[WARN] [1716384276.668905579] [visual_slam_node]: Delta between current and previous frame [66.825472 ms] is above threshold [34.000000 ms]
[INFO] [1716384282.429080457] [nvblox_node]: Timing statistics:

NVBlox Timings (in seconds)
namespace/tag - NumSamples - TotalTime - (Mean +- StdDev) - [Min,Max]
-----------
mesh/gpu/mesh_blocks/welding                                  	     90	00.031911	(00.000355 +- 00.000054)	[00.000117,00.000650]
occupancy/integrate                                           	    581	00.784513	(00.001350 +- 00.000437)	[00.000367,00.017545]
occupancy/integrate/allocate_blocks                           	    581	00.489968	(00.000843 +- 00.000422)	[00.000108,00.017116]
occupancy/integrate/get_blocks_in_view                        	    581	00.115083	(00.000198 +- 00.000010)	[00.000074,00.000484]
ros/color                                                     	    283	00.231284	(00.000817 +- 00.000655)	[00.000002,00.030784]
ros/color/conversion                                          	     95	00.005845	(00.000062 +- 00.000037)	[00.000020,00.000230]
ros/color/integrate                                           	     95	00.222155	(00.002338 +- 00.000956)	[00.000660,00.030698]
ros/color/transform                                           	    283	00.002687	(00.000009 +- 00.000004)	[00.000002,00.000065]
ros/color_image_callback                                      	    290	00.014448	(00.000050 +- 00.000037)	[00.000022,00.001141]
ros/decay_dynamic_occupancy                                   	    176	00.244281	(00.001388 +- 00.000456)	[00.000116,00.002885]
ros/decay_tsdf                                                	     94	00.180579	(00.001921 +- 00.000612)	[00.000144,00.003836]
ros/depth                                                     	    581	03.085709	(00.005311 +- 00.001626)	[00.001623,00.036618]
ros/depth/conversions                                         	    581	00.043855	(00.000075 +- 00.000053)	[00.000020,00.005665]
view_calculator/get_blocks_in_view_planes                     	     95	00.000044	(00.000000 +- 00.000000)	[00.000000,00.000001]
view_calculator/raycast                                       	   1162	00.176235	(00.000152 +- 00.000061)	[00.000044,00.001283]
view_calculator/raycast/output                                	   1162	00.125987	(00.000108 +- 00.000059)	[00.000022,00.000330]
view_calculator/raycast/setup                                 	   1162	00.014702	(00.000013 +- 00.000004)	[00.000004,00.000228]
-----------

[INFO] [1716384282.429736344] [nvblox_node]: Rates statistics:

NVBlox Rates (in Hz)
namespace/tag - NumSamples (Window Length) - Mean
-----------
ros/color               	95     	5.0
ros/depth               	100    	29.9
ros/color_image_callback	100    	14.8
ros/depth_image_callback	100    	29.9
ros/update_esdf         	100    	8.9
mapper/stream_mesh      	90     	4.7
ros/tick                	100    	100.1
-----------

[INFO] [1716384282.429775033] [nvblox_node]: Delay statistics:

NVBlox Delays
namespace/tag - NumSamples (Window Length) - Mean Delay (seconds)
-----------
ros/esdf_integration       	100    	0.046
ros/color_image_integration	95     	0.061
ros/depth_image_integration	100    	0.027
ros/color_image_callback   	100    	0.051
ros/depth_image_callback   	100    	0.000
-----------

[INFO] [1716384282.498836328] [nvblox_node]: Depth Statistics:
avg=33.599099, min=0.000000, max=74.999464, std_dev=12.224970, count=596
[INFO] [ros2-1]: process has finished cleanly [pid 27967]
[INFO] [launch]: process[ros2-1] was required: shutting down launched system
[INFO] [component_container_mt-2]: sending signal 'SIGINT' to process[component_container_mt-2]
[INFO] [1716384282.866420188] [rclcpp]: signal_handler(signum=2)
[INFO] [1716384282.888055340] [visual_slam_node]: cuVSLAM tracker was destroyed
[INFO] [1716384282.901084214] [nvblox_node]: Timing statistics:

