Hi Łukasz,
Thanks for replying.
Yes, the mapping functionality was working fine last week before I updated the repository, and if I understand correctly, before /map_image is published as a video stream from a ros topic.
I did not try the map in Rviz, because I’m not sure how to use it (I’m using WSL on Windows 10, and running ROS on ROSbot2, not sure how that’ll work). Should I install it as a separate program, without installing ROS?
Here’s the entire output of roslaunch:
... logging to /home/husarion/.ros/log/69a1e96c-b846-11e9-ab59-d0c5d370b2eb/roslaunch-husarion-20972.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://husarion:39522/
SUMMARY
========
PARAMETERS
* /camera/camera_nodelet_manager/num_worker_threads: 4
* /camera/depth_rectify_depth/interpolation: 0
* /camera/driver/auto_exposure: True
* /camera/driver/auto_white_balance: True
* /camera/driver/bootorder: 0
* /camera/driver/color_depth_synchronization: False
* /camera/driver/depth_camera_info_url:
* /camera/driver/depth_frame_id: camera_depth_opti...
* /camera/driver/depth_registration: False
* /camera/driver/device_id: #1
* /camera/driver/devnums: 1
* /camera/driver/rgb_camera_info_url:
* /camera/driver/rgb_frame_id: camera_rgb_optica...
* /explore_server/explore_costmap/explore_boundary/explore_clear_space: False
* /explore_server/explore_costmap/explore_boundary/frontier_travel_point: middle
* /explore_server/explore_costmap/explore_boundary/resize_to_boundary: False
* /explore_server/explore_costmap/footprint: [[0.1, 0.12], [0....
* /explore_server/explore_costmap/global_frame: map
* /explore_server/explore_costmap/inflation/inflation_radius: 0.2
* /explore_server/explore_costmap/plugins: [{'type': 'costma...
* /explore_server/explore_costmap/publish_frequency: 5
* /explore_server/explore_costmap/robot_base_frame: base_link
* /explore_server/explore_costmap/static/map_topic: /map
* /explore_server/explore_costmap/static/subscribe_to_updates: True
* /explore_server/explore_costmap/transform_tolerance: 5
* /explore_server/explore_costmap/update_frequency: 5
* /explore_server/frequency: 1.0
* /explore_server/goal_aliasing: 0.1
* /map_to_img/child_frame: /base_link
* /map_to_img/parent_frame: /map
* /map_to_img/tile_height: 480
* /map_to_img/tile_width: 640
* /move_base/TrajectoryPlannerROS/acc_lim_Y: 2.5
* /move_base/TrajectoryPlannerROS/acc_lim_theta: 0.25
* /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5
* /move_base/TrajectoryPlannerROS/holonomic_robot: False
* /move_base/TrajectoryPlannerROS/max_vel_theta: 0.35
* /move_base/TrajectoryPlannerROS/max_vel_x: 0.2
* /move_base/TrajectoryPlannerROS/meter_scoring: True
* /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.25
* /move_base/TrajectoryPlannerROS/min_vel_theta: -0.35
* /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
* /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.15
* /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.25
* /move_base/controller_frequency: 10.0
* /move_base/global_costmap/always_send_full_costmap: True
* /move_base/global_costmap/footprint: [[0.1, 0.12], [0....
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/height: 5
* /move_base/global_costmap/inflation_radius: 0.7
* /move_base/global_costmap/laser_scan_sensor/clearing: True
* /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan
* /move_base/global_costmap/laser_scan_sensor/marking: True
* /move_base/global_costmap/laser_scan_sensor/sensor_frame: laser
* /move_base/global_costmap/laser_scan_sensor/topic: scan
* /move_base/global_costmap/map_topic: /map
* /move_base/global_costmap/observation_sources: laser_scan_sensor
* /move_base/global_costmap/obstacle_range: 6.0
* /move_base/global_costmap/origin_x: -2.5
* /move_base/global_costmap/origin_y: -2.5
* /move_base/global_costmap/publish_frequency: 1
* /move_base/global_costmap/raytrace_range: 8.0
* /move_base/global_costmap/resolution: 0.01
* /move_base/global_costmap/robot_base_frame: base_link
* /move_base/global_costmap/rolling_window: True
* /move_base/global_costmap/static_map: False
* /move_base/global_costmap/subscribe_to_updates: True
* /move_base/global_costmap/transform_tolerance: 5
* /move_base/global_costmap/update_frequency: 1
* /move_base/global_costmap/width: 5
* /move_base/local_costmap/always_send_full_costmap: True
* /move_base/local_costmap/footprint: [[0.1, 0.12], [0....
