4 Replies Latest reply on May 31, 2018 2:34 AM by melodybinbin

    A problem about "roslaunch realsense_ros_slam demo_slam.launch" with realsense ZR300

    melodybinbin

      Hello,

      I run the commands as the website: realsense_samples_ros/README.md at kinetic-devel · IntelRealSense/realsense_samples_ros · GitHub

      $ cd catkin_ws

      $ source devel/setup.bash

      $ roslaunch realsense_ros_slam demo_slam.launch

       

      And the terminal shows as following including two cases.

      Case 1:

      yuanlibin@yuanlibin:~/catkin_ws$ roslaunch realsense_ros_slam demo_slam.launch
      ... logging to /home/yuanlibin/.ros/log/ce3f41f2-63b1-11e8-9c51-1c1b0d61bf22/roslaunch-yuanlibin-2914.log
      Checking log directory for disk usage. This may take awhile.
      Press Ctrl-C to interrupt
      Done checking log file disk usage. Usage is <1GB.

      started roslaunch server http://yuanlibin:43883/

      SUMMARY

      PARAMETERS

      • /realsense_ros_camera/accel_optical_frame_id: camera_accel_opti...
      • /realsense_ros_camera/color_fps: 30
      • /realsense_ros_camera/color_height: 480
      • /realsense_ros_camera/color_optical_frame_id: camera_rgb_optica...
      • /realsense_ros_camera/color_width: 640
      • /realsense_ros_camera/depth_fps: 30
      • /realsense_ros_camera/depth_height: 240
      • /realsense_ros_camera/depth_optical_frame_id: camera_depth_opti...
      • /realsense_ros_camera/depth_width: 320
      • /realsense_ros_camera/enable_color: False
      • /realsense_ros_camera/enable_depth: True
      • /realsense_ros_camera/enable_fisheye: True
      • /realsense_ros_camera/fisheye_fps: 30
      • /realsense_ros_camera/fisheye_height: 480
      • /realsense_ros_camera/fisheye_optical_frame_id: camera_fisheye_op...
      • /realsense_ros_camera/fisheye_width: 640
      • /realsense_ros_camera/gyro_optical_frame_id: camera_gyro_optic...
      • /realsense_ros_camera/ir2_optical_frame_id: camera_ir2_optica...
      • /realsense_ros_camera/ir_optical_frame_id: camera_ir_optical...
      • /realsense_ros_camera/serial_no:
      • /realsense_ros_slam/doi_max: 3.0
      • /realsense_ros_slam/doi_min: 0.3
      • /realsense_ros_slam/hoi_max: 0.1
      • /realsense_ros_slam/hoi_min: -0.5
      • /realsense_ros_slam/load_occupancy_map:
      • /realsense_ros_slam/load_relocalization_map:
      • /realsense_ros_slam/map_resolution: 0.05
      • /realsense_ros_slam/occupancyFilename: occupancy_1019.bin
      • /realsense_ros_slam/publish_odometry: True
      • /realsense_ros_slam/relocalizationFilename: relocalization_10...
      • /realsense_ros_slam/resolution: 0.1
      • /realsense_ros_slam/topic_camera_pose: camera_pose
      • /realsense_ros_slam/topic_map: map
      • /realsense_ros_slam/topic_odom: odom
      • /realsense_ros_slam/topic_pose2d: pose2d
      • /realsense_ros_slam/topic_reloc_pose: reloc_pose
      • /realsense_ros_slam/topic_tracking_accuracy: tracking_accuracy
      • /realsense_ros_slam/trajectoryFilename: trajectory_1019.ppm
      • /rosdistro: kinetic
      • /rosversion: 1.12.13