NVBlox Timings (in seconds)
namespace/tag - NumSamples - TotalTime - (Mean +- StdDev) - [Min,Max]
-----------
color/integrate                                               	     97	00.222522	(00.002294 +- 00.000962)	[00.000650,00.030684]
color/integrate/allocate_blocks                               	     97	00.071598	(00.000738 +- 00.000276)	[00.000037,00.028564]
color/integrate/get_blocks_in_view                            	     97	00.018378	(00.000189 +- 00.000029)	[00.000058,00.000237]
color/integrate/reduce_to_blocks_in_band                      	     97	00.047505	(00.000490 +- 00.000155)	[00.000148,00.000963]
color/integrate/sphere_trace                                  	     97	00.059744	(00.000616 +- 00.000575)	[00.000042,00.001485]
color/integrate/sphere_trace/hash_transfer                    	     97	00.050551	(00.000521 +- 00.000565)	[00.000001,00.001425]
color/integrate/transfer_blocks                               	     97	00.019441	(00.000200 +- 00.000196)	[00.000043,00.001282]
color/integrate/update_blocks                                 	     97	00.004219	(00.000043 +- 00.000188)	[00.000013,00.001360]
esdf/integrate/clear                                          	    340	00.051466	(00.000151 +- 00.000061)	[00.000050,00.000613]
esdf/integrate/clear/get_blocks                               	    340	00.023788	(00.000070 +- 00.000021)	[00.000015,00.000348]
esdf/integrate/compute/neighbor_bands                         	    770	00.051823	(00.000067 +- 00.000033)	[00.000035,00.000428]
esdf/integrate/compute/neighbor_bands/gpu_view                	    770	00.000239	(00.000000 +- 00.000000)	[00.000000,00.000001]
esdf/integrate/compute/swap                                   	    770	00.000261	(00.000000 +- 00.000000)	[00.000000,00.000026]
esdf/integrate/compute/sweep                                  	    770	00.005861	(00.000008 +- 00.000002)	[00.000002,00.000121]
esdf/integrate/mark_sites/pack_out                            	    340	00.009539	(00.000028 +- 00.000033)	[00.000015,00.000267]
esdf/integrate_slice                                          	    356	00.656600	(00.001844 +- 00.001053)	[00.000001,00.005319]
esdf/integrate_slice/compute                                  	    340	00.063593	(00.000187 +- 00.000101)	[00.000000,00.000958]
esdf/integrate_slice/mark_sites                               	    340	00.540230	(00.001589 +- 00.001059)	[00.000090,00.004679]
freespace/integrate                                           	    588	01.024647	(00.001743 +- 00.001449)	[00.000002,00.033552]
freespace/integrate/allocate                                  	    587	00.196236	(00.000334 +- 00.000294)	[00.000020,00.031273]
freespace/integrate/update_blocks                             	    587	00.826449	(00.001408 +- 00.001245)	[00.000078,00.005791]
gpu_hash/transfer                                             	   1441	01.173831	(00.000815 +- 00.000504)	[00.000144,00.003638]
gpu_hash/transfer/reallocation                                	     14	00.008531	(00.000609 +- 00.000238)	[00.000351,00.001323]
image/remove_small_connected_components                       	    588	00.599089	(00.001019 +- 00.000064)	[00.000410,00.008665]
image/remove_small_connected_components/explore_component_loop	    588	00.444863	(00.000757 +- 00.000033)	[00.000203,00.001227]
mesh/gpu/get_meshable                                         	     92	00.044961	(00.000489 +- 00.000140)	[00.000071,00.001006]
mesh/gpu/integrate                                            	     92	00.405473	(00.004407 +- 00.001380)	[00.001452,00.009537]
mesh/gpu/mesh_blocks                                          	     92	00.286320	(00.003112 +- 00.001349)	[00.001051,00.007509]
mesh/gpu/mesh_blocks/block_allocation                         	     92	00.027678	(00.000301 +- 00.000100)	[00.000074,00.001004]
mesh/gpu/mesh_blocks/copy_out                                 	     92	00.006207	(00.000067 +- 00.000036)	[00.000009,00.000913]
mesh/gpu/mesh_blocks/kernel_table                             	     92	00.081920	(00.000890 +- 00.000798)	[00.000112,00.003755]
mesh/gpu/mesh_blocks/kernel_vertices                          	     92	00.016357	(00.000178 +- 00.000094)	[00.000043,00.000727]
mesh/gpu/mesh_blocks/prep                                     	     92	00.120452	(00.001309 +- 00.000417)	[00.000406,00.002546]
mesh/gpu/mesh_blocks/welding                                  	     92	00.032661	(00.000355 +- 00.000056)	[00.000117,00.000650]
occupancy/integrate                                           	    588	00.796756	(00.001355 +- 00.000519)	[00.000367,00.017545]
occupancy/integrate/allocate_blocks                           	    588	00.497338	(00.000846 +- 00.000477)	[00.000108,00.017116]
occupancy/integrate/get_blocks_in_view                        	    588	00.116502	(00.000198 +- 00.000010)	[00.000074,00.000484]
occupancy/integrate/transfer_blocks                           	    588	00.152252	(00.000259 +- 00.000060)	[00.000107,00.000686]
occupancy/integrate/update_blocks                             	    588	00.022645	(00.000039 +- 00.000105)	[00.000023,00.000789]
ros/clear_outside_radius                                      	     20	00.000014	(00.000001 +- 00.000001)	[00.000000,00.000002]
ros/color                                                     	    287	00.233074	(00.000812 +- 00.000652)	[00.000002,00.030784]
ros/color/conversion                                          	     97	00.005932	(00.000061 +- 00.000037)	[00.000020,00.000230]
ros/color/integrate                                           	     97	00.223787	(00.002307 +- 00.000964)	[00.000660,00.030698]
ros/color/transform                                           	    287	00.002736	(00.000010 +- 00.000004)	[00.000002,00.000065]
ros/color_image_callback                                      	    294	00.014626	(00.000050 +- 00.000037)	[00.000022,00.001141]
ros/decay_dynamic_occupancy                                   	    178	00.246512	(00.001385 +- 00.000480)	[00.000116,00.002885]
ros/decay_tsdf                                                	     96	00.187740	(00.001956 +- 00.000596)	[00.000144,00.003836]
ros/depth                                                     	    588	03.116321	(00.005300 +- 00.001621)	[00.001623,00.036618]
ros/depth/conversions                                         	    588	00.044465	(00.000076 +- 00.000029)	[00.000020,00.005665]
ros/depth/integrate                                           	    588	03.054345	(00.005194 +- 00.001621)	[00.001587,00.036534]
ros/depth/output/back_projected_depth                         	    588	00.000756	(00.000001 +- 00.000000)	[00.000000,00.000002]
ros/depth/output/dynamics                                     	    588	00.003085	(00.000005 +- 00.000000)	[00.000002,00.000025]
ros/depth/transform                                           	    588	00.009175	(00.000016 +- 00.000001)	[00.000006,00.000039]
ros/depth_image_callback                                      	    602	00.293762	(00.000488 +- 00.000036)	[00.000014,00.051388]
ros/esdf                                                      	    178	00.769877	(00.004325 +- 00.001654)	[00.000075,00.009001]
ros/esdf/integrate                                            	    178	00.767291	(00.004311 +- 00.001654)	[00.000066,00.008983]
ros/esdf/output                                               	    178	00.001717	(00.000010 +- 00.000002)	[00.000005,00.000021]
ros/idle                                                      	   2006	12.645388	(00.006304 +- 00.002769)	[00.000079,00.009947]
ros/mesh                                                      	     96	00.683865	(00.007124 +- 00.002210)	[00.000015,00.016002]
ros/mesh/output                                               	     92	00.000097	(00.000001 +- 00.000000)	[00.000000,00.000002]
ros/mesh/update                                               	     96	00.683232	(00.007117 +- 00.002209)	[00.000014,00.015993]
ros/process_message_queue                                     	   4014	05.852187	(00.001458 +- 00.000664)	[00.000012,00.056708]
ros/publish_layer                                             	    177	00.005984	(00.000034 +- 00.000006)	[00.000007,00.000063]
ros/tick                                                      	   2007	07.778136	(00.003876 +- 00.003477)	[00.000093,00.070345]
tsdf/integrate                                                	    588	00.269408	(00.000458 +- 00.000029)	[00.000127,00.022320]
tsdf/integrate/allocate_blocks                                	    588	00.130194	(00.000221 +- 00.000014)	[00.000013,00.022103]
tsdf/integrate/get_blocks_in_view                             	    588	00.064092	(00.000109 +- 00.000020)	[00.000045,00.001286]
tsdf/integrate/transfer_blocks                                	    588	00.057241	(00.000097 +- 00.000004)	[00.000023,00.000898]
tsdf/integrate/update_blocks                                  	    588	00.012937	(00.000022 +- 00.000003)	[00.000012,00.000321]
view_calculator/get_blocks_in_view_planes                     	     97	00.000045	(00.000000 +- 00.000000)	[00.000000,00.000001]
view_calculator/raycast                                       	   1176	00.178139	(00.000151 +- 00.000061)	[00.000044,00.001283]
view_calculator/raycast/output                                	   1176	00.127351	(00.000108 +- 00.000060)	[00.000022,00.000330]
view_calculator/raycast/raycast_pixels_kernel                 	   1176	00.031851	(00.000027 +- 00.000011)	[00.000013,00.001187]
view_calculator/raycast/setup                                 	   1176	00.014895	(00.000013 +- 00.000004)	[00.000004,00.000228]
-----------

