_isolated-3] -0.001460 0.999961 0.008758 0.059216 [component_container_isolated-3] -0.191126 -0.008876 0.981525 0.017778 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.408900683] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.518,11.019,-0.085} [component_container_isolated-3] [DEBUG] [1762964998.408973492] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.027,0.026} {-0.562,11.425,0.144} [component_container_isolated-3] [DEBUG] [1762964998.409050118] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.426810186] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.426867665] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.426908393] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.426987675] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000070 -0.000089 -0.000121 [component_container_isolated-3] -0.000070 1.000000 0.000004 0.000148 [component_container_isolated-3] 0.000089 -0.000004 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] [1762964998.427013774] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.056,-0.005,-0.050} [component_container_isolated-3] [DEBUG] [1762964998.427062427] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.427105860] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.427141488] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 0.000137 0.476030 -0.000925 [component_container_isolated-3] -0.004777 0.999952 0.008538 0.060227 [component_container_isolated-3] -0.476006 -0.009783 0.879388 0.018056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.427164262] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.425,-0.311} [component_container_isolated-3] [DEBUG] [1762964998.427197415] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.554,28.431,-0.255} [component_container_isolated-3] [DEBUG] [1762964998.427248803] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.434852154] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.434906798] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.434982543] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.435030544] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000070 -0.000261 0.000447 [component_container_isolated-3] -0.000070 1.000000 0.000045 0.000190 [component_container_isolated-3] 0.000261 -0.000045 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] [1762964998.435057476] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.009} {-0.038,0.243,0.147} [component_container_isolated-3] [DEBUG] [1762964998.435108323] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.435156174] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.435196491] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979156 0.000067 0.203109 -0.007274 [component_container_isolated-3] 0.002358 0.999929 -0.011698 0.059833 [component_container_isolated-3] -0.203095 0.011933 0.979086 0.018293 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.435220738] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,-0.000} {0.698,11.718,0.138} [component_container_isolated-3] [DEBUG] [1762964998.435251296] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.013,-0.009} {0.706,11.477,-0.015} [component_container_isolated-3] [DEBUG] [1762964998.435301111] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.450882117] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.450968542] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.451011354] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.451057161] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000181 0.000272 -0.000372 [component_container_isolated-3] -0.000181 1.000000 0.000016 0.000329 [component_container_isolated-3] -0.000272 -0.000016 1.000000 0.000924 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.451083472] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.027,-0.022} {0.088,-0.389,-0.240} [component_container_isolated-3] [DEBUG] [1762964998.451133698] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.451177742] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.451213810] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981513 -0.000067 0.191398 -0.006771 [component_container_isolated-3] -0.001643 0.999960 0.008773 0.059232 [component_container_isolated-3] -0.191391 -0.008926 0.981473 0.017884 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.451236454] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.521,11.034,-0.096} [component_container_isolated-3] [DEBUG] [1762964998.451268745] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.027,0.025} {-0.562,11.425,0.144} [component_container_isolated-3] [DEBUG] [1762964998.451322849] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.453085836] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.453145139] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.453184975] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.453230813] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000070 -0.000089 -0.000121 [component_container_isolated-3] -0.000070 1.000000 0.000004 0.000148 [component_container_isolated-3] 0.000089 -0.000004 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] [1762964998.453257884] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.056,-0.010,-0.054} [component_container_isolated-3] [DEBUG] [1762964998.453308431] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.453351663] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.453388233] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 0.000137 0.476030 -0.000925 [component_container_isolated-3] -0.004777 0.999952 0.008538 0.060227 [component_container_isolated-3] -0.476006 -0.009783 0.879388 0.018056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.453412980] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.425,-0.311} [component_container_isolated-3] [DEBUG] [1762964998.453446625] [zed_multi.rear]: +++ Diff [map -> odom] - {-0.000,-0.003,-0.002} {-0.552,28.436,-0.250} [component_container_isolated-3] [DEBUG] [1762964998.453499506] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.460753800] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.460833311] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.460880201] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.460961105] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000059 0.000418 0.000148 [component_container_isolated-3] -0.000059 1.000000 0.000117 0.000174 [component_container_isolated-3] -0.000418 -0.000117 1.000000 0.001446 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.460995511] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.010} {-0.044,0.267,0.144} [component_container_isolated-3] [DEBUG] [1762964998.461065886] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.461136741] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.461190854] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 0.000100 0.203518 -0.007213 [component_container_isolated-3] 0.002305 0.999930 -0.011580 0.059848 [component_container_isolated-3] -0.203505 0.011807 0.979003 0.018487 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.461220290] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.000} {0.691,11.742,0.135} [component_container_isolated-3] [DEBUG] [1762964998.461261189] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.011} {0.706,11.477,-0.015} [component_container_isolated-3] [DEBUG] [1762964998.461336903] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.467058440] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.467151448] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.467194550] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.467241500] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000116 0.000251 0.000683 [component_container_isolated-3] -0.000116 1.000000 0.000077 0.000604 [component_container_isolated-3] -0.000251 -0.000077 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] [1762964998.467268381] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,-0.001,-0.057} {0.290,-0.748,-0.076} [component_container_isolated-3] [DEBUG] [1762964998.467317765] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.467363272] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.467401295] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982690 0.000024 0.185256 -0.006985 [component_container_isolated-3] -0.000115 1.000000 0.000481 0.059590 [component_container_isolated-3] -0.185255 -0.000494 0.982690 0.017171 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.467428707] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.676,-0.007} [component_container_isolated-3] [DEBUG] [1762964998.467465587] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,0.000,0.056} {-0.304,11.424,0.066} [component_container_isolated-3] [DEBUG] [1762964998.467532826] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.472892532] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.472987263] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.473038330] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.473098134] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000116 0.000251 0.000683 [component_container_isolated-3] -0.000116 1.000000 0.000077 0.000604 [component_container_isolated-3] -0.000251 -0.000077 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] [1762964998.473134855] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.056} {0.285,-0.733,-0.082} [component_container_isolated-3] [DEBUG] [1762964998.473203856] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.473265374] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.473319657] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982690 0.000024 0.185256 -0.006985 [component_container_isolated-3] -0.000115 1.000000 0.000481 0.059590 [component_container_isolated-3] -0.185255 -0.000494 0.982690 0.017171 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.473352350] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.029,10.676,-0.007} [component_container_isolated-3] [DEBUG] [1762964998.473396143] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.000,0.055} {-0.298,11.410,0.073} [component_container_isolated-3] [DEBUG] [1762964998.473470646] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.475759166] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.475815113] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.475856482] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.475902480] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000099 -0.000009 -0.000099 [component_container_isolated-3] 0.000099 1.000000 -0.000002 -0.000166 [component_container_isolated-3] 0.000009 0.000002 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] [1762964998.475972884] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.022} {0.088,-0.389,-0.234} [component_container_isolated-3] [DEBUG] [1762964998.476026377] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.476074208] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.476116148] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981514 -0.000164 0.191389 -0.006790 [component_container_isolated-3] -0.001544 0.999960 0.008772 0.059218 [component_container_isolated-3] -0.191383 -0.008905 0.981475 0.017996 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.476142238] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.520,11.034,-0.090} [component_container_isolated-3] [DEBUG] [1762964998.476175141] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.027,0.025} {-0.562,11.425,0.144} [component_container_isolated-3] [DEBUG] [1762964998.476233743] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.483744797] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.483793149] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.483836662] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.483883061] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000059 0.000418 0.000148 [component_container_isolated-3] -0.000059 1.000000 0.000117 0.000174 [component_container_isolated-3] -0.000418 -0.000117 1.000000 0.001446 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.483908439] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.012,0.011} {-0.051,0.291,0.140} [component_container_isolated-3] [DEBUG] [1762964998.483999263] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.484043838] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.484079706] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979071 0.000100 0.203518 -0.007213 [component_container_isolated-3] 0.002305 0.999930 -0.011580 0.059848 [component_container_isolated-3] -0.203505 0.011807 0.979003 0.018487 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.484102059] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.000} {0.691,11.742,0.135} [component_container_isolated-3] [DEBUG] [1762964998.484136234] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.012} {0.713,11.453,-0.012} [component_container_isolated-3] [DEBUG] [1762964998.484190117] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.489726220] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.489769883] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.489803498] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.489844235] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000070 -0.000089 -0.000121 [component_container_isolated-3] -0.000070 1.000000 0.000004 0.000148 [component_container_isolated-3] 0.000089 -0.000004 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] [1762964998.489868892] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.057,-0.015,-0.058} [component_container_isolated-3] [DEBUG] [1762964998.489913518] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.489990645] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.490030782] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 0.000137 0.476030 -0.000925 [component_container_isolated-3] -0.004777 0.999952 0.008538 0.060227 [component_container_isolated-3] -0.476006 -0.009783 0.879388 0.018056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.490056110] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.425,-0.311} [component_container_isolated-3] [DEBUG] [1762964998.490088732] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.550,28.441,-0.246} [component_container_isolated-3] [DEBUG] [1762964998.490142335] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.495849504] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.495905812] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.495977899] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.496024628] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000099 -0.000009 -0.000099 [component_container_isolated-3] 0.000099 1.000000 -0.000002 -0.000166 [component_container_isolated-3] 0.000009 0.000002 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] [1762964998.496050458] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.021} {0.088,-0.390,-0.228} [component_container_isolated-3] [DEBUG] [1762964998.496098490] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.496145970] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.496186458] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981514 -0.000164 0.191389 -0.006790 [component_container_isolated-3] -0.001544 0.999960 0.008772 0.059218 [component_container_isolated-3] -0.191383 -0.008905 0.981475 0.017996 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.496210914] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.520,11.034,-0.090} [component_container_isolated-3] [DEBUG] [1762964998.496245370] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.027,0.025} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964998.496296287] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.520176142] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.520242238] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.520287925] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.520339364] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000030 -0.000003 0.000136 [component_container_isolated-3] -0.000030 1.000000 -0.000028 -0.000021 [component_container_isolated-3] 0.000003 0.000028 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] [1762964998.520368850] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.012,0.011} {-0.050,0.291,0.139} [component_container_isolated-3] [DEBUG] [1762964998.520422362] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.520466196] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.520503657] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979072 0.000136 0.203515 -0.007178 [component_container_isolated-3] 0.002275 0.999930 -0.011609 0.059855 [component_container_isolated-3] -0.203502 0.011829 0.979003 0.018515 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.520526331] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.000} {0.692,11.742,0.133} [component_container_isolated-3] [DEBUG] [1762964998.520556669] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.012} {0.713,11.453,-0.012} [component_container_isolated-3] [DEBUG] [1762964998.520604640] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.524806896] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.524886648] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.524856831] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.525001968] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.525038017] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.525075759] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000042 -0.000101 -0.000240 [component_container_isolated-3] -0.000042 1.000000 0.000145 0.000116 [component_container_isolated-3] 0.000101 -0.000145 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] [1762964998.525101248] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.000,-0.056} {0.277,-0.739,-0.085} [component_container_isolated-3] [DEBUG] [1762964998.525163246] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.525204795] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.525233290] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982709 0.000039 0.185156 -0.006987 [component_container_isolated-3] -0.000157 1.000000 0.000627 0.059638 [component_container_isolated-3] -0.185156 -0.000645 0.982709 0.017219 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.525250563] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.038,10.670,-0.009} [component_container_isolated-3] [DEBUG] [1762964998.525283957] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.000,0.055} {-0.298,11.410,0.073} [component_container_isolated-3] [DEBUG] [1762964998.525343180] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.524981228] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.525495080] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000070 -0.000089 -0.000121 [component_container_isolated-3] -0.000070 1.000000 0.000004 0.000148 [component_container_isolated-3] 0.000089 -0.000004 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] [1762964998.525534134] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.001} {-0.057,-0.020,-0.062} [component_container_isolated-3] [DEBUG] [1762964998.525610841] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.525696174] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.525750778] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879429 0.000137 0.476030 -0.000925 [component_container_isolated-3] -0.004777 0.999952 0.008538 0.060227 [component_container_isolated-3] -0.476006 -0.009783 0.879388 0.018056 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.525784172] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.637,28.425,-0.311} [component_container_isolated-3] [DEBUG] [1762964998.525827084] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.547,28.446,-0.241} [component_container_isolated-3] [DEBUG] [1762964998.525902207] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.535075045] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.535132926] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.535174856] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.535219291] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000090 -0.000010 0.000003 [component_container_isolated-3] -0.000090 1.000000 0.000080 0.000209 [component_container_isolated-3] 0.000010 -0.000080 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] [1762964998.535244950] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.022} {0.084,-0.391,-0.234} [component_container_isolated-3] [DEBUG] [1762964998.535293011] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.535336034] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.535372383] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981516 -0.000091 0.191380 -0.006812 [component_container_isolated-3] -0.001634 0.999959 0.008851 0.059237 [component_container_isolated-3] -0.191373 -0.009000 0.981476 0.017980 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.535397351] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.525,11.033,-0.095} [component_container_isolated-3] [DEBUG] [1762964998.535431857] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.027,0.025} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964998.535482594] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.545113777] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.545160656] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.545194661] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.545233686] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000011 0.000009 0.000129 [component_container_isolated-3] 0.000011 1.000000 -0.000091 -0.000004 [component_container_isolated-3] -0.000009 0.000091 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] [1762964998.545264835] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.001,0.000,-0.056} {0.282,-0.738,-0.084} [component_container_isolated-3] [DEBUG] [1762964998.545314029] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.545351922] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.545378853] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982708 0.000044 0.185165 -0.006968 [component_container_isolated-3] -0.000146 1.000000 0.000536 0.059664 [component_container_isolated-3] -0.185165 -0.000554 0.982707 0.017286 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.545396928] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.032,10.671,-0.009} [component_container_isolated-3] [DEBUG] [1762964998.545435361] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.000,0.055} {-0.298,11.410,0.073} [component_container_isolated-3] [DEBUG] [1762964998.545486839] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.575692284] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.575747440] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.575785693] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.575829566] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000066 -0.000004 0.000108 [component_container_isolated-3] 0.000066 1.000000 -0.000056 -0.000057 [component_container_isolated-3] 0.000004 0.000056 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] [1762964998.575854133] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.012,0.011} {-0.046,0.291,0.142} [component_container_isolated-3] [DEBUG] [1762964998.575901404] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.576081458] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.576127245] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000082 0.203511 -0.007142 [component_container_isolated-3] 0.002341 0.999929 -0.011664 0.059855 [component_container_isolated-3] -0.203498 0.011897 0.979003 0.018528 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.576149618] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.000} {0.696,11.742,0.137} [component_container_isolated-3] [DEBUG] [1762964998.576180306] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.012} {0.713,11.453,-0.012} [component_container_isolated-3] [DEBUG] [1762964998.576230452] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.578313651] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.578380067] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.578432337] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.578486841] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000055 0.000085 -0.000181 [component_container_isolated-3] 0.000055 1.000000 -0.000150 -0.000219 [component_container_isolated-3] -0.000085 0.000150 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] [1762964998.578515306] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.048,-0.016,-0.059} [component_container_isolated-3] [DEBUG] [1762964998.578572545] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.578621298] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.578661946] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 0.000160 0.476104 -0.000932 [component_container_isolated-3] -0.004723 0.999954 0.008388 0.060206 [component_container_isolated-3] -0.476081 -0.009625 0.879349 0.018090 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.578687334] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.627,28.430,-0.308} [component_container_isolated-3] [DEBUG] [1762964998.578720948] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.547,28.446,-0.241} [component_container_isolated-3] [DEBUG] [1762964998.578774731] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.581398953] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.581456913] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.581497942] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.581541705] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000066 -0.000004 0.000108 [component_container_isolated-3] 0.000066 1.000000 -0.000056 -0.000057 [component_container_isolated-3] 0.000004 0.000056 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] [1762964998.581566453] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.011} {-0.043,0.291,0.146} [component_container_isolated-3] [DEBUG] [1762964998.581614084] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.581655162] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.581689938] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979073 0.000082 0.203511 -0.007142 [component_container_isolated-3] 0.002341 0.999929 -0.011664 0.059855 [component_container_isolated-3] -0.203498 0.011897 0.979003 0.018528 