/SLAM-Hive/slam_hive_results/mapping_results/1166/820_orb-slam3-ros-mono-inertial+right_camera+MH_01_easy+exploration_experiment_3-10.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/661cd766-2461-11ef-a934-0242ac110004/roslaunch-4a85a3c3266f-70.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/slamhive/mono-inertial.launch
[1mstarted roslaunch server http://4a85a3c3266f:41445/[0m

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /use_sim_time: True

NODES
  /
    orb_node (ORB_SLAM3/Mono_Inertial)

auto-starting new master
[1mprocess[master]: started with pid [85][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/mono-inertial.launch http://localhost:11311
[1msetting /run_id to 661cd766-2461-11ef-a934-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [96][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [102][0m

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: Monocular-Inertial
Loading settings from /slamhive/mappingtask.yaml
Camera1.k3 optional parameter does not exist...
	-Loaded camera 1
	-Loaded image info
IMU.InsertKFsWhenLost optional parameter does not exist...
	-Loaded IMU calibration
	-Loaded ORB settings
Viewer.imageViewScale optional parameter does not exist...
	-Loaded viewer settings
System.LoadAtlasFromFile optional parameter does not exist...
System.SaveAtlasToFile optional parameter does not exist...
	-Loaded Atlas settings
System.thFarPoints optional parameter does not exist...
	-Loaded misc parameters
----------------------------------
SLAM settings: 
	-Camera 1 parameters (Pinhole): [ 458.654 457.296 367.215 248.375 ]
	-Camera 1 distortion parameters: [  -0.283408 0.0739591 0.00019359 1.76187e-05 ]
	-Original image size: [ 752 , 480 ]
	-Current image size: [ 600 , 350 ]
	-Camera 1 parameters after resize: [  365.947 333.445 292.991 181.107 ]
	-Sequence FPS: 20
	-Gyro noise: 0.00017
	-Accelerometer noise: 0.002
	-Gyro walk: 1.9393e-05
	-Accelerometer walk: 0.003
	-IMU frequency: 50
	-Features per image: 2000
	-ORB scale factor: 1.2
	-ORB number of scales: 8
	-Initial FAST threshold: 20
	-Min FAST threshold: 7


Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!

Initialization of Atlas from scratch 
Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name: 
There are 1 cameras in the atlas
Camera 0 is pinhole
rosbag play /slamhive/dataset/MH_03_medium.bag /cam1/image_raw:=/camera/image_raw /imu0:=/imu --clock 
[0m[ INFO] [1717718641.661766034]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 0.00 
First KF:0; Map init KF:0
New Map created with 306 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 30
mnInitialFrameId = 0
10 Frames set to lost
First KF:4; Map init KF:0
New Map created with 400 points
start VIBA 1
end VIBA 1
Not enough motion for initializing. Reseting...
TRACK: Reset map because local mapper set the bad imu flag 
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 42
mnInitialFrameId = 39
130 Frames set to lost
First KF:35; Map init KF:4
New Map created with 348 points
Not enough motion for initializing. Reseting...
TRACK: Reset map because local mapper set the bad imu flag 
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 165
mnInitialFrameId = 162
171 Frames set to lost
First KF:46; Map init KF:35
New Map created with 267 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 294
mnInitialFrameId = 206
173 Frames set to lost
First KF:48; Map init KF:46
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 317
mnInitialFrameId = 295
213 Frames set to lost
First KF:59; Map init KF:48
New Map created with 663 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
First KF:67; Map init KF:59
New Map created with 526 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset, Done!!!
mnFirstFrameId = 392
mnInitialFrameId = 389
251 Frames set to lost
First KF:71; Map init KF:67
New Map created with 1116 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
mnFirstFrameId = 402
mnInitialFrameId = 399
288 Frames set to lost
First KF:80; Map init KF:71
New Map created with 470 points
scale too small
scale too small
scale too small
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
mnFirstFrameId = 441
mnInitialFrameId = 438
347 Frames set to lost
First KF:94; Map init KF:80
New Map created with 616 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 502
mnInitialFrameId = 499
374 Frames set to lost
First KF:101; Map init KF:94
New Map created with 420 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 531
mnInitialFrameId = 528
First KF:112; Map init KF:101
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 574
mnInitialFrameId = 572
421 Frames set to lost
First KF:114; Map init KF:112
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 580
mnInitialFrameId = 578
427 Frames set to lost
First KF:117; Map init KF:114
New Map created with 268 points
start VIBA 1
end VIBA 1
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 588
mnInitialFrameId = 585
540 Frames set to lost
First KF:152; Map init KF:117
New Map created with 393 points
start VIBA 1
end VIBA 1
end VIBA 2

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1717718784.151051069, 1403637266.455864575]: Shutdown request received.[0m
[33m[ WARN] [1717718784.152044860, 1403637266.455864575]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1717718784.169787770, 1403637266.455864575]: Shutdown request received.[0m
[33m[ WARN] [1717718784.169848036, 1403637266.455864575]: Reason given for shutdown: [user request][0m
killed
Shutdown

Saving keyframe trajectory to KeyFrameTrajectory.txt ...
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/661cd766-2461-11ef-a934-0242ac110004/rosout-1*.log[0m
[rosout-1] restarting process
Map Saving to Map.pcd
Map Saving Finished!
terminate called without an active exception
[1mprocess[rosout-1]: started with pid [438][0m
[31m[orb_node-2] process has died [pid 102, exit code -6, cmd /home/ORB_SLAM3/Examples/ROS/ORB_SLAM3/Mono_Inertial /home/ORB_SLAM3/Vocabulary/ORBvoc.txt /slamhive/mappingtask.yaml /camera/image_raw:=/camera/image_raw /imu:=/imu __name:=orb_node __log:=/root/.ros/log/661cd766-2461-11ef-a934-0242ac110004/orb_node-2.log].
log file: /root/.ros/log/661cd766-2461-11ef-a934-0242ac110004/orb_node-2*.log[0m