      NODES
      /
      base_link_to_camera_link (tf2_ros/static_transform_publisher)
      map_to_odom (tf2_ros/static_transform_publisher)
      odom_to_base_link (tf2_ros/static_transform_publisher)
      realsense_ros_camera (nodelet/nodelet)
      realsense_ros_camera_manager (nodelet/nodelet)
      realsense_ros_slam (nodelet/nodelet)
      rviz_demo (rviz/rviz)
      auto-starting new master
      process[master]: started with pid [2926]
      ROS_MASTER_URI=http://localhost:11311
      setting /run_id to ce3f41f2-63b1-11e8-9c51-1c1b0d61bf22
      process[rosout-1]: started with pid [2939]
      started core service [/rosout]
      process[realsense_ros_camera_manager-2]: started with pid [2957]
      process[realsense_ros_camera-3]: started with pid [2958]
      process[map_to_odom-4]: started with pid [2959]
      process[base_link_to_camera_link-5]: started with pid [2967]
      [ INFO] [1527647595.983569884]: Loading nodelet /realsense_ros_camera of type realsense_ros_camera/NodeletCamera to manager realsense_ros_camera_manager with the following remappings:
      process[odom_to_base_link-6]: started with pid [2969]
      process[rviz_demo-7]: started with pid [2982]
      process[realsense_ros_slam-8]: started with pid [2995]
      [ INFO] [1527647596.006325421]: waitForService: Service [/realsense_ros_camera_manager/load_nodelet] has not been advertised, waiting...
      [ INFO] [1527647596.014217898]: Initializing nodelet with 4 worker threads.
      [ INFO] [1527647596.020033310]: Loading nodelet /realsense_ros_slam of type realsense_ros_slam/SNodeletSlam to manager realsense_ros_camera_manager with the following remappings:
      [ INFO] [1527647596.030207743]: waitForService: Service [/realsense_ros_camera_manager/load_nodelet] is now available.
      [ INFO] [1527647596.085030371]: end of onInit
      [ INFO] [1527647596.504049868]: Intel RealSense ZR300, serial_no: 3511803550
      [ INFO] [1527647596.586753663]: enabled depth stream, width: 320 height: 240 fps: 30
      [ INFO] [1527647596.586884928]: enabled fisheye stream, width: 640 height: 480 fps: 30
      [ INFO] [1527647596.587134904]: enabled accel and gyro stream
      [ INFO] [1527647597.203385220]: Starting SLAM...
      created..........
      [ INFO] [1527647597.203473756]: tracking_event_handler
      [ INFO] [1527647597.203509676]: setCalibrationData
      [ INFO] [1527647597.203530385]: setCalibrationData
      [ INFO] [1527647597.684816381]: Listening on camera/depth/image_raw
      [ INFO] [1527647597.685005202]: Listening on camera/fisheye/image_raw
      [ INFO] [1527647597.694096389]: Listening on camera/gyro/sample
      [ INFO] [1527647597.694149085]: Listening on camera/accel/sample
      terminate called after throwing an instance of 'std::runtime_error'
      what(): Time is out of dual 32-bit range
      [realsense_ros_camera_manager-2] process has died [pid 2957, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=realsense_ros_camera_manager __log:=/home/yuanlibin/.ros/log/ce3f41f2-63b1-11e8-9c51-1c1b0d61bf22/realsense_ros_camera_manager-2.log].
      log file: /home/yuanlibin/.ros/log/ce3f41f2-63b1-11e8-9c51-1c1b0d61bf22/realsense_ros_camera_manager-2*.log
      ^C[realsense_ros_slam-8] killing on exit
      [rviz_demo-7] killing on exit
      [ INFO] [1527648852.260841290]: Unloading nodelet /realsense_ros_slam from manager realsense_ros_camera_manager
      [ INFO] [1527648852.262561239]: waitForService: Service [/realsense_ros_camera_manager/unload_nodelet] could not connect to host [yuanlibin:37609], waiting...
      [ WARN] [1527648852.262617328]: Couldn't find service realsense_ros_camera_manager/unload_nodelet, perhaps the manager is already shut down
      [base_link_to_camera_link-5] killing on exit
      [realsense_ros_camera-3] killing on exit
      [ INFO] [1527648852.275673591]: Unloading nodelet /realsense_ros_camera from manager realsense_ros_camera_manager
      [ INFO] [1527648852.277221224]: waitForService: Service [/realsense_ros_camera_manager/unload_nodelet] could not connect to host [yuanlibin:37609], waiting...
      [ WARN] [1527648852.277276845]: Couldn't find service realsense_ros_camera_manager/unload_nodelet, perhaps the manager is already shut down
      [map_to_odom-4] killing on exit
      [odom_to_base_link-6] killing on exit
      [rosout-1] killing on exit
      [master] killing on exit
      shutting down processing monitor...
      ... shutting down processing monitor complete
      done
      yuanlibin@yuanlibin:~/catkin_ws$

       