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.581712161] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,0.000,0.000} {0.696,11.742,0.137} [component_container_isolated-3] [DEBUG] [1762964998.581745074] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.012} {0.709,11.453,-0.016} [component_container_isolated-3] [DEBUG] [1762964998.581794258] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.588277649] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.588359546] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.588404191] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.588455719] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000152 -0.000026 0.000598 [component_container_isolated-3] 0.000152 1.000000 -0.000066 -0.000561 [component_container_isolated-3] 0.000026 0.000066 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] [1762964998.588485356] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.022} {0.088,-0.392,-0.225} [component_container_isolated-3] [DEBUG] [1762964998.588537445] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.588585447] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.588624812] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981521 -0.000227 0.191355 -0.006739 [component_container_isolated-3] -0.001481 0.999960 0.008786 0.059133 [component_container_isolated-3] -0.191349 -0.008907 0.981482 0.017918 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.588647646] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.520,11.032,-0.086} [component_container_isolated-3] [DEBUG] [1762964998.588678525] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.027,0.026} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964998.588727729] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.592205090] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.592270515] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.592311754] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.592356890] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000055 0.000085 -0.000181 [component_container_isolated-3] 0.000055 1.000000 -0.000150 -0.000219 [component_container_isolated-3] -0.000085 0.000150 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] [1762964998.592383481] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.040,-0.011,-0.056} [component_container_isolated-3] [DEBUG] [1762964998.592434237] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.592477360] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.592515162] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 0.000160 0.476104 -0.000932 [component_container_isolated-3] -0.004723 0.999954 0.008388 0.060206 [component_container_isolated-3] -0.476081 -0.009625 0.879349 0.018090 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.592540340] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.627,28.430,-0.308} [component_container_isolated-3] [DEBUG] [1762964998.592573904] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.557,28.441,-0.245} [component_container_isolated-3] [DEBUG] [1762964998.592625773] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.603354442] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.603419998] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.603460956] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.603507264] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000000 -0.000024 0.000068 [component_container_isolated-3] -0.000000 1.000000 0.000135 -0.000017 [component_container_isolated-3] 0.000024 -0.000135 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] [1762964998.603533675] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.274,-0.740,-0.084} [component_container_isolated-3] [DEBUG] [1762964998.603585253] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.603632463] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.603673892] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000020 0.185141 -0.006950 [component_container_isolated-3] -0.000146 1.000000 0.000671 0.059688 [component_container_isolated-3] -0.185141 -0.000687 0.982712 0.017310 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.603699121] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.040,10.669,-0.009} [component_container_isolated-3] [DEBUG] [1762964998.603730120] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.000,0.055} {-0.298,11.410,0.073} [component_container_isolated-3] [DEBUG] [1762964998.603781047] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.614911914] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.615008409] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.615047784] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.615093411] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000069 -0.000193 -0.000232 [component_container_isolated-3] -0.000069 1.000000 -0.000250 0.000135 [component_container_isolated-3] 0.000193 0.000250 1.000000 -0.000412 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.615118309] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.023} {0.102,-0.403,-0.229} [component_container_isolated-3] [DEBUG] [1762964998.615166801] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.615215133] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.615255981] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981558 -0.000112 0.191165 -0.006752 [component_container_isolated-3] -0.001548 0.999962 0.008536 0.059104 [component_container_isolated-3] -0.191159 -0.008674 0.981521 0.017793 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.615281170] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.506,11.020,-0.090} [component_container_isolated-3] [DEBUG] [1762964998.615314122] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.027,0.026} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964998.615363607] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.625749712] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.625804587] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.625844112] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.625888166] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000037 0.000034 0.000156 [component_container_isolated-3] 0.000037 1.000000 -0.000051 -0.000107 [component_container_isolated-3] -0.000034 0.000051 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] [1762964998.625914677] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,-0.000,-0.057} {0.277,-0.738,-0.082} [component_container_isolated-3] [DEBUG] [1762964998.625998858] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.626044395] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.626084812] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982706 -0.000007 0.185175 -0.006916 [component_container_isolated-3] -0.000109 1.000000 0.000620 0.059699 [component_container_isolated-3] -0.185175 -0.000629 0.982705 0.017306 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.626109900] [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] [1762964998.626143474] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,0.000,0.056} {-0.298,11.410,0.073} [component_container_isolated-3] [DEBUG] [1762964998.626197607] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.635947327] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.636008504] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.636048901] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.636093015] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000043 0.000108 -0.000820 [component_container_isolated-3] 0.000043 1.000000 -0.000040 -0.000480 [component_container_isolated-3] -0.000108 0.000040 1.000000 0.000804 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.636119436] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.013,0.012} {-0.041,0.297,0.149} [component_container_isolated-3] [DEBUG] [1762964998.636171024] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.636215509] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.636254483] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979051 0.000048 0.203617 -0.007242 [component_container_isolated-3] 0.002385 0.999929 -0.011704 0.059753 [component_container_isolated-3] -0.203603 0.011944 0.978981 0.018805 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.636276896] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.699,11.748,0.140} [component_container_isolated-3] [DEBUG] [1762964998.636311963] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.012} {0.709,11.453,-0.016} [component_container_isolated-3] [DEBUG] [1762964998.636366598] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.640122150] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.640178497] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.640221970] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.640271425] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000015 0.000047 0.000182 [component_container_isolated-3] 0.000015 1.000000 0.000298 0.000041 [component_container_isolated-3] -0.000047 -0.000298 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] [1762964998.640299989] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.057,-0.008,-0.055} [component_container_isolated-3] [DEBUG] [1762964998.640354824] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.640402986] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.640443053] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879367 0.000005 0.476145 -0.000926 [component_container_isolated-3] -0.004708 0.999951 0.008686 0.060204 [component_container_isolated-3] -0.476122 -0.009880 0.879324 0.018084 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.640468020] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.644,28.432,-0.307} [component_container_isolated-3] [DEBUG] [1762964998.640501755] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.557,28.441,-0.245} [component_container_isolated-3] [DEBUG] [1762964998.640555457] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.641647062] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.641695454] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.641732966] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.641775046] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000043 0.000108 -0.000820 [component_container_isolated-3] 0.000043 1.000000 -0.000040 -0.000480 [component_container_isolated-3] -0.000108 0.000040 1.000000 0.000804 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.641798932] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.006,-0.013,0.013} {-0.039,0.303,0.151} [component_container_isolated-3] [DEBUG] [1762964998.641845271] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.641889816] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.641965921] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979051 0.000048 0.203617 -0.007242 [component_container_isolated-3] 0.002385 0.999929 -0.011704 0.059753 [component_container_isolated-3] -0.203603 0.011944 0.978981 0.018805 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.642194968] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.699,11.748,0.140} [component_container_isolated-3] [DEBUG] [1762964998.642238151] [zed_multi.left]: +++ Diff [map -> odom] - {0.003,0.014,-0.013} {0.706,11.447,-0.019} [component_container_isolated-3] [DEBUG] [1762964998.642300259] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.651720820] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.651789281] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.651832424] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.651879914] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000052 0.000157 0.000088 [component_container_isolated-3] -0.000052 1.000000 0.000148 0.000205 [component_container_isolated-3] -0.000157 -0.000148 1.000000 0.000565 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.651906926] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.022} {0.093,-0.394,-0.232} [component_container_isolated-3] [DEBUG] [1762964998.651986077] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.652034580] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.652076009] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981528 -0.000090 0.191320 -0.006730 [component_container_isolated-3] -0.001601 0.999961 0.008684 0.059108 [component_container_isolated-3] -0.191313 -0.008830 0.981489 0.017789 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.652099824] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.515,11.029,-0.093} [component_container_isolated-3] [DEBUG] [1762964998.652131465] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.027,0.025} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964998.652181610] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.663043304] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.663097838] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.663140609] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.663186006] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000070 -0.000033 0.000029 [component_container_isolated-3] -0.000070 1.000000 0.000093 0.000152 [component_container_isolated-3] 0.000033 -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] [1762964998.663211735] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.272,-0.740,-0.086} [component_container_isolated-3] [DEBUG] [1762964998.663261019] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.663302849] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.663338648] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000045 