* /move_base/local_costmap/global_frame: map
* /move_base/local_costmap/height: 3
* /move_base/local_costmap/inflation_radius: 0.4
* /move_base/local_costmap/laser_scan_sensor/clearing: True
* /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan
* /move_base/local_costmap/laser_scan_sensor/marking: True
* /move_base/local_costmap/laser_scan_sensor/sensor_frame: laser
* /move_base/local_costmap/laser_scan_sensor/topic: scan
* /move_base/local_costmap/map_topic: /map
* /move_base/local_costmap/observation_sources: laser_scan_sensor
* /move_base/local_costmap/obstacle_range: 6.0
* /move_base/local_costmap/origin_x: -1.5
* /move_base/local_costmap/origin_y: -1.5
* /move_base/local_costmap/publish_frequency: 2.5
* /move_base/local_costmap/raytrace_range: 8.0
* /move_base/local_costmap/resolution: 0.01
* /move_base/local_costmap/robot_base_frame: base_link
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/static_map: False
* /move_base/local_costmap/subscribe_to_updates: True
* /move_base/local_costmap/transform_tolerance: 5
* /move_base/local_costmap/update_frequency: 2.5
* /move_base/local_costmap/width: 3
* /move_base/recovery_behavior_enabled: True
* /rosapi/params_glob: [*]
* /rosapi/services_glob: [*]
* /rosapi/topics_glob: [*]
* /rosbridge_websocket/address:
* /rosbridge_websocket/authenticate: False
* /rosbridge_websocket/bson_only_mode: False
* /rosbridge_websocket/delay_between_messages: 0
* /rosbridge_websocket/fragment_timeout: 600
* /rosbridge_websocket/max_message_size: None
* /rosbridge_websocket/params_glob: [*]
* /rosbridge_websocket/port: 9090
* /rosbridge_websocket/retry_startup_delay: 5
* /rosbridge_websocket/services_glob: [*]
* /rosbridge_websocket/topics_glob: [*]
* /rosbridge_websocket/unregister_timeout: 10
* /rosbridge_websocket/use_compression: False
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /rplidarNode/angle_compensate: True
* /rplidarNode/frame_id: laser
* /rplidarNode/inverted: False
* /rplidarNode/serial_baudrate: 115200
* /rplidarNode/serial_port: /dev/ttyUSB0
* /webvideo4/address: ::
* /webvideo4/port: 8082
NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_sw_metric_rect (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet)
/
ROSbot2_camera (tf/static_transform_publisher)
ROSbot2_laser (tf/static_transform_publisher)
bridge (rosbot_webui/serial_bridge.sh)
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
depth_clipping_node (husarion_ros/depth_clipping_node)
explore_client (frontier_exploration/explore_client)
explore_server (frontier_exploration/explore_server)
gmapping_supervisor (rosbot_webui/gmapping_supervisor.py)
map_to_img (rosbot_webui/map_to_img_node)
move_base (move_base/move_base)
pose_to_tf_transform (rosbot_webui/pose_to_tf_transform)
rosapi (rosapi/rosapi_node)
rosbridge_websocket (rosbridge_server/rosbridge_websocket)
rplidarNode (rplidar_ros/rplidarNode)
tf_to_pose (rosbot_webui/tf_to_pose)
webvideo4 (web_video_server/web_video_server)
wifi_publisher (husarion_ros/wifi.py)
auto-starting new master
process[master]: started with pid [21086]
ROS_MASTER_URI=http://master:11311
setting /run_id to 69a1e96c-b846-11e9-ab59-d0c5d370b2eb
process[rosout-1]: started with pid [21136]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [21171]
[ INFO] [1565094820.770429259]: Initializing nodelet with 4 worker threads.
process[camera/driver-3]: started with pid [21185]
[ INFO] [1565094821.070789088]: Device "2bc5/0401@1/4" found.
