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Crash when running demos #82

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Omegastick opened this issue Dec 19, 2017 · 1 comment
Open

Crash when running demos #82

Omegastick opened this issue Dec 19, 2017 · 1 comment
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@gaschler

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@Omegastick
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Running any of the cartographer_turtlebot demos crashes cartographer for me, but the bag file continues running fine (and I can see the transforms and the like moving around in rviz)

Running Ubuntu 16.04, ROS Kinetic and the latest versions of Google Cartographer and cartographer_ros.

Running the command: roslaunch cartographer_turtlebot demo_depth_camera_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag crashes with the following log file:

�[0m[ INFO] [1513646286.255300015]: I1219 10:18:06.000000  6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer_turtlebot/configuration_files/turtlebot_depth_camera_2d.lua' for 'turtlebot_depth_camera_2d.lua'.�[0m
�[0m[ INFO] [1513646286.486297922]: I1219 10:18:06.000000  6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.�[0m
�[0m[ INFO] [1513646286.486371499]: I1219 10:18:06.000000  6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.�[0m
�[0m[ INFO] [1513646286.507305268]: I1219 10:18:06.000000  6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.�[0m
�[0m[ INFO] [1513646286.507367056]: I1219 10:18:06.000000  6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.�[0m
�[0m[ INFO] [1513646286.603565498]: I1219 10:18:06.000000  6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.�[0m
�[0m[ INFO] [1513646286.603668116]: I1219 10:18:06.000000  6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.�[0m
�[0m[ INFO] [1513646286.604016053]: I1219 10:18:06.000000  6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.�[0m
�[0m[ INFO] [1513646286.604099415]: I1219 10:18:06.000000  6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.�[0m
�[0m[ INFO] [1513646286.604532959]: I1219 10:18:06.000000  6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.�[0m
�[0m[ INFO] [1513646286.604621262]: I1219 10:18:06.000000  6023 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.�[0m
�[0m[ INFO] [1513646286.621043376]: I1219 10:18:06.000000  6023 submaps.cc:190] Added submap 1�[0m
�[0m[ INFO] [1513646286.621118493]: I1219 10:18:06.000000  6023 map_builder_bridge.cc:86] Added trajectory with ID '0'.�[0m
�[33m[ WARN] [1513646354.416503026, 1474964028.630227051]: W1219 10:19:14.000000  6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.442266700, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.416630495, 1474964028.630227051]: W1219 10:19:14.000000  6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.442266700, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.416718073, 1474964028.630227051]: W1219 10:19:14.000000  6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.462219400, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.416794333, 1474964028.630227051]: W1219 10:19:14.000000  6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.462219400, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.416873029, 1474964028.630227051]: W1219 10:19:14.000000  6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.483201200, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.416959276, 1474964028.630227051]: W1219 10:19:14.000000  6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.483201200, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.417033872, 1474964028.630227051]: W1219 10:19:14.000000  6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.503171400, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.417104863, 1474964028.630227051]: W1219 10:19:14.000000  6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.503171400, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.417182022, 1474964028.630227051]: W1219 10:19:14.000000  6023 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.432292800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]�[0m
...
�[33m[ WARN] [1513646354.810388322, 1474964029.023642003]: W1219 10:19:14.000000  6023 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964028.972893900 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.810486139, 1474964029.023642003]: W1219 10:19:14.000000  6023 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964028.982893900 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.810572960, 1474964029.023642003]: W1219 10:19:14.000000  6023 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964028.982893900 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]�[0m
�[33m[ WARN] [1513646354.810663485, 1474964029.023642003]: W1219 10:19:14.000000  6023 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964028.992904

The file is very long (200 lines) so I took a large chunk out of the middle. It's the same few warnings that are at the end repeated over and over again.

Note the strange encoding and the way it cuts off half way through a warning without throwing any errors.

Running the command: roslaunch cartographer_turtlebot demo_lidar_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

Outputs:

logging to /home/px046/.ros/log/57da5538-e45e-11e7-a597-1c666d94682f/roslaunch-PX046-01-7484.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://PX046-01:39267/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.12
 * /use_sim_time: True

NODES
  /
    cartographer_node (cartographer_ros/cartographer_node)
    cartographer_occupancy_grid_node (cartographer_ros/cartographer_occupancy_grid_node)
    flat_world_imu_node (cartographer_turtlebot/cartographer_flat_world_imu_node)
    playbag (rosbag/play)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [7497]
ROS_MASTER_URI=http://PX046-01:11311