0.185142 -0.006888 [component_container_isolated-3] -0.000180 1.000000 0.000713 0.059732 [component_container_isolated-3] -0.185142 -0.000734 0.982712 0.017289 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.663362263] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {-0.000,-0.000,-0.000} {-0.043,10.669,-0.010} [component_container_isolated-3] [DEBUG] [1762964998.663396689] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.000,0.056} {-0.298,11.410,0.073} [component_container_isolated-3] [DEBUG] [1762964998.663450121] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.676153992] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.676206532] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.676244214] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.676287677] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000169 0.000235 -0.000285 [component_container_isolated-3] 0.000169 1.000000 -0.000127 -0.000543 [component_container_isolated-3] -0.000235 0.000127 1.000000 0.000777 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.676313657] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.021} {0.101,-0.381,-0.222} [component_container_isolated-3] [DEBUG] [1762964998.676362089] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.676411273] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.676451991] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981483 -0.000231 0.191550 -0.006716 [component_container_isolated-3] -0.001435 0.999962 0.008556 0.058992 [component_container_isolated-3] -0.191545 -0.008672 0.981445 0.018019 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.676475987] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.506,11.043,-0.084} [component_container_isolated-3] [DEBUG] [1762964998.676509421] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.027,0.025} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964998.676559306] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.689443391] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.689503216] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.689544885] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.689589931] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000013 -0.000171 0.000892 [component_container_isolated-3] 0.000014 1.000000 0.000183 0.000269 [component_container_isolated-3] 0.000171 -0.000183 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] [1762964998.689617304] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.012} {-0.049,0.293,0.152} [component_container_isolated-3] [DEBUG] [1762964998.689666578] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.689708237] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.689746771] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979085 -0.000003 0.203449 -0.007128 [component_container_isolated-3] 0.002397 0.999931 -0.011521 0.059742 [component_container_isolated-3] -0.203435 0.011768 0.979018 0.018751 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.689770967] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.689,11.738,0.140} [component_container_isolated-3] [DEBUG] [1762964998.689804401] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.012} {0.706,11.447,-0.019} [component_container_isolated-3] [DEBUG] [1762964998.689857192] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.693727453] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.693786466] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.693827093] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.693871879] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000028 -0.000013 0.000036 [component_container_isolated-3] 0.000028 1.000000 -0.000156 -0.000010 [component_container_isolated-3] 0.000013 0.000156 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] [1762964998.693898129] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.281,-0.741,-0.085} [component_container_isolated-3] [DEBUG] [1762964998.693982590] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.694028227] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.694064727] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982714 0.000046 0.185129 -0.006861 [component_container_isolated-3] -0.000151 1.000000 0.000557 0.059748 [component_container_isolated-3] -0.185129 -0.000575 0.982714 0.017290 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.694090246] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.034,10.669,-0.009} [component_container_isolated-3] [DEBUG] [1762964998.694123469] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.000,0.056} {-0.298,11.410,0.073} [component_container_isolated-3] [DEBUG] [1762964998.694177833] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.696483567] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.696538702] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.696579880] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.696625027] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000136 -0.000071 -0.000105 [component_container_isolated-3] -0.000136 1.000000 -0.000236 0.000138 [component_container_isolated-3] 0.000071 0.000236 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] [1762964998.696653511] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.043,-0.012,-0.063} [component_container_isolated-3] [DEBUG] [1762964998.696703296] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.696750847] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.696791134] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879400 0.000237 0.476083 -0.000920 [component_container_isolated-3] -0.004844 0.999953 0.008450 0.060211 [component_container_isolated-3] -0.476058 -0.009737 0.879360 0.018097 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.696816492] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.634,28.428,-0.316} [component_container_isolated-3] [DEBUG] [1762964998.696849886] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.557,28.441,-0.245} [component_container_isolated-3] [DEBUG] [1762964998.696900523] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.702119350] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.702180526] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.702234008] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.702295376] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000136 -0.000071 -0.000105 [component_container_isolated-3] -0.000136 1.000000 -0.000236 0.000138 [component_container_isolated-3] 0.000071 0.000236 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] [1762964998.702332296] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.030,-0.016,-0.070} [component_container_isolated-3] [DEBUG] [1762964998.702400737] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.702471412] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.702523411] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879400 0.000237 0.476083 -0.000920 [component_container_isolated-3] -0.004844 0.999953 0.008450 0.060211 [component_container_isolated-3] -0.476058 -0.009737 0.879360 0.018097 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.702558388] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.634,28.428,-0.316} [component_container_isolated-3] [DEBUG] [1762964998.702603203] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.003,-0.002} {-0.567,28.445,-0.236} [component_container_isolated-3] [DEBUG] [1762964998.702669079] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.712086965] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.712142090] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.712183590] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.712234257] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000153 -0.000271 0.000419 [component_container_isolated-3] -0.000153 1.000000 0.000096 0.000266 [component_container_isolated-3] 0.000271 -0.000096 1.000000 -0.000818 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.712261448] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.022} {0.095,-0.396,-0.231} [component_container_isolated-3] [DEBUG] [1762964998.712312756] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.712359896] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.712396516] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981535 -0.000099 0.191284 -0.006672 [component_container_isolated-3] -0.001585 0.999961 0.008652 0.058972 [component_container_isolated-3] -0.191277 -0.008796 0.981497 0.017943 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.712418408] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.513,11.027,-0.093} [component_container_isolated-3] [DEBUG] [1762964998.712449427] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.027,0.025} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964998.712498601] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.715640061] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.715691259] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.715729161] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.715773676] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000013 -0.000171 0.000892 [component_container_isolated-3] 0.000014 1.000000 0.000183 0.000269 [component_container_isolated-3] 0.000171 -0.000183 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] [1762964998.715798523] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.005,-0.013,0.011} {-0.059,0.283,0.153} [component_container_isolated-3] [DEBUG] [1762964998.715844872] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.715888886] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.715960894] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979085 -0.000003 0.203449 -0.007128 [component_container_isolated-3] 0.002397 0.999931 -0.011521 0.059742 [component_container_isolated-3] -0.203435 0.011768 0.979018 0.018751 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.715986583] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.689,11.738,0.140} [component_container_isolated-3] [DEBUG] [1762964998.716019566] [zed_multi.left]: +++ Diff [map -> odom] - {0.002,0.013,-0.011} {0.716,11.457,-0.019} [component_container_isolated-3] [DEBUG] [1762964998.716075262] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.724048118] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.724104065] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.724142929] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.724186362] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000035 0.000040 -0.000193 [component_container_isolated-3] 0.000035 1.000000 -0.000066 -0.000074 [component_container_isolated-3] -0.000040 0.000066 1.000000 0.000271 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.724211851] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.057} {0.285,-0.738,-0.083} [component_container_isolated-3] [DEBUG] [1762964998.724259351] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.724301602] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.724341058] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982707 0.000023 0.185168 -0.006849 [component_container_isolated-3] -0.000116 1.000000 0.000491 0.059759 [component_container_isolated-3] -0.185168 -0.000504 0.982707 0.017330 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.724365003] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.029,10.671,-0.007} [component_container_isolated-3] [DEBUG] [1762964998.724398447] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,-0.000,0.055} {-0.298,11.410,0.073} [component_container_isolated-3] [DEBUG] [1762964998.724450446] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.739261773] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.739316918] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.739356133] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.739399966] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000036 0.000074 -0.000631 [component_container_isolated-3] -0.000036 1.000000 0.000162 0.000387 [component_container_isolated-3] -0.000074 -0.000162 1.000000 0.000362 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.739425395] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.022} {0.086,-0.392,-0.233} [component_container_isolated-3] [DEBUG] [1762964998.739472665] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.739517451] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.739557407] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981521 -0.000095 0.191357 -0.006753 [component_container_isolated-3] -0.001621 0.999960 0.008814 0.059023 [component_container_isolated-3] -0.191350 -0.008961 0.981481 0.017982 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.739581032] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.523,11.032,-0.095} [component_container_isolated-3] [DEBUG] [1762964998.739615318] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.027,0.025} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964998.739668660] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.741114471] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.741166430] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.741206907] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.741252124] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000071 -0.000042 -0.000102 [component_container_isolated-3] 0.000071 1.000000 0.000011 -0.000135 [component_container_isolated-3] 0.000042 -0.000011 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] [1762964998.741277121] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.030,-0.019,-0.066} [component_container_isolated-3] [DEBUG] [1762964998.741326516] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.741370520] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.741408292] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879421 0.000169 0.476045 -0.000939 [component_container_isolated-3] -0.004773 0.999953 0.008461 0.060202 [component_container_isolated-3] -0.476022 -0.009713 0.879380 0.018112 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.741433049] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.633,28.426,-0.311} [component_container_isolated-3] [DEBUG] [1762964998.741465892] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.003,-0.002} {-0.567,28.445,-0.236} [component_container_isolated-3] [DEBUG] [1762964998.741519023] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.746700479] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.746750654] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.746787365] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.746830647] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000013 -0.000171 0.000892 [component_container_isolated-3] 0.000014 1.000000 0.000183 0.000269 [component_container_isolated-3] 0.000171 -0.000183 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] [1762964998.746855254] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.004,-0.013,0.010} {-0.070,0.274,0.153} [component_container_isolated-3] [DEBUG] [1762964998.746901853] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.746977758] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.747019568] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979085 -0.000003 0.203449 -0.007128 [component_container_isolated-3] 0.002397 0.999931 -0.011521 0.059742 [component_container_isolated-3] -0.203435 0.011768 0.979018 0.018751 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.747043263] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.689,11.738,0.140} [component_container_isolated-3] [DEBUG] [1762964998.747076707] [zed_multi.left]: +++ Diff [map -> odom] - {0.001,0.013,-0.010} {0.727,11.466,-0.020} [component_container_isolated-3] [DEBUG] [1762964998.747126622] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.755642856] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.755696659] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.755736355] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.755779257] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000016 -0.000104 0.000059 [component_container_isolated-3] 0.000016 1.000000 -0.000018 -0.000057 [component_container_isolated-3] 0.000104 0.000018 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] [1762964998.755805076] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,-0.000,-0.056} {0.286,-0.744,-0.082} [component_container_isolated-3] [DEBUG] [1762964998.755855502] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.755902622] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.755976714] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982726 0.000011 0.185066 -0.006836 [component_container_isolated-3] -0.000100 1.000000 0.000474 0.059763 [component_container_isolated-3] -0.185066 -0.000484 0.982726 0.017358 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.756003054] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.028,10.665,-0.006} [component_container_isolated-3] [DEBUG] [1762964998.756037360] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,0.000,0.055} {-0.298,11.410,0.073} [component_container_isolated-3] [DEBUG] [1762964998.756120980] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.764582870] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.764632424] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.764672521] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.764715533] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000016 -0.000104 0.000059 [component_container_isolated-3] 0.000016 1.000000 -0.000018 -0.000057 [component_container_isolated-3] 0.000104 0.000018 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] [1762964998.764740711] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,-0.000,-0.056} {0.287,-0.750,-0.081} [component_container_isolated-3] [DEBUG] [1762964998.764789715] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.764835993] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.764875208] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982726 0.000011 0.185066 -0.006836 [component_container_isolated-3] -0.000100 1.000000 0.000474 0.059763 [component_container_isolated-3] -0.185066 -0.000484 0.982726 0.017358 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.764898973] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.028,10.665,-0.006} [component_container_isolated-3] [DEBUG] [1762964998.764952455] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,0.000,0.055} {-0.299,11.416,0.072} [component_container_isolated-3] [DEBUG] [1762964998.765008563] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.775508505] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.775562228] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.775605090] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.775651438] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000140 -0.000006 0.000128 [component_container_isolated-3] 0.000140 1.000000 -0.000141 -0.000242 [component_container_isolated-3] 0.000006 0.000141 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] [1762964998.775678139] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.022} {0.094,-0.392,-0.225} [component_container_isolated-3] [DEBUG] [1762964998.775732663] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.775782759] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.775822084] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981522 -0.000206 0.191351 -0.006788 [component_container_isolated-3] -0.001481 0.999961 0.008673 0.059014 [component_container_isolated-3] -0.191345 -0.008796 0.981483 0.017942 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.775845368] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.513,11.031,-0.086} [component_container_isolated-3] [DEBUG] [1762964998.775876448] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.027,0.025} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964998.775956070] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.782677416] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.782728654] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.782765154] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.782807094] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000013 -0.000171 0.000892 [component_container_isolated-3] 0.000014 1.000000 0.000183 0.000269 [component_container_isolated-3] 0.000171 -0.000183 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] [1762964998.782831119] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.012,0.010} {-0.080,0.264,0.154} [component_container_isolated-3] [DEBUG] [1762964998.782876386] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.782916432] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.782989332] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979085 -0.000003 0.203449 -0.007128 [component_container_isolated-3] 0.002397 0.999931 -0.011521 0.059742 [component_container_isolated-3] -0.203435 0.011768 0.979018 0.018751 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.783012005] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.689,11.738,0.140} [component_container_isolated-3] [DEBUG] [1762964998.783044647] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.012,-0.010} {0.737,11.476,-0.021} [component_container_isolated-3] [DEBUG] [1762964998.783096767] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.784510036] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.784559079] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.784598014] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.784641497] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000053 0.000009 -0.000071 [component_container_isolated-3] 0.000053 1.000000 -0.000101 -0.000041 [component_container_isolated-3] -0.000009 0.000101 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] [1762964998.784666875] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.024,-0.018,-0.063} [component_container_isolated-3] [DEBUG] [1762964998.784716280] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.784759823] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.784800160] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879416 0.000170 0.476053 -0.000960 [component_container_isolated-3] -0.004720 0.999954 0.008360 0.060189 [component_container_isolated-3] -0.476030 -0.009599 0.879377 0.018127 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.784824767] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.625,28.426,-0.307} [component_container_isolated-3] [DEBUG] [1762964998.784858381] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.003,-0.002} {-0.567,28.445,-0.236} [component_container_isolated-3] [DEBUG] [1762964998.784909178] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.806245505] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.806298426] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.806338563] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.806383769] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000002 -0.000057 0.000161 [component_container_isolated-3] -0.000002 1.000000 0.000300 0.000096 [component_container_isolated-3] 0.000057 -0.000300 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] [1762964998.806409088] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.042,-0.021,-0.063} [component_container_isolated-3] [DEBUG] [1762964998.806457570] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.806501063] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.806540348] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879444 0.000030 0.476003 -0.000974 [component_container_isolated-3] -0.004721 0.999951 0.008661 0.060194 [component_container_isolated-3] -0.475980 -0.009864 0.879401 0.018108 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.806563482] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.643,28.423,-0.308} [component_container_isolated-3] [DEBUG] [1762964998.806596395] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.003,-0.002} {-0.567,28.445,-0.236} [component_container_isolated-3] [DEBUG] [1762964998.806646060] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.813881528] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.813965008] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.814007258] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.814052344] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000043 0.000039 -0.000157 [component_container_isolated-3] -0.000043 1.000000 0.000054 0.000102 [component_container_isolated-3] -0.000039 -0.000054 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] [1762964998.814077673] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.056} {0.284,-0.748,-0.083} [component_container_isolated-3] [DEBUG] [1762964998.814130383] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.814178155] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.814218392] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982719 0.000044 0.185104 -0.006837 [component_container_isolated-3] -0.000144 1.000000 0.000527 0.059780 [component_container_isolated-3] -0.185104 -0.000545 0.982719 0.017389 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.814243750] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.032,10.667,-0.008} [component_container_isolated-3] [DEBUG] [1762964998.814276132] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,0.000,0.055} {-0.299,11.416,0.072} [component_container_isolated-3] [DEBUG] [1762964998.814326338] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.820834657] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.820888009] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.820953955] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.821000794] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000009 -0.000200 0.000516 [component_container_isolated-3] 0.000009 1.000000 -0.000029 -0.000281 [component_container_isolated-3] 0.000200 0.000029 1.000000 -0.000333 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.821026884] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.023} {0.096,-0.404,-0.224} [component_container_isolated-3] [DEBUG] [1762964998.821075898] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.821120954] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.821159728] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981560 -0.000209 0.191154 -0.006734 [component_container_isolated-3] -0.001471 0.999962 