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Go2_navigation/unitree_slam/bin/logs/controller/ERROR_2026-09-13.log

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[2026-09-13 11:38:07.038 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.064 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.138 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.164 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.238 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.264 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.338 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.364 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.438 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.464 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.538 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.564 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.638 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.664 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.738 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.764 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.838 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.864 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.938 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:07.966 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270687, Odom time: 1789270684, Diff: -3
[2026-09-13 11:38:08.038 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.064 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.138 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.167 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.238 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.264 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.338 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.365 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.438 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.465 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.538 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.565 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.638 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.668 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.738 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.767 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.839 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.864 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.938 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:08.965 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270688, Odom time: 1789270684, Diff: -4
[2026-09-13 11:38:09.038 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.065 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.138 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.164 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.238 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.264 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.338 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.364 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.438 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.464 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.538 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.564 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.638 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.664 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.738 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.764 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.838 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.864 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.938 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:09.965 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270689, Odom time: 1789270684, Diff: -5
[2026-09-13 11:38:10.039 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.065 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.138 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.165 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.238 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.266 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.338 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.364 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.438 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.466 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.538 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.566 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.638 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.664 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.738 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.764 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.838 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.864 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.938 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:10.964 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270690, Odom time: 1789270684, Diff: -6
[2026-09-13 11:38:11.038 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.064 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.139 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.164 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.238 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.266 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.338 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.365 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.438 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.464 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.538 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.564 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.638 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.664 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.738 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.764 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.839 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.865 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.940 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:11.964 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270691, Odom time: 1789270684, Diff: -7
[2026-09-13 11:38:12.039 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.064 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.138 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.164 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.238 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.265 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.342 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.365 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.438 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.465 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.538 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.564 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.638 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.664 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.738 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.764 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.838 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.864 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.938 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:12.964 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270692, Odom time: 1789270684, Diff: -8
[2026-09-13 11:38:13.038 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.066 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.138 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.166 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.238 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.264 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.339 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.364 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.438 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.464 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.539 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.564 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.638 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.665 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.739 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.765 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.839 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.865 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.939 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:13.965 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270693, Odom time: 1789270684, Diff: -9
[2026-09-13 11:38:14.039 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.065 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.138 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.164 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.239 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.264 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.338 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.364 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.439 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.464 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.540 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.564 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.638 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.664 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.738 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.764 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.838 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.864 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.938 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:14.964 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270694, Odom time: 1789270684, Diff: -10
[2026-09-13 11:38:15.038 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.064 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.138 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.164 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.238 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.266 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.338 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.364 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.438 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.464 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.538 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.564 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.638 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.664 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.738 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.764 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.838 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.864 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.938 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:15.964 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270695, Odom time: 1789270684, Diff: -11
[2026-09-13 11:38:16.038 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.065 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.138 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.165 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.238 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.264 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.338 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.364 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.438 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.464 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.538 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.564 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.638 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.665 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.738 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.764 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.838 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.865 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.938 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:16.964 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270696, Odom time: 1789270684, Diff: -12
[2026-09-13 11:38:17.038 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270697, Odom time: 1789270684, Diff: -13
[2026-09-13 11:38:17.064 UERROR /home/unitree/OTA/slam_server_interfaces/src/planner/controller.cpp:924] Lidar odom desync! System time: 1789270697, Odom time: 1789270684, Diff: -13
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