      Case 2:

      yuanlibin@yuanlibin:~$ roslaunch realsense_ros_slam demo_slam.launch
      ... logging to /home/yuanlibin/.ros/log/ca45a838-63da-11e8-9ab3-1c1b0d61bf22/roslaunch-yuanlibin-8479.log
      Checking log directory for disk usage. This may take awhile.
      Press Ctrl-C to interrupt
      Done checking log file disk usage. Usage is <1GB.
      started roslaunch server http://yuanlibin:42831/

      SUMMARY

      PARAMETERS

      • /realsense_ros_camera/accel_optical_frame_id: camera_accel_opti...
      • /realsense_ros_camera/color_fps: 30
      • /realsense_ros_camera/color_height: 480
      • /realsense_ros_camera/color_optical_frame_id: camera_rgb_optica...
      • /realsense_ros_camera/color_width: 640
      • /realsense_ros_camera/depth_fps: 30
      • /realsense_ros_camera/depth_height: 240
      • /realsense_ros_camera/depth_optical_frame_id: camera_depth_opti...
      • /realsense_ros_camera/depth_width: 320
      • /realsense_ros_camera/enable_color: False
      • /realsense_ros_camera/enable_depth: True
      • /realsense_ros_camera/enable_fisheye: True
      • /realsense_ros_camera/fisheye_fps: 30
      • /realsense_ros_camera/fisheye_height: 480
      • /realsense_ros_camera/fisheye_optical_frame_id: camera_fisheye_op...
      • /realsense_ros_camera/fisheye_width: 640
      • /realsense_ros_camera/gyro_optical_frame_id: camera_gyro_optic...
      • /realsense_ros_camera/ir2_optical_frame_id: camera_ir2_optica...
      • /realsense_ros_camera/ir_optical_frame_id: camera_ir_optical...
      • /realsense_ros_camera/serial_no:
      • /realsense_ros_slam/doi_max: 3.0
      • /realsense_ros_slam/doi_min: 0.3
      • /realsense_ros_slam/hoi_max: 0.1
      • /realsense_ros_slam/hoi_min: -0.5
      • /realsense_ros_slam/load_occupancy_map:
      • /realsense_ros_slam/load_relocalization_map:
      • /realsense_ros_slam/map_resolution: 0.05
      • /realsense_ros_slam/occupancyFilename: occupancy_1019.bin
      • /realsense_ros_slam/publish_odometry: True
      • /realsense_ros_slam/relocalizationFilename: relocalization_10...
      • /realsense_ros_slam/resolution: 0.1
      • /realsense_ros_slam/topic_camera_pose: camera_pose
      • /realsense_ros_slam/topic_map: map
      • /realsense_ros_slam/topic_odom: odom
      • /realsense_ros_slam/topic_pose2d: pose2d
      • /realsense_ros_slam/topic_reloc_pose: reloc_pose
      • /realsense_ros_slam/topic_tracking_accuracy: tracking_accuracy
      • /realsense_ros_slam/trajectoryFilename: trajectory_1019.ppm
      • /rosdistro: kinetic
      • /rosversion: 1.12.13

      NODES
      /
      base_link_to_camera_link (tf2_ros/static_transform_publisher)
      map_to_odom (tf2_ros/static_transform_publisher)
      odom_to_base_link (tf2_ros/static_transform_publisher)
      realsense_ros_camera (nodelet/nodelet)
      realsense_ros_camera_manager (nodelet/nodelet)
      realsense_ros_slam (nodelet/nodelet)
      rviz_demo (rviz/rviz)

      auto-starting new master
      process[master]: started with pid [8489]
      ROS_MASTER_URI=http://localhost:11311