setting /run_id to 57da5538-e45e-11e7-a597-1c666d94682f
process[rosout-1]: started with pid [7511]
started core service [/rosout]
process[cartographer_node-2]: started with pid [7516]
process[flat_world_imu_node-3]: started with pid [7527]
process[rviz-4]: started with pid [7537]
process[playbag-5]: started with pid [7545]
process[cartographer_occupancy_grid_node-6]: started with pid [7563]
[ INFO] [1513647951.560906426]: I1219 10:45:51.000000  7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer_turtlebot/configuration_files/turtlebot_urg_lidar_2d.lua' for 'turtlebot_urg_lidar_2d.lua'.
[ INFO] [1513647951.586379785]: I1219 10:45:51.000000  7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1513647951.586436117]: I1219 10:45:51.000000  7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1513647951.586500590]: I1219 10:45:51.000000  7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1513647951.586554983]: I1219 10:45:51.000000  7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[ INFO] [1513647951.586681860]: I1219 10:45:51.000000  7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1513647951.586725574]: I1219 10:45:51.000000  7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1513647951.586767743]: I1219 10:45:51.000000  7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1513647951.586793589]: I1219 10:45:51.000000  7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1513647951.586865370]: I1219 10:45:51.000000  7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1513647951.586894624]: I1219 10:45:51.000000  7516 configuration_file_resolver.cc:41] Found '/home/px046/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1513647951.592618914]: I1219 10:45:51.000000  7516 submaps.cc:190] Added submap 1
[ INFO] [1513647951.592661303]: I1219 10:45:51.000000  7516 map_builder_bridge.cc:86] Added trajectory with ID '0'.
[ WARN] [1513647952.128497137, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.515544700, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [plate_top_link] to frame [base_link]
[ WARN] [1513647952.128667067, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.442266700, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.128758763, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.442266700, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.128855126, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.432292800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.128971748, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.432292800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129044158, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.442292800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129109577, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.442292800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129204230, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.462219400, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.129270025, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.462219400, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.129320767, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.452238800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129368833, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.452238800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129416994, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.462238800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129479446, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.462238800, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129541088, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.483201200, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.129613533, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.483201200, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.129703794, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.463235000, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129836892, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.463235000, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129904934, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.473235000, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.129977583, 1474964028.626591778]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation at time 1474964028.473235000, but only time 1474964029.125347757 is in the buffer, when looking up transform from frame [gyro_link] to frame [base_link]
...
[ WARN] [1513647952.564392946, 1474964029.059705825]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.052819300 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.564443770, 1474964029.059705825]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.062819300 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.564499596, 1474964029.059705825]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.062819300 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.584066688, 1474964029.079839964]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.082797200 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.584127830, 1474964029.079839964]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.082797200 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.584187998, 1474964029.079839964]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.072821500 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.584223980, 1474964029.079839964]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.072821500 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.584300152, 1474964029.079839964]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.082821500 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.584338233, 1474964029.079839964]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.082821500 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.604117177, 1474964029.099951971]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.102792500 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.604234696, 1474964029.099951971]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.102792500 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.604337014, 1474964029.099951971]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.092812700 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.604431671, 1474964029.099951971]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.092812700 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.604529493, 1474964029.099951971]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.102812700 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.604579855, 1474964029.099951971]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.102812700 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.625348650, 1474964029.120064181]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.123770100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.625473218, 1474964029.120064181]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.123770100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [base_footprint] to frame [base_link]
[ WARN] [1513647952.625624106, 1474964029.120064181]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.103791100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.625691458, 1474964029.120064181]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.103791100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.625757776, 1474964029.120064181]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.113791100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.625818651, 1474964029.120064181]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.113791100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.625903855, 1474964029.120064181]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.123791100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
[ WARN] [1513647952.625964074, 1474964029.120064181]: W1219 10:45:52.000000  7516 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1474964029.123791100 but the earliest data is at time 1474964029.125347757, when looking up transform from frame [gyro_link] to frame [base_link]
F1219 10:45:52.643960  7516 sensor_bridge.cc:95] Check failed: sensor_to_tracking->translation().norm() < 1e-5 The IMU frame must be colocated with the tracking frame. Transforming linear acceleration into the tracking frame will otherwise be imprecise.
[FATAL] [1513647952.644094185, 1474964029.140180331]: F1219 10:45:52.000000  7516 sensor_bridge.cc:95] Check failed: sensor_to_tracking->translation().norm() < 1e-5 The IMU frame must be colocated with the tracking frame. Transforming linear acceleration into the tracking frame will otherwise be imprecise.
*** Check failure stack trace: ***
    @     0x7f4feec3726d  google::LogMessage::Fail()
    @     0x7f4feec39083  google::LogMessage::SendToLog()
    @     0x7f4feec36dfb  google::LogMessage::Flush()
    @     0x7f4feec39a6e  google::LogMessageFatal::~LogMessageFatal()
    @           0x59ada2  cartographer_ros::SensorBridge::ToImuData()
    @           0x57b040  cartographer_ros::Node::HandleImuMessage()
    @           0x58a80e  boost::detail::function::void_function_obj_invoker1<>::invoke()
    @           0x593b09  ros::SubscriptionCallbackHelperT<>::call()
    @     0x7f4fec8b044d  ros::SubscriptionQueue::call()
    @     0x7f4fec856210  ros::CallbackQueue::callOneCB()
    @     0x7f4fec857683  ros::CallbackQueue::callAvailable()
    @     0x7f4fec8b4511  ros::SingleThreadedSpinner::spin()
    @     0x7f4fec8994cb  ros::spin()
    @           0x573c90  cartographer_ros::(anonymous namespace)::Run()
    @           0x571264  main
    @     0x7f4feb2a6830  __libc_start_main
    @           0x573849  _start
[cartographer_node-2] process has died [pid 7516, exit code -6, cmd /home/px046/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/px046/catkin_ws/install_isolated/share/cartographer_turtlebot/configuration_files -configuration_basename turtlebot_urg_lidar_2d.lua scan:=/laser_scan __name:=cartographer_node __log:=/home/px046/.ros/log/57da5538-e45e-11e7-a597-1c666d94682f/cartographer_node-2.log].
log file: /home/px046/.ros/log/57da5538-e45e-11e7-a597-1c666d94682f/cartographer_node-2*.log

Seems to the same as cartographer-project/cartographer_ros#278, but I don't understand the answer given there.
@gaschler gaschler self-assigned this Jan 3, 2018
@KushnirDmytro
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cartographer-project/cartographer_ros#278 (comment)

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@gaschler @Omegastick @KushnirDmytro