Warning: USB events thread - failed to set priority. This might cause loss of data...
process[camera/rgb_rectify_color-4]: started with pid [21222]
process[camera/depth_rectify_depth-5]: started with pid [21318]
process[camera/depth_metric_rect-6]: started with pid [21460]
process[camera/depth_metric-7]: started with pid [21585]
process[camera/depth_points-8]: started with pid [21642]
process[camera/register_depth_rgb-9]: started with pid [21698]
process[camera/points_xyzrgb_sw_registered-10]: started with pid [21729]
process[camera/depth_registered_sw_metric_rect-11]: started with pid [21803]
process[camera_base_link-12]: started with pid [21834]
process[camera_base_link1-13]: started with pid [21896]
process[camera_base_link2-14]: started with pid [21923]
process[camera_base_link3-15]: started with pid [21947]
process[rplidarNode-16]: started with pid [21972]
[ INFO] [1565094825.515738064]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.7.0
process[bridge-17]: started with pid [21999]
RPLIDAR S/N: B1E79AF2C1EA9FC0BEEB9CF33E343200
[ INFO] [1565094826.023713631]: Firmware Ver: 1.25
[ INFO] [1565094826.023864423]: Hardware Rev: 5
[ INFO] [1565094826.025748588]: RPLidar health status : 0
process[wifi_publisher-18]: started with pid [22035]
[INFO] [1565094826.465336]: ROS Serial Python Node
[INFO] [1565094826.476624]: Connecting to /dev/ttyCORE2 at 500000 baud
process[ROSbot2_laser-19]: started with pid [22054]
[ INFO] [1565094826.596434184]: current scan mode: Express, max_distance: 12.0 m, Point number: 4.0K , angle_compensate: 1
[INFO] [1565094826.798203]: wifi_status publisher node started
process[ROSbot2_camera-20]: started with pid [22084]
process[pose_to_tf_transform-21]: started with pid [22123]
process[tf_to_pose-22]: started with pid [22153]
[ WARN] [1565094827.724993054]: Could not get transform between '/map' and '/base_link', will retry every second
process[depth_clipping_node-23]: started with pid [22187]
[ INFO] [1565094828.251985270]: Starting color stream.
process[map_to_img-24]: started with pid [22231]
[ INFO] [1565094828.491513398]: Init MapAsImageProvider object
[ INFO] [1565094828.617421415]: Starting depth stream.
[ INFO] [1565094828.685584149]: using default calibration URL
[ INFO] [1565094828.685840815]: camera calibration URL: file:///home/husarion/.ros/camera_info/rgb_Astra_Orbbec.yaml
[ INFO] [1565094828.686211815]: Unable to open camera calibration file [/home/husarion/.ros/camera_info/rgb_Astra_Orbbec.yaml]
[ WARN] [1565094828.686348023]: Camera calibration file /home/husarion/.ros/camera_info/rgb_Astra_Orbbec.yaml not found.
[INFO] [1565094828.702095]: Note: publish buffer size is 512 bytes
[INFO] [1565094828.703089]: Setup publisher on /battery [sensor_msgs/BatteryState]
[INFO] [1565094828.716074]: Setup publisher on /pose [geometry_msgs/PoseStamped]
[ WARN] [1565094828.725567239]: Could not get transform between '/map' and '/base_link', will retry every second
[INFO] [1565094828.728545]: Setup publisher on /rpy [geometry_msgs/Vector3]
[INFO] [1565094828.743892]: Setup publisher on /range/fl [sensor_msgs/Range]
[INFO] [1565094828.757215]: Setup publisher on /range/fr [sensor_msgs/Range]
[INFO] [1565094828.770226]: Setup publisher on /range/rl [sensor_msgs/Range]
[INFO] [1565094828.781162]: Setup publisher on /range/rr [sensor_msgs/Range]
[ INFO] [1565094828.795548513]: using default calibration URL
[ INFO] [1565094828.795783888]: camera calibration URL: file:///home/husarion/.ros/camera_info/depth_Astra_Orbbec.yaml
[ INFO] [1565094828.796189304]: Unable to open camera calibration file [/home/husarion/.ros/camera_info/depth_Astra_Orbbec.yaml]
[ WARN] [1565094828.796336304]: Camera calibration file /home/husarion/.ros/camera_info/depth_Astra_Orbbec.yaml not found.
[INFO] [1565094828.808303]: Setup publisher on /joint_states [sensor_msgs/JointState]
process[move_base-25]: started with pid [22289]
[ INFO] [1565094829.123581940]: New scale is 0.010000
[ INFO] [1565094829.123803315]: Map to Image node started.