      setting /run_id to ca45a838-63da-11e8-9ab3-1c1b0d61bf22
      process[rosout-1]: started with pid [8502]
      started core service [/rosout]
      process[realsense_ros_camera_manager-2]: started with pid [8519]
      process[realsense_ros_camera-3]: started with pid [8520]
      process[map_to_odom-4]: started with pid [8521]
      process[base_link_to_camera_link-5]: started with pid [8523]
      [ INFO] [1527665198.675906782]: Loading nodelet /realsense_ros_camera of type realsense_ros_camera/NodeletCamera to manager realsense_ros_camera_manager with the following remappings:
      process[odom_to_base_link-6]: started with pid [8543]
      process[rviz_demo-7]: started with pid [8560]
      [ INFO] [1527665198.689391697]: Initializing nodelet with 4 worker threads.
      process[realsense_ros_slam-8]: started with pid [8571]
      [ INFO] [1527665198.708527364]: Loading nodelet /realsense_ros_slam of type realsense_ros_slam/SNodeletSlam to manager realsense_ros_camera_manager with the following remappings:
      [ INFO] [1527665199.106888766]: Intel RealSense ZR300, serial_no: 3511803550
      [ INFO] [1527665199.168925597]: enabled depth stream, width: 320 height: 240 fps: 30
      [ INFO] [1527665199.169055296]: enabled fisheye stream, width: 640 height: 480 fps: 30
      [ INFO] [1527665199.169288520]: enabled accel and gyro stream
      [ INFO] [1527665199.623860301]: end of onInit
      [ INFO] [1527665199.785974591]: Starting SLAM...
      created..........
      [ INFO] [1527665199.786095029]: tracking_event_handler
      [ INFO] [1527665199.786143688]: setCalibrationData
      [ INFO] [1527665199.786156074]: setCalibrationData
      [ERROR] [1527665199.840464458]: error: Junk time stamp in stream:0 with frame counter:2
      [ERROR] [1527665199.871370494]: error: Junk time stamp in stream:0 with frame counter:3
      [ERROR] [1527665199.904687912]: error: Junk time stamp in stream:0 with frame counter:4
      [ERROR] [1527665199.937865986]: error: Junk time stamp in stream:0 with frame counter:5
      [ERROR] [1527665199.971205134]: error: Junk time stamp in stream:0 with frame counter:6
      [ERROR] [1527665200.004431861]: error: Junk time stamp in stream:0 with frame counter:7
      [ERROR] [1527665200.037745242]: error: Junk time stamp in stream:0 with frame counter:8
      [ERROR] [1527665200.070951570]: error: Junk time stamp in stream:0 with frame counter:9
      [ERROR] [1527665200.104266168]: error: Junk time stamp in stream:0 with frame counter:10
      [ERROR] [1527665200.137714922]: error: Junk time stamp in stream:0 with frame counter:11
      [ERROR] [1527665200.170863143]: error: Junk time stamp in stream:0 with frame counter:12
      [ERROR] [1527665200.204055845]: error: Junk time stamp in stream:0 with frame counter:13
      [ERROR] [1527665200.237301653]: error: Junk time stamp in stream:0 with frame counter:14
      [ INFO] [1527665200.266362155]: Listening on camera/depth/image_raw
      [ INFO] [1527665200.266428096]: Listening on camera/fisheye/image_raw
      [ERROR] [1527665200.270726835]: error: Junk time stamp in stream:0 with frame counter:15
      [ INFO] [1527665200.272154779]: Listening on camera/gyro/sample
      [ INFO] [1527665200.272176890]: Listening on camera/accel/sample
      [ERROR] [1527665200.303882986]: error: Junk time stamp in stream:0 with frame counter:16
      [ERROR] [1527665200.337189751]: error: Junk time stamp in stream:0 with frame counter:17
      [ERROR] [1527665200.370374121]: error: Junk time stamp in stream:0 with frame counter:18
      [ERROR] [1527665200.403754486]: error: Junk time stamp in stream:0 with frame counter:19
      [ERROR] [1527665200.436907634]: error: Junk time stamp in stream:0 with frame counter:20
      [ERROR] [1527665200.470283714]: error: Junk time stamp in stream:0 with frame counter:21
      [ERROR] [1527665200.503500274]: error: Junk time stamp in stream:0 with frame counter:22
      [ERROR] [1527665200.536800815]: error: Junk time stamp in stream:0 with frame counter:23
      [ERROR] [1527665200.570045887]: error: Junk time stamp in stream:0 with frame counter:24
      [ERROR] [1527665200.603241846]: error: Junk time stamp in stream:0 with frame counter:25
      [ERROR] [1527665200.636536484]: error: Junk time stamp in stream:0 with frame counter:26