0.008644 0.058959 [component_container_isolated-3] -0.191149 -0.008765 0.981522 0.017824 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.821184605] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.512,11.020,-0.086} [component_container_isolated-3] [DEBUG] [1762964998.821218660] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.027,0.026} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964998.821269297] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.826598194] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.826652337] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.826690570] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.826733472] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000001 0.000002 -0.000080 [component_container_isolated-3] 0.000001 1.000000 0.000013 -0.000019 [component_container_isolated-3] -0.000002 -0.000013 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] [1762964998.826758200] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.012,0.010} {-0.081,0.264,0.154} [component_container_isolated-3] [DEBUG] [1762964998.826806241] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.826847490] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.826886635] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979085 -0.000006 0.203452 -0.007102 [component_container_isolated-3] 0.002398 0.999931 -0.011508 0.059732 [component_container_isolated-3] -0.203437 0.011755 0.979017 0.018743 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.826910631] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.688,11.738,0.140} [component_container_isolated-3] [DEBUG] [1762964998.826984191] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.012,-0.010} {0.737,11.476,-0.021} [component_container_isolated-3] [DEBUG] [1762964998.827036190] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.840636023] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.840691910] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.840731856] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.840775970] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000065 0.000140 -0.000096 [component_container_isolated-3] 0.000065 1.000000 -0.000108 -0.000110 [component_container_isolated-3] -0.000140 0.000108 1.000000 0.000140 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.840801910] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.035,-0.013,-0.060} [component_container_isolated-3] [DEBUG] [1762964998.840850673] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.840893755] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.840960953] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879377 0.000024 0.476127 -0.000977 [component_container_isolated-3] -0.004658 0.999953 0.008552 0.060180 [component_container_isolated-3] -0.476104 -0.009738 0.879335 0.018132 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.840988326] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,-0.000,-0.000} {-0.634,28.431,-0.303} [component_container_isolated-3] [DEBUG] [1762964998.841022421] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.003,-0.002} {-0.567,28.445,-0.236} [component_container_isolated-3] [DEBUG] [1762964998.841085010] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.851531380] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.851585103] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.851631492] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.851676908] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000086 0.000207 -0.000468 [component_container_isolated-3] -0.000086 1.000000 0.000134 0.000404 [component_container_isolated-3] -0.000207 -0.000134 1.000000 0.000362 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.851703028] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.022} {0.088,-0.392,-0.229} [component_container_isolated-3] [DEBUG] [1762964998.851752803] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.851797038] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.851833067] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981521 -0.000150 0.191357 -0.006765 [component_container_isolated-3] -0.001559 0.999960 0.008777 0.058988 [component_container_isolated-3] -0.191351 -0.008913 0.981481 0.017809 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.851856101] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.520,11.032,-0.091} [component_container_isolated-3] [DEBUG] [1762964998.851889294] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.027,0.025} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964998.851974907] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.857297833] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.857353930] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.857394538] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.857439724] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000043 0.000065 0.000023 [component_container_isolated-3] 0.000043 1.000000 0.000051 0.000004 [component_container_isolated-3] -0.000065 -0.000051 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] [1762964998.857464992] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,0.000,-0.056} {0.281,-0.744,-0.081} [component_container_isolated-3] [DEBUG] [1762964998.857514737] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.857558090] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.857594149] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982707 -0.000008 0.185168 -0.006838 [component_container_isolated-3] -0.000101 1.000000 0.000579 0.059792 [component_container_isolated-3] -0.185168 -0.000588 0.982707 0.017410 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.857617624] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.034,10.671,-0.006} [component_container_isolated-3] [DEBUG] [1762964998.857651238] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,0.000,0.055} {-0.299,11.416,0.072} [component_container_isolated-3] [DEBUG] [1762964998.857704750] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.876192066] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.876248544] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.876289773] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.876333526] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000033 0.000076 -0.000028 [component_container_isolated-3] -0.000033 1.000000 -0.000055 0.000037 [component_container_isolated-3] -0.000076 0.000055 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] [1762964998.876358234] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.012,0.010} {-0.078,0.268,0.152} [component_container_isolated-3] [DEBUG] [1762964998.876406997] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.876447735] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.876482601] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979070 0.000038 0.203526 -0.007077 [component_container_isolated-3] 0.002365 0.999930 -0.011563 0.059725 [component_container_isolated-3] -0.203512 0.011803 0.979001 0.018739 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.876504162] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.691,11.742,0.138} [component_container_isolated-3] [DEBUG] [1762964998.876537105] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.012,-0.010} {0.737,11.476,-0.021} [component_container_isolated-3] [DEBUG] [1762964998.876589305] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.878757576] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.878809876] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.878851916] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.878896100] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000215 -0.000025 0.000113 [component_container_isolated-3] -0.000215 1.000000 -0.000029 0.000329 [component_container_isolated-3] 0.000025 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] [1762964998.878961756] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.034,-0.015,-0.072} [component_container_isolated-3] [DEBUG] [1762964998.879015068] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.879060945] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.879101352] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 0.000227 0.476104 -0.000960 [component_container_isolated-3] -0.004872 0.999952 0.008523 0.060221 [component_container_isolated-3] -0.476079 -0.009815 0.879348 0.018136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.879125308] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.430,-0.317} [component_container_isolated-3] [DEBUG] [1762964998.879158111] [zed_multi.rear]: +++ Diff [map -> odom] - {0.001,-0.003,-0.002} {-0.567,28.445,-0.236} [component_container_isolated-3] [DEBUG] [1762964998.879209990] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.890285191] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.890341789] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.890381224] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.890423705] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000020 -0.000134 0.000496 [component_container_isolated-3] -0.000020 1.000000 -0.000139 0.000019 [component_container_isolated-3] 0.000134 0.000139 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] [1762964998.890449414] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.014,0.026,-0.023} {0.096,-0.400,-0.230} [component_container_isolated-3] [DEBUG] [1762964998.890496935] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.890539977] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.890579563] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981546 -0.000104 0.191226 -0.006718 [component_container_isolated-3] -0.001577 0.999961 0.008638 0.059000 [component_container_isolated-3] -0.191219 -0.008781 0.981508 0.017697 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.890603429] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.513,11.024,-0.092} [component_container_isolated-3] [DEBUG] [1762964998.890636892] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.027,0.026} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964998.890688521] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.901991707] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.902065559] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.902116265] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.902175929] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000215 -0.000025 0.000113 [component_container_isolated-3] -0.000215 1.000000 -0.000029 0.000329 [component_container_isolated-3] 0.000025 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] [1762964998.902214353] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.002} {-0.032,-0.016,-0.084} [component_container_isolated-3] [DEBUG] [1762964998.902279657] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.902442659] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.902473257] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879389 0.000227 0.476104 -0.000960 [component_container_isolated-3] -0.004872 0.999952 0.008523 0.060221 [component_container_isolated-3] -0.476079 -0.009815 0.879348 0.018136 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.902490270] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.430,-0.317} [component_container_isolated-3] [DEBUG] [1762964998.902511340] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.562,28.447,-0.222} [component_container_isolated-3] [DEBUG] [1762964998.902550044] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.908801583] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.908859764] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.908898618] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.908987448] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000016 -0.000077 0.000066 [component_container_isolated-3] 0.000016 1.000000 0.000072 -0.000060 [component_container_isolated-3] 0.000077 -0.000072 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] [1762964998.909015722] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.012,0.010} {-0.082,0.264,0.153} [component_container_isolated-3] [DEBUG] [1762964998.909065517] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.909111174] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.909151832] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979085 0.000007 0.203450 -0.007052 [component_container_isolated-3] 0.002381 0.999931 -0.011491 0.059714 [component_container_isolated-3] -0.203436 0.011735 0.979018 0.018730 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.909175777] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.687,11.738,0.139} [component_container_isolated-3] [DEBUG] [1762964998.909209211] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.010} {0.737,11.476,-0.021} [component_container_isolated-3] [DEBUG] [1762964998.909262242] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.913965334] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.914046499] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.914087958] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.914088099] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.914176127] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.914137283] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000041 -0.000115 0.000047 [component_container_isolated-3] -0.000041 1.000000 -0.000015 -0.000096 [component_container_isolated-3] 0.000115 0.000015 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] [1762964998.914249316] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,-0.000,-0.056} {0.282,-0.751,-0.083} [component_container_isolated-3] [DEBUG] [1762964998.914217075] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.914323809] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.914370648] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000016 -0.000077 0.000066 [component_container_isolated-3] 0.000016 1.000000 0.000072 -0.000060 [component_container_isolated-3] 0.000077 -0.000072 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] [1762964998.914447906] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.010} {-0.086,0.259,0.154} [component_container_isolated-3] [DEBUG] [1762964998.914423529] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.914506938] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.914550251] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982728 0.000036 0.185054 -0.006834 [component_container_isolated-3] -0.000143 1.000000 0.000564 0.059794 [component_container_isolated-3] -0.185054 -0.000580 0.982728 0.017423 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.914606248] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.034,10.664,-0.008} [component_container_isolated-3] [DEBUG] [1762964998.914643319] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,0.000,0.056} {-0.299,11.416,0.072} [component_container_isolated-3] [DEBUG] [1762964998.914585899] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.914702672] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.914722630] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979085 0.000007 0.203450 -0.007052 [component_container_isolated-3] 0.002381 0.999931 -0.011491 0.059714 [component_container_isolated-3] -0.203436 0.011735 0.979018 0.018730 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.914778216] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.001,-0.000,0.000} {0.687,11.738,0.139} [component_container_isolated-3] [DEBUG] [1762964998.914801200] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.010} {0.741,11.481,-0.022} [component_container_isolated-3] [DEBUG] [1762964998.914843371] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.918286126] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.918343235] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.918385746] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.918430832] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000063 -0.000038 -0.000038 [component_container_isolated-3] 0.000063 1.000000 0.000148 -0.000092 [component_container_isolated-3] 0.000038 -0.000148 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] [1762964998.918455890] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.023} {0.088,-0.402,-0.227} [component_container_isolated-3] [DEBUG] [1762964998.918504272] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.918548397] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.918584135] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981553 -0.000194 0.191188 -0.006710 [component_container_isolated-3] -0.001514 0.999960 0.008786 0.059004 [component_container_isolated-3] -0.191182 -0.008914 0.981514 0.017630 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.918608221] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {0.000,-0.001,0.001} {-0.520,11.022,-0.088} [component_container_isolated-3] [DEBUG] [1762964998.918641334] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.027,0.026} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964998.918695317] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.919495235] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.919544138] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.919580848] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.919623039] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000041 -0.000115 0.000047 [component_container_isolated-3] -0.000041 1.000000 -0.000015 -0.000096 [component_container_isolated-3] 0.000115 0.000015 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] [1762964998.919648117] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,-0.000,-0.057} {0.282,-0.757,-0.086} [component_container_isolated-3] [DEBUG] [1762964998.919699675] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.919745022] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.919784748] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982728 0.000036 0.185054 -0.006834 [component_container_isolated-3] -0.000143 1.000000 0.000564 0.059794 [component_container_isolated-3] -0.185054 -0.000580 0.982728 0.017423 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.919809164] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.034,10.664,-0.008} [component_container_isolated-3] [DEBUG] [1762964998.919841757] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,0.000,0.056} {-0.300,11.422,0.075} [component_container_isolated-3] [DEBUG] [1762964998.919891271] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.940219934] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.940273176] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.940312010] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.940356224] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000072 0.000422 -0.001074 [component_container_isolated-3] -0.000072 1.000000 0.000158 0.000490 [component_container_isolated-3] -0.000422 -0.000159 1.000000 0.001158 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.940381783] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.012,0.027,-0.022} {0.078,-0.378,-0.231} [component_container_isolated-3] [DEBUG] [1762964998.940435185] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.940483077] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.940523804] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981473 -0.000153 0.191602 -0.006921 [component_container_isolated-3] -0.001590 0.999959 0.008944 0.059115 [component_container_isolated-3] -0.191596 -0.009083 0.981432 0.017912 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.940547931] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.530,11.046,-0.093} [component_container_isolated-3] [DEBUG] [1762964998.940580663] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.027,0.025} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964998.940630398] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.943789671] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.943847281] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.943885174] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.943966169] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000043 0.000135 0.000038 [component_container_isolated-3] 0.000043 1.000000 -0.000038 0.000038 [component_container_isolated-3] -0.000135 0.000038 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] [1762964998.943993661] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,-0.000,-0.057} {0.285,-0.750,-0.083} [component_container_isolated-3] [DEBUG] [1762964998.944043376] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.944086629] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.944123289] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982703 0.000001 0.185187 -0.006826 [component_container_isolated-3] -0.000100 1.000000 0.000526 0.059798 [component_container_isolated-3] -0.185187 -0.000535 0.982703 0.017436 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.944146894] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.031,10.672,-0.006} [component_container_isolated-3] [DEBUG] [1762964998.944177983] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,0.000,0.056} {-0.300,11.422,0.075} [component_container_isolated-3] [DEBUG] [1762964998.944227678] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.946004662] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.946058234] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.946100104] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.946145781] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 -0.000160 -0.000044 0.000010 [component_container_isolated-3] 0.000160 1.000000 -0.000284 -0.000308 [component_container_isolated-3] 0.000044 0.000284 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] [1762964998.946173464] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.016,-0.019,-0.075} [component_container_isolated-3] [DEBUG] [1762964998.946223359] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.946269708] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.946308572] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879410 0.000221 0.476066 -0.000958 [component_container_isolated-3] -0.004712 0.999955 0.008239 0.060198 [component_container_isolated-3] -0.476042 -0.009489 0.879371 0.018156 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.946331235] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.618,28.427,-0.307} [component_container_isolated-3] [DEBUG] [1762964998.946361663] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.562,28.447,-0.222} [component_container_isolated-3] [DEBUG] [1762964998.946410827] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.968130186] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.968191212] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.968233493] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.968279391] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000033 0.000029 0.000083 [component_container_isolated-3] -0.000033 1.000000 0.000342 0.000164 [component_container_isolated-3] -0.000029 -0.000342 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] [1762964998.968305110] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.003,0.002} {-0.036,-0.017,-0.077} [component_container_isolated-3] [DEBUG] [1762964998.968353713] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.968397797] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.968438114] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879396 0.000087 0.476091 -0.000961 [component_container_isolated-3] -0.004745 0.999952 0.008582 0.060212 [component_container_isolated-3] -0.476068 -0.009806 0.879354 0.018120 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.968462641] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.429,-0.309} [component_container_isolated-3] [DEBUG] [1762964998.968492728] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.003,-0.002} {-0.562,28.447,-0.222} [component_container_isolated-3] [DEBUG] [1762964998.968541051] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.970018723] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.970072615] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.970115016] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.970163038] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000009 0.000034 0.000093 [component_container_isolated-3] 0.000009 1.000000 0.000166 -0.000141 [component_container_isolated-3] -0.000034 -0.000166 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] [1762964998.970188817] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.010} {-0.096,0.261,0.155} [component_container_isolated-3] [DEBUG] [1762964998.970238272] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.970282947] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.970322493] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 -0.000035 0.203483 -0.007014 [component_container_isolated-3] 0.002390 0.999933 -0.011325 0.059684 [component_container_isolated-3] -0.203469 0.011574 0.979013 0.018718 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.970347480] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.677,11.740,0.140} [component_container_isolated-3] [DEBUG] [1762964998.970378680] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.010} {0.741,11.481,-0.022} [component_container_isolated-3] [DEBUG] [1762964998.970427413] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.976084036] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.976138831] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.976175991] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.976219565] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 -0.000009 0.000034 0.000093 [component_container_isolated-3] 0.000009 1.000000 0.000166 -0.000141 [component_container_isolated-3] -0.000034 -0.000166 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] [1762964998.976245174] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.010} {-0.105,0.263,0.155} [component_container_isolated-3] [DEBUG] [1762964998.976293125] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.976337690] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.976376725] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 -0.000035 0.203483 -0.007014 [component_container_isolated-3] 0.002390 0.999933 -0.011325 0.059684 [component_container_isolated-3] -0.203469 0.011574 0.979013 0.018718 