[INFO] [1716384282.901150192] [nvblox_node]: Rates statistics:

NVBlox Rates (in Hz)
namespace/tag - NumSamples (Window Length) - Mean namespace/tag - NumSamples (Window Length) - Mean
-----------
ros/color               	97     	5.0
ros/depth               	100    	29.9
ros/color_image_callback	100    	14.8
ros/update_esdf         	100    	8.9
mapper/stream_mesh      	92     	4.7
ros/tick                	100    	100.0
-----------

[INFO] [1716384282.901160665] [nvblox_node]: Delay statistics:

NVBlox Delays
namespace/tag - NumSamples (Window Length) - Mean Delay (seconds)
-----------
ros/esdf_integration       	100    	0.046
ros/color_image_integration	97     	0.061
ros/depth_image_callback   	100    	0.000
-----------

[WARNING] Delta between frame is 166 ms that is longer than desired 34 ms. Check camera fps and sync settings.
[WARNING] Delta between frame is 66 ms that is longer than desired 34 ms. Check camera fps and sync settings.
[WARNING] Delta between frame is 67 ms that is longer than desired 34 ms. Check camera fps and sync settings.
[WARNING] Delta between frame is 66 ms that is longer than desired 34 ms. Check camera fps and sync settings.
[WARNING] Delta between frame is 66 ms that is longer than desired 34 ms. Check camera fps and sync settings.
[INFO] [component_container_mt-2]: process has finished cleanly [pid 27969]
[INFO] [launch]: processwas required: shutting down launched system
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running