      [ERROR] [1527665200.669839339]: error: Junk time stamp in stream:0 with frame counter:27
      [ERROR] [1527665200.703111081]: error: Junk time stamp in stream:0 with frame counter:28
      [ERROR] [1527665200.736380200]: error: Junk time stamp in stream:0 with frame counter:29
      [ERROR] [1527665200.769588306]: error: Junk time stamp in stream:0 with frame counter:30
      [ERROR] [1527665200.802893720]: error: Junk time stamp in stream:0 with frame counter:31
      [ERROR] [1527665200.836187690]: error: Junk time stamp in stream:0 with frame counter:32
      [ERROR] [1527665200.869471850]: error: Junk time stamp in stream:0 with frame counter:33
      [ERROR] [1527665200.902724421]: error: Junk time stamp in stream:0 with frame counter:34
      [ERROR] [1527665200.935989309]: error: Junk time stamp in stream:0 with frame counter:35
      [ERROR] [1527665200.969268492]: error: Junk time stamp in stream:0 with frame counter:36
      [ERROR] [1527665201.002521828]: error: Junk time stamp in stream:0 with frame counter:37
      [ERROR] [1527665201.036373261]: error: Junk time stamp in stream:0 with frame counter:38
      [ERROR] [1527665201.069122184]: error: Junk time stamp in stream:0 with frame counter:39
      [ERROR] [1527665201.102374656]: error: Junk time stamp in stream:0 with frame counter:40
      [ERROR] [1527665201.135615162]: error: Junk time stamp in stream:0 with frame counter:41
      [ERROR] [1527665201.168836065]: error: Junk time stamp in stream:0 with frame counter:42
      [ERROR] [1527665201.202171001]: error: Junk time stamp in stream:0 with frame counter:43
      [ERROR] [1527665201.235374718]: error: Junk time stamp in stream:0 with frame counter:44
      [ERROR] [1527665201.268741750]: error: Junk time stamp in stream:0 with frame counter:45
      [ERROR] [1527665201.301941757]: error: Junk time stamp in stream:0 with frame counter:46
      [ERROR] [1527665201.335303044]: error: Junk time stamp in stream:0 with frame counter:47
      [ERROR] [1527665201.369137403]: error: Junk time stamp in stream:0 with frame counter:48
      [ERROR] [1527665201.401800272]: error: Junk time stamp in stream:0 with frame counter:49
      [ERROR] [1527665201.434982393]: error: Junk time stamp in stream:0 with frame counter:50
      [ERROR] [1527665201.468387016]: error: Junk time stamp in stream:0 with frame counter:51
      [ERROR] [1527665201.501569845]: error: Junk time stamp in stream:0 with frame counter:52
      [ERROR] [1527665201.534806814]: error: Junk time stamp in stream:0 with frame counter:53
      [ERROR] [1527665201.568086697]: error: Junk time stamp in stream:0 with frame counter:54
      [ERROR] [1527665201.601466215]: error: Junk time stamp in stream:0 with frame counter:55
      [ERROR] [1527665201.634774666]: error: Junk time stamp in stream:0 with frame counter:56
      [ERROR] [1527665201.667953483]: error: Junk time stamp in stream:0 with frame counter:57
      [ERROR] [1527665201.701167718]: error: Junk time stamp in stream:0 with frame counter:58
      [ERROR] [1527665201.734517193]: error: Junk time stamp in stream:0 with frame counter:59
      [ERROR] [1527665201.767721341]: error: Junk time stamp in stream:0 with frame counter:60
      [ERROR] [1527665201.801016798]: error: Junk time stamp in stream:0 with frame counter:61
      [ERROR] [1527665201.834293762]: error: Junk time stamp in stream:0 with frame counter:62
      [ERROR] [1527665201.867552691]: error: Junk time stamp in stream:0 with frame counter:63
      [ERROR] [1527665201.900864708]: error: Junk time stamp in stream:0 with frame counter:64
      [ERROR] [1527665201.934053820]: error: Junk time stamp in stream:0 with frame counter:65
      [ERROR] [1527665201.967309645]: error: Junk time stamp in stream:0 with frame counter:66
      [ERROR] [1527665202.000628951]: error: Junk time stamp in stream:0 with frame counter:67
      [ERROR] [1527665202.033868897]: error: Junk time stamp in stream:0 with frame counter:68
      [ERROR] [1527665202.067141506]: error: Junk time stamp in stream:0 with frame counter:69
      [ERROR] [1527665202.100378858]: error: Junk time stamp in stream:0 with frame counter:70
      [ERROR] [1527665202.133629882]: error: Junk time stamp in stream:0 with frame counter:71
      [ERROR] [1527665202.166997380]: error: Junk time stamp in stream:0 with frame counter:72
