/SLAM-Hive/slam_hive_results/mapping_results/2081/1641_orb-slam2-ros-stereo+MH_03_medium+Image_comb_test-26.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/dd087436-3b02-11ef-a27e-0242ac110003/roslaunch-82092fe390ae-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/stereo.launch
[1mstarted roslaunch server http://82092fe390ae:37605/[0m

SUMMARY
========

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

NODES
  /
    orb_node (ORB_SLAM2/Stereo)

auto-starting new master
[1mprocess[master]: started with pid [85][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/stereo.launch http://localhost:11311
[1msetting /run_id to dd087436-3b02-11ef-a27e-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [96][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [100][0m

ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, 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: Stereo

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


Camera Parameters: 
- fx: 261.913
- fy: 261.913
- cx: 218.811
- cy: 154.266
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 1
- color order: RGB (ignored if grayscale)

ORB Extractor Parameters: 
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 11.0078
rosbag play /slamhive/dataset/MH_03_medium.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw --clock 
[0m[ INFO] [1720206915.732844714]: 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.
New map created with 226 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Database... done
New map created with 550 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Database... done
New map created with 221 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
New map created with 487 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
New map created with 643 points
Track lost soon after initialisation, reseting...
System Reseting
New map created with 577 points
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
Track lost soon after initialisation, reseting...
System Reseting
Reseting Database... done
New map created with 620 points
Track lost soon after initialisation, reseting...
System ResetingNew map created with 652 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Database... done
New map created with 587 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
New map created with 702 points
Track lost soon after initialisation, reseting...
System Reseting
New map created with 550 points
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
Track lost soon after initialisation, reseting...
System Reseting
New map created with 489 points
Track lost soon after initialisation, reseting...
System Reseting
New map created with 675 points
Track lost soon after initialisation, reseting...
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 653 points
Track lost soon after initialisation, reseting...
System Reseting
New map created with 672 points
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
Track lost soon after initialisation, reseting...
System Reseting
New map created with 654 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
New map created with 627 points

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720207057.588444753, 1403637266.454190700]: Shutdown request received.[0m
[33m[ WARN] [1720207057.589450670, 1403637266.454190700]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720207057.605147449, 1403637266.454190700]: Shutdown request received.[0m
[33m[ WARN] [1720207057.605184693, 1403637266.454190700]: Reason given for shutdown: [user request][0m
killed

Saving keyframe trajectory to KeyFrameTrajectory_TUM_Format.txt ...

trajectory saved!

Saving camera trajectory to FrameTrajectory_TUM_Format.txt ...

trajectory saved!
Map Saving to Map.pcd
Map Saving Finished!

Saving camera trajectory to FrameTrajectory_KITTI_Format.txt ...

trajectory saved!
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/dd087436-3b02-11ef-a27e-0242ac110003/rosout-1*.log[0m
[1m[orb_node-2] process has finished cleanly
log file: /root/.ros/log/dd087436-3b02-11ef-a27e-0242ac110003/orb_node-2*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [421][0m