[ WARN] [1565094829.418090938]: Could not get transform between '/map' and '/base_link', will retry every second
[ WARN] [1565094829.726114591]: Could not get transform between '/map' and '/base_link', will retry every second
process[gmapping_supervisor-26]: started with pid [22426]
[ WARN] [1565094830.726695774]: Could not get transform between '/map' and '/base_link', will retry every second
process[explore_client-27]: started with pid [22483]
[ WARN] [1565094831.728327830]: Could not get transform between '/map' and '/base_link', will retry every second
[ INFO] [1565094832.078389362]: Please use the 'Point' tool in Rviz to select an exporation boundary.
[ WARN] [1565094832.729512177]: Could not get transform between '/map' and '/base_link', will retry every second
process[explore_server-28]: started with pid [22569]
[ WARN] [1565094833.729904065]: Could not get transform between '/map' and '/base_link', will retry every second
process[webvideo4-29]: started with pid [22637]
[ WARN] [1565094834.731863367]: Could not get transform between '/map' and '/base_link', will retry every second
process[rosbridge_websocket-30]: started with pid [22694]
[ WARN] [1565094835.732263710]: Could not get transform between '/map' and '/base_link', will retry every second
[ WARN] [1565094836.111156758]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.10086 timeout was 0.1.
[INFO] [1565094836.429085]: Setup publisher on /tf [tf/tfMessage]
[INFO] [1565094836.505644]: Note: subscribe buffer size is 512 bytes
[INFO] [1565094836.508395]: Setup subscriber on /cmd_vel [geometry_msgs/Twist]
[INFO] [1565094836.586780]: Setup subscriber on /reset_odom [std_msgs/Bool]
[ WARN] [1565094836.732681261]: Could not get transform between '/map' and '/base_link', will retry every second
process[rosapi-31]: started with pid [22737]
[ WARN] [1565094837.733130894]: Could not get transform between '/map' and '/base_link', will retry every second
[INFO] [1565094837.810542]: wrong checksum for topic id and msg
[ WARN] [1565094838.733609109]: Could not get transform between '/map' and '/base_link', will retry every second
[ WARN] [1565094839.734192323]: Could not get transform between '/map' and '/base_link', will retry every second
[ WARN] [1565094840.157545246]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100655 timeout was 0.1.
registered capabilities (classes):
- rosbridge_library.capabilities.call_service.CallService
- rosbridge_library.capabilities.advertise.Advertise
- rosbridge_library.capabilities.publish.Publish
- rosbridge_library.capabilities.subscribe.Subscribe
- <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
- rosbridge_library.capabilities.advertise_service.AdvertiseService
- rosbridge_library.capabilities.service_response.ServiceResponse
- rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
[ WARN] [1565094840.734600535]: Could not get transform between '/map' and '/base_link', will retry every second
[ WARN] [1565094841.149476757]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100496 timeout was 0.1.
[ WARN] [1565094841.735000871]: Could not get transform between '/map' and '/base_link', will retry every second
[ WARN] [1565094842.735404998]: Could not get transform between '/map' and '/base_link', will retry every second
started roslaunch server http://husarion:36339/
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
ROS_MASTER_URI=http://master:11311
[ WARN] [1565094843.736073373]: Could not get transform between '/map' and '/base_link', will retry every second
[ WARN] [1565094844.736441622]: Could not get transform between '/map' and '/base_link', will retry every second
[ WARN] [1565094845.200281924]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100731 timeout was 0.1.
[INFO] [1565094845.321997]: Rosbridge WebSocket server started on port 9090
[ WARN] [1565094845.736881912]: Could not get transform between '/map' and '/base_link', will retry every second
process[gmapping_node-1]: started with pid [23070]
Started supervisor
True
[ WARN] [1565094846.187359517]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101122 timeout was 0.1.
[ WARN] [1565094846.737441784]: Could not get transform between '/map' and '/base_link', will retry every second
[ INFO] [1565094847.471554180]: Using plugin "static"
[ INFO] [1565094847.482536295]: Loading from pre-hydro parameter style
[ INFO] [1565094847.496036367]: Laser is mounted upwards.
-maxUrange 5 -maxUrange 11.99 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05
-srr 0.1 -srt 0.2 -str 0.1 -stt 0.2
-linearUpdate 0.2 -angularUpdate 0.1 -resampleThreshold 0.5
-xmin -25 -xmax 25 -ymin -25 -ymax 25 -delta 0.05 -particles 30
[ INFO] [1565094847.546858656]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= -0.259854 -0.660382 1.21722
m_count 0
Registering First Scan
[ INFO] [1565094847.982330898]: Requesting the map...