      [ERROR] [1527665202.200529671]: error: Junk time stamp in stream:0 with frame counter:73
      [ERROR] [1527665202.233502033]: error: Junk time stamp in stream:0 with frame counter:74
      [ERROR] [1527665202.266764945]: error: Junk time stamp in stream:0 with frame counter:75
      [ERROR] [1527665202.299981872]: error: Junk time stamp in stream:0 with frame counter:76
      [ERROR] [1527665202.333318269]: error: Junk time stamp in stream:0 with frame counter:77
      [ERROR] [1527665202.366515509]: error: Junk time stamp in stream:0 with frame counter:78
      [ERROR] [1527665202.399834919]: error: Junk time stamp in stream:0 with frame counter:79
      [ERROR] [1527665202.433091735]: error: Junk time stamp in stream:0 with frame counter:80
      [ERROR] [1527665202.466350701]: error: Junk time stamp in stream:0 with frame counter:81
      [ERROR] [1527665202.499592678]: error: Junk time stamp in stream:0 with frame counter:82
      [ERROR] [1527665202.532875105]: error: Junk time stamp in stream:0 with frame counter:83
      [ERROR] [1527665202.566147156]: error: Junk time stamp in stream:0 with frame counter:84
      [ERROR] [1527665202.599522545]: error: Junk time stamp in stream:0 with frame counter:85
      [ERROR] [1527665202.632730843]: error: Junk time stamp in stream:0 with frame counter:86
      [ERROR] [1527665202.665956880]: error: Junk time stamp in stream:0 with frame counter:87
      [ERROR] [1527665202.699179219]: error: Junk time stamp in stream:0 with frame counter:88
      [ERROR] [1527665202.732532882]: error: Junk time stamp in stream:0 with frame counter:89
      [ERROR] [1527665202.765845061]: error: Junk time stamp in stream:0 with frame counter:90
      [ERROR] [1527665202.799136024]: error: Junk time stamp in stream:0 with frame counter:91
      [ERROR] [1527665202.832361393]: error: Junk time stamp in stream:0 with frame counter:92
      [ERROR] [1527665202.865623644]: error: Junk time stamp in stream:0 with frame counter:93
      [ERROR] [1527665202.898817584]: error: Junk time stamp in stream:0 with frame counter:94
      [ERROR] [1527665202.932107297]: error: Junk time stamp in stream:0 with frame counter:95
      [ERROR] [1527665202.965483815]: error: Junk time stamp in stream:0 with frame counter:96
      [ERROR] [1527665202.998653665]: error: Junk time stamp in stream:0 with frame counter:97
      [ERROR] [1527665203.031981163]: error: Junk time stamp in stream:0 with frame counter:98
      [ERROR] [1527665203.065235612]: error: Junk time stamp in stream:0 with frame counter:99
      [ERROR] [1527665203.098467868]: error: Junk time stamp in stream:0 with frame counter:100
      [ERROR] [1527665203.131811272]: error: Junk time stamp in stream:0 with frame counter:101
      [ERROR] [1527665203.164975944]: error: Junk time stamp in stream:0 with frame counter:102
      [ERROR] [1527665203.198345323]: error: Junk time stamp in stream:0 with frame counter:103
      [ERROR] [1527665203.231562230]: error: Junk time stamp in stream:0 with frame counter:104
      [ERROR] [1527665203.264857745]: error: Junk time stamp in stream:0 with frame counter:105
      [ERROR] [1527665203.298137484]: error: Junk time stamp in stream:0 with frame counter:106
      ^C[ERROR] [1527665203.331368801]: error: Junk time stamp in stream:0 with frame counter:107
      [ERROR] [1527665203.364639832]: error: Junk time stamp in stream:0 with frame counter:108
      [realsense_ros_slam-8] killing on exit
      [ INFO] [1527665203.383612344]: Unloading nodelet /realsense_ros_slam from manager realsense_ros_camera_manager
      [rviz_demo-7] killing on exit
      [odom_to_base_link-6] killing on exit
      [base_link_to_camera_link-5] killing on exit
      [map_to_odom-4] killing on exit
      [realsense_ros_camera-3] killing on exit
      [realsense_ros_camera_manager-2] killing on exit
      [ INFO] [1527665203.393195173]: Unloading nodelet /realsense_ros_camera from manager realsense_ros_camera_manager
      [rosout-1] killing on exit
      [master] killing on exit
      shutting down processing monitor...
      ... shutting down processing monitor complete
      done
      yuanlibin@yuanlibin:~$

       

      And the rviz shows as the following picture:

      111.png

      These two cases appear from time to time. It has confused me two days. I am looking forward to your response. Thanks in advance!