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  1. E0615 18:03:47.420536 21330 rosbag_validate_main.cc:350] frame_id "velodyne" on topic /velodyne_points has serialization time 1529100095.068097455 but sensor time 1528998386.107721000 differing by -101709 s.
  2. E0615 18:03:47.421025 21330 rosbag_validate_main.cc:350] frame_id "map" on topic /scan_matched_points2 has serialization time 1529100095.093976695 but sensor time 1528998386.107721000 differing by -101709 s.
  3. E0615 18:03:47.422089 21330 rosbag_validate_main.cc:350] frame_id "velodyne" on topic /velodyne_points has serialization time 1529100095.111101422 but sensor time 1528998386.208568000 differing by -101709 s.
  4. E0615 18:03:47.422263 21330 rosbag_validate_main.cc:131] Input contains transform message from frame_id "map" to child_frame_id "base_link". This is almost always output published by cartographer and should not appear as input. (Unless you have some complex remove_frames configuration, this is will not work. Simplest solution is to record input without cartographer running.)
  5. W0615 18:03:49.474648 21330 rosbag_validate_main.cc:103] frame_id imu time 1528998595185911784: IMU linear acceleration is 2.82332 m/s^2, expected is [3, 30] m/s^2. (It should include gravity and be given in m/s^2.) linear_acceleration -0.832358 -0.739151 00-2.5946
  6. I0615 18:03:49.507445 21330 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/imu/imu" (frame_id: "imu"):
  7. Count: 21002 Min: 0.000027 Max: 0.030054 Mean: 0.010095
  8. [0.000027, 0.003030) Count: 139 (0.661842%) Total: 139 (0.661842%)
  9. [0.003030, 0.006032) ##### Count: 5170 (24.616703%) Total: 5309 (25.278545%)
  10. [0.006032, 0.009035) ## Count: 1644 (7.827826%) Total: 6953 (33.106369%)
  11. [0.009035, 0.012038) ########## Count: 10831 (51.571278%) Total: 17784 (84.677650%)
  12. [0.012038, 0.015041) ### Count: 2802 (13.341586%) Total: 20586 (98.019234%)
  13. [0.015041, 0.018043) Count: 306 (1.457004%) Total: 20892 (99.476242%)
  14. [0.018043, 0.021046) Count: 105 (0.499952%) Total: 20997 (99.976196%)
  15. [0.021046, 0.024049) Count: 2 (0.009523%) Total: 20999 (99.985718%)
  16. [0.024049, 0.027052) Count: 0 (0.000000%) Total: 20999 (99.985718%)
  17. [0.027052, 0.030054] Count: 3 (0.014284%) Total: 21002 (100.000000%)
  18. E0615 18:03:49.507498 21330 rosbag_validate_main.cc:382] Point data (frame_id: "map") has a large gap, largest is 0.201971 s, recommended is [0.0005, 0.05] s with no jitter.
  19. I0615 18:03:49.507567 21330 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/scan_matched_points2" (frame_id: "map"):
  20. Count: 1051 Min: 0.201514 Max: 0.201971 Mean: 0.201720
  21. [0.201514, 0.201560) Count: 3 (0.285442%) Total: 3 (0.285442%)
  22. [0.201560, 0.201605) Count: 14 (1.332065%) Total: 17 (1.617507%)
  23. [0.201605, 0.201651) # Count: 51 (4.852521%) Total: 68 (6.470028%)
  24. [0.201651, 0.201697) #### Count: 205 (19.505234%) Total: 273 (25.975262%)
  25. [0.201697, 0.201743) ######### Count: 485 (46.146526%) Total: 758 (72.121788%)
  26. [0.201743, 0.201788) #### Count: 233 (22.169363%) Total: 991 (94.291153%)
  27. [0.201788, 0.201834) # Count: 46 (4.376784%) Total: 1037 (98.667938%)
  28. [0.201834, 0.201880) Count: 11 (1.046622%) Total: 1048 (99.714554%)
  29. [0.201880, 0.201925) Count: 2 (0.190295%) Total: 1050 (99.904854%)
  30. [0.201925, 0.201971] Count: 1 (0.095147%) Total: 1051 (100.000000%)
  31. E0615 18:03:49.507599 21330 rosbag_validate_main.cc:382] Point data (frame_id: "velodyne") has a large gap, largest is 0.101058 s, recommended is [0.0005, 0.05] s with no jitter.
  32. I0615 18:03:49.507678 21330 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/velodyne_points" (frame_id: "velodyne"):
  33. Count: 2103 Min: 0.100643 Max: 0.101058 Mean: 0.100860
  34. [0.100643, 0.100684) Count: 4 (0.190204%) Total: 4 (0.190204%)
  35. [0.100684, 0.100726) Count: 14 (0.665716%) Total: 18 (0.855920%)
  36. [0.100726, 0.100768) Count: 33 (1.569187%) Total: 51 (2.425107%)
  37. [0.100768, 0.100809) ## Count: 164 (7.798383%) Total: 215 (10.223491%)
  38. [0.100809, 0.100850) ###### Count: 664 (31.573942%) Total: 879 (41.797432%)
  39. [0.100850, 0.100892) ####### Count: 766 (36.424156%) Total: 1645 (78.221588%)
  40. [0.100892, 0.100933) ### Count: 365 (17.356157%) Total: 2010 (95.577744%)
  41. [0.100933, 0.100975) # Count: 66 (3.138374%) Total: 2076 (98.716118%)
  42. [0.100975, 0.101017) Count: 21 (0.998573%) Total: 2097 (99.714691%)
  43. [0.101017, 0.101058] Count: 6 (0.285307%) Total: 2103 (100.000000%)
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