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.976400831] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.677,11.740,0.140} [component_container_isolated-3] [DEBUG] [1762964998.976433403] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.010} {0.750,11.479,-0.022} [component_container_isolated-3] [DEBUG] [1762964998.976483639] [zed_multi.left]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.978718006] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.978801205] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.978851982] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.978906316] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 0.000094 -0.000250 0.000464 [component_container_isolated-3] -0.000094 1.000000 -0.000249 -0.000204 [component_container_isolated-3] 0.000250 0.000249 1.000000 -0.000790 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964998.978975979] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.022} {0.093,-0.392,-0.236} [component_container_isolated-3] [DEBUG] [1762964998.979039801] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.979094305] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.979137748] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981521 -0.000013 0.191356 -0.006953 [component_container_isolated-3] -0.001682 0.999961 0.008696 0.059138 [component_container_isolated-3] -0.191349 -0.008857 0.981482 0.017859 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.979167615] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.517,11.032,-0.098} [component_container_isolated-3] [DEBUG] [1762964998.979207661] [zed_multi.right]: +++ Diff [map -> odom] - {-0.008,-0.027,0.025} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964998.979273186] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.988516328] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.988572155] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.988611160] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.988656987] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 0.000006 -0.000047 -0.000163 [component_container_isolated-3] -0.000006 1.000000 -0.000011 -0.000037 [component_container_isolated-3] 0.000047 0.000011 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] [1762964998.988682165] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,-0.000,-0.057} {0.285,-0.752,-0.083} [component_container_isolated-3] [DEBUG] [1762964998.988729946] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.988776044] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.988816151] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982712 0.000009 0.185141 -0.006841 [component_container_isolated-3] -0.000106 1.000000 0.000515 0.059799 [component_container_isolated-3] -0.185141 -0.000526 0.982712 0.017445 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.988840127] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.031,10.669,-0.006} [component_container_isolated-3] [DEBUG] [1762964998.988873641] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,0.000,0.056} {-0.300,11.422,0.075} [component_container_isolated-3] [DEBUG] [1762964998.988963302] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964998.997380236] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964998.997442836] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964998.997482812] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964998.997528369] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000033 0.000029 0.000083 [component_container_isolated-3] -0.000033 1.000000 0.000342 0.000164 [component_container_isolated-3] -0.000029 -0.000342 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] [1762964998.997554840] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.055,-0.015,-0.079} [component_container_isolated-3] [DEBUG] [1762964998.997603413] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964998.997645994] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964998.997685299] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879396 0.000087 0.476091 -0.000961 [component_container_isolated-3] -0.004745 0.999952 0.008582 0.060212 [component_container_isolated-3] -0.476068 -0.009806 0.879354 0.018120 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964998.997709615] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.429,-0.309} [component_container_isolated-3] [DEBUG] [1762964998.997739482] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.541,28.445,-0.220} [component_container_isolated-3] [DEBUG] [1762964998.997788436] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964999.003013114] [zed_multi.right]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964999.003076595] [zed_multi.right]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964999.003119176] [zed_multi.right]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964999.003165284] [zed_multi.right]: delta ODOM - [OK]: [component_container_isolated-3] 7198477F9000 [component_container_isolated-3] 1.000000 -0.000257 -0.000139 0.000545 [component_container_isolated-3] 0.000257 1.000000 0.000021 -0.000524 [component_container_isolated-3] 0.000139 -0.000021 1.000000 -0.000327 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] [component_container_isolated-3] [DEBUG] [1762964999.003191284] [zed_multi.right]: +++ Odometry [odom -> right_camera_link] - {0.013,0.026,-0.023} {0.091,-0.400,-0.222} [component_container_isolated-3] [DEBUG] [1762964999.003240879] [zed_multi.right]: === processPose === [component_container_isolated-3] [DEBUG] [1762964999.003284913] [zed_multi.right]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964999.003322585] [zed_multi.right]: Sensor POSE - [right_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8564FF18 [component_container_isolated-3] 0.981547 -0.000270 0.191220 -0.006889 [component_container_isolated-3] -0.001423 0.999961 0.008717 0.059059 [component_container_isolated-3] -0.191214 -0.008828 0.981509 0.017736 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964999.003346811] [zed_multi.right]: === Base POSE [map -> right_camera_link] - {-0.000,-0.001,0.001} {-0.515,11.024,-0.083} [component_container_isolated-3] [DEBUG] [1762964999.003382319] [zed_multi.right]: +++ Diff [map -> odom] - {-0.009,-0.027,0.026} {-0.563,11.426,0.139} [component_container_isolated-3] [DEBUG] [1762964999.003434418] [zed_multi.right]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964999.010609241] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964999.010663043] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964999.010705084] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964999.010749158] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000013 0.000052 0.000015 [component_container_isolated-3] 0.000013 1.000000 -0.000038 0.000024 [component_container_isolated-3] -0.000052 0.000038 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] [1762964999.010774757] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,-0.000,-0.056} {0.287,-0.749,-0.083} [component_container_isolated-3] [DEBUG] [1762964999.010823650] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964999.010868325] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964999.010903453] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000003 0.185192 -0.006845 [component_container_isolated-3] -0.000093 1.000000 0.000477 0.059801 [component_container_isolated-3] -0.185192 -0.000486 0.982702 0.017467 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964999.010959399] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.028,10.672,-0.005} [component_container_isolated-3] [DEBUG] [1762964999.010995959] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,0.000,0.056} {-0.300,11.422,0.075} [component_container_isolated-3] [DEBUG] [1762964999.011052918] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964999.014974537] [zed_multi.rear]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964999.015027829] [zed_multi.rear]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964999.015067224] [zed_multi.rear]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964999.015110247] [zed_multi.rear]: delta ODOM - [OK]: [component_container_isolated-3] 719807DFD000 [component_container_isolated-3] 1.000000 0.000033 0.000029 0.000083 [component_container_isolated-3] -0.000033 1.000000 0.000342 0.000164 [component_container_isolated-3] -0.000029 -0.000342 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] [1762964999.015136366] [zed_multi.rear]: +++ Odometry [odom -> rear_camera_link] - {-0.001,0.004,0.001} {-0.075,-0.014,-0.081} [component_container_isolated-3] [DEBUG] [1762964999.015183707] [zed_multi.rear]: === processPose === [component_container_isolated-3] [DEBUG] [1762964999.015227571] [zed_multi.rear]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964999.015266665] [zed_multi.rear]: Sensor POSE - [rear_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8589C6E8 [component_container_isolated-3] 0.879396 0.000087 0.476091 -0.000961 [component_container_isolated-3] -0.004745 0.999952 0.008582 0.060212 [component_container_isolated-3] -0.476068 -0.009806 0.879354 0.018120 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964999.015289860] [zed_multi.rear]: === Base POSE [map -> rear_camera_link] - {0.000,0.000,-0.000} {-0.639,28.429,-0.309} [component_container_isolated-3] [DEBUG] [1762964999.015322572] [zed_multi.rear]: +++ Diff [map -> odom] - {0.000,-0.004,-0.002} {-0.521,28.443,-0.218} [component_container_isolated-3] [DEBUG] [1762964999.015371996] [zed_multi.rear]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964999.028418131] [zed_multi.front]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964999.028472074] [zed_multi.front]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964999.028511740] [zed_multi.front]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964999.028555053] [zed_multi.front]: delta ODOM - [OK]: [component_container_isolated-3] 719847FFA000 [component_container_isolated-3] 1.000000 -0.000013 0.000052 0.000015 [component_container_isolated-3] 0.000013 1.000000 -0.000038 0.000024 [component_container_isolated-3] -0.000052 0.000038 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] [1762964999.028580542] [zed_multi.front]: +++ Odometry [odom -> front_camera_link] - {0.002,-0.000,-0.056} {0.289,-0.746,-0.082} [component_container_isolated-3] [DEBUG] [1762964999.028629836] [zed_multi.front]: === processPose === [component_container_isolated-3] [DEBUG] [1762964999.028675443] [zed_multi.front]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964999.028717082] [zed_multi.front]: Sensor POSE - [front_left_camera_frame -> map]: [component_container_isolated-3] 5DAE868C0238 [component_container_isolated-3] 0.982702 0.000003 0.185192 -0.006845 [component_container_isolated-3] -0.000093 1.000000 0.000477 0.059801 [component_container_isolated-3] -0.185192 -0.000486 0.982702 0.017467 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964999.028742200] [zed_multi.front]: === Base POSE [map -> front_camera_link] - {0.000,-0.000,-0.000} {-0.028,10.672,-0.005} [component_container_isolated-3] [DEBUG] [1762964999.028776786] [zed_multi.front]: +++ Diff [map -> odom] - {0.010,0.000,0.055} {-0.302,11.419,0.074} [component_container_isolated-3] [DEBUG] [1762964999.028827984] [zed_multi.front]: === publishTFs === [component_container_isolated-3] [DEBUG] [1762964999.041850133] [zed_multi.left]: ================================================================ [component_container_isolated-3] [DEBUG] [1762964999.041915438] [zed_multi.left]: === processOdometry === [component_container_isolated-3] [DEBUG] [1762964999.041980021] [zed_multi.left]: MAP -> Odometry Status: OK [component_container_isolated-3] [DEBUG] [1762964999.042028524] [zed_multi.left]: delta ODOM - [OK]: [component_container_isolated-3] 7198463F6000 [component_container_isolated-3] 1.000000 0.000082 0.000001 -0.000050 [component_container_isolated-3] -0.000082 1.000000 -0.000354 0.000148 [component_container_isolated-3] -0.000001 0.000354 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] [1762964999.042055565] [zed_multi.left]: +++ Odometry [odom -> left_camera_link] - {-0.003,-0.013,0.010} {-0.085,0.263,0.151} [component_container_isolated-3] [DEBUG] [1762964999.042106152] [zed_multi.left]: === processPose === [component_container_isolated-3] [DEBUG] [1762964999.042153563] [zed_multi.left]: MAP -> Tracking Status: OK [component_container_isolated-3] [DEBUG] [1762964999.042192096] [zed_multi.left]: Sensor POSE - [left_left_camera_frame -> map]: [component_container_isolated-3] 5DAE8587F688 [component_container_isolated-3] 0.979078 0.000118 0.203485 -0.006982 [component_container_isolated-3] 0.002307 0.999929 -0.011679 0.059671 [component_container_isolated-3] -0.203472 0.011904 0.979008 0.018729 [component_container_isolated-3] 0.000000 0.000000 0.000000 1.000000 [component_container_isolated-3] } [component_container_isolated-3] [DEBUG] [1762964999.042215190] [zed_multi.left]: === Base POSE [map -> left_camera_link] - {-0.000,-0.000,0.000} {0.697,11.740,0.135} [component_container_isolated-3] [DEBUG] [1762964999.042251319] [zed_multi.left]: +++ Diff [map -> odom] - {0.000,0.013,-0.010} {0.750,11.479,-0.022} [component_container_isolated-3] [DEBUG] [1762964999.042304691] [zed_multi.left]: === publishTFs ===