[ INFO] [1565094848.352979113]: Resizing costmap to 992 X 992 at 0.050000 m/pix
[ INFO] [1565094848.398531281]: Using plugin "obstacle_layer"
[ INFO] [1565094848.447012072]: Received a 992 X 992 map at 0.050000 m/pix
[ INFO] [1565094848.447795779]: Subscribing to updates
[ INFO] [1565094848.515796053]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1565094848.675133413]: Using plugin "explore_boundary"
[ INFO] [1565094849.460829053]: Using plugin "inflation"
[ INFO] [1565094849.531039575]: Using plugin "inflation_layer"
[INFO] [1565094851.699159]: Client connected. 1 clients total.
[ INFO] [1565094852.380539890]: Loading from pre-hydro parameter style
[ INFO] [1565094853.323890263]: Using plugin "obstacle_layer"
[ INFO] [1565094853.405140357]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1565094854.499699928]: Using plugin "inflation_layer"
[INFO] [1565094854.541948]: [Client 0] Subscribed to /rosbot_on_map_pose
[INFO] [1565094854.818818]: [Client 0] Subscribed to /rpy
[INFO] [1565094855.336475]: [Client 0] Subscribed to /range/fl
[INFO] [1565094855.525434]: [Client 0] Subscribed to /range/fr
[INFO] [1565094855.868540]: [Client 0] Subscribed to /range/rl
[INFO] [1565094856.191711]: [Client 0] Subscribed to /range/rr
[INFO] [1565094856.519346]: [Client 0] Subscribed to /battery
[INFO] [1565094856.912029]: [Client 0] Subscribed to /wifi_status
[ INFO] [1565094857.213015931]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1565094857.652340206]: Sim period is set to 0.10
[ INFO] [1565094861.416952882]: Recovery behavior will clear layer obstacles
[ INFO] [1565094861.717442488]: Recovery behavior will clear layer obstacles
[ INFO] [1565094863.278343087]: odom received!
[ WARN] [1565094864.302980874]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.0401 seconds
[ WARN] [1565094881.320528896]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.0577 seconds
[ WARN] [1565094906.337738459]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.0749 seconds
[ WARN] [1565094921.687600290]: Map update loop missed its desired rate of 2.5000Hz... the loop actually took 0.4014 seconds
[ WARN] [1565094942.345732240]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.0829 seconds
[ WARN] [1565094944.158423619]: Map update loop missed its desired rate of 2.5000Hz... the loop actually took 0.4724 seconds
[ WARN] [1565094982.273033823]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.0102 seconds
[ WARN] [1565094996.578680200]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.3114 seconds
[ WARN] [1565094997.428762526]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.1660 seconds
[ WARN] [1565095007.280132838]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.0173 seconds
[ WARN] [1565095009.390936000]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.1281 seconds
[ WARN] [1565095018.922347337]: Map update loop missed its desired rate of 2.5000Hz... the loop actually took 0.4362 seconds
[ WARN] [1565095019.295540567]: Map update loop missed its desired rate of 2.5000Hz... the loop actually took 0.4095 seconds
[ WARN] [1565095019.328515490]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.0649 seconds
[ WARN] [1565095028.335356928]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.0725 seconds
[ WARN] [1565095043.521572898]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.2586 seconds
[ WARN] [1565095045.392879420]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.1290 seconds
[ WARN] [1565095046.432321714]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.1695 seconds
[ WARN] [1565095047.589476754]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.3267 seconds
[ WARN] [1565095048.302136066]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.0393 seconds
[ WARN] [1565095064.307679304]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.0447 seconds
[ WARN] [1565095066.413686204]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.1507 seconds
[ WARN] [1565095078.318726212]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.0559 seconds
[ WARN] [1565095080.328442653]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.0656 seconds
[ WARN] [1565095081.291704294]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.0289 seconds
[ WARN] [1565095107.340737821]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.0779 seconds
[ WARN] [1565095111.523493553]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.2607 seconds
[ WARN] [1565095112.288970395]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.0261 seconds
[ WARN] [1565095114.940049683]: Map update loop missed its desired rate of 2.5000Hz... the loop actually took 0.4539 seconds
[ WARN] [1565095115.381802849]: Map update loop missed its desired rate of 1.0000Hz... the loop actually took 1.1133 seconds
The occassional map update loop missed its desired rate keeps coming as we speak.
