/SLAM-Hive/slam_hive_results/mapping_results/3255/2460_orb-slam2-ros-rgbd+rgbd_dataset_freiburg2_desk-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/4a144b44-4d01-11ef-ad9b-0242ac110003/roslaunch-ee9252676d56-70.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/rgbd.launch
[1mstarted roslaunch server http://ee9252676d56:38463/[0m

SUMMARY
========

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

NODES
  /
    orb_node (ORB_SLAM2/RGBD)

auto-starting new master
[1mprocess[master]: started with pid [85][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/rgbd.launch http://localhost:11311
[1msetting /run_id to 4a144b44-4d01-11ef-ad9b-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [96][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [99][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: RGB-D

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


Camera Parameters: 
- fx: 520.909
- fy: 521.007
- cx: 325.141
- cy: 249.702
- k1: 0.231222
- k2: -0.784899
- k3: 0.917205
- p1: -0.003257
- p2: -0.000105
- fps: 30
- color order: RGB (ignored if grayscale)

ORB Extractor Parameters: 
- Number of Features: 250
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 3.07156
rosbag play /slamhive/dataset/rgbd_dataset_freiburg2_desk.bag /camera/rgb/image_color:=/slamhive/camera/rgb /camera/depth/image:=/slamhive/camera/depth --clock 
[0m[ INFO] [1722185360.339557959]: Opening /slamhive/dataset/rgbd_dataset_freiburg2_desk.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1722185623.072698467, 1311868164.330813398]: Shutdown request received.[0m
[33m[ WARN] [1722185623.073706915, 1311868164.330813398]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1722185623.090283931, 1311868164.330813398]: Shutdown request received.[0m
[33m[ WARN] [1722185623.090325216, 1311868164.330813398]: Reason given for shutdown: [user request][0m
killed
Map Saving to Map.pcd
Map Saving Finished!

Saving keyframe trajectory to KeyFrameTrajectory.txt ...

trajectory saved!

Saving camera trajectory to CameraTrajectory.txt ...
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/4a144b44-4d01-11ef-ad9b-0242ac110003/rosout-1*.log[0m
[31m[orb_node-2] process has died [pid 99, exit code -11, cmd /home/ORB_SLAM2/Examples/ROS/ORB_SLAM2/RGBD /home/ORB_SLAM2/Vocabulary/ORBvoc.txt /slamhive/mappingtask.yaml /camera/rgb/image_raw:=/slamhive/camera/rgb /camera/depth_registered/image_raw:=/slamhive/camera/depth __name:=orb_node __log:=/root/.ros/log/4a144b44-4d01-11ef-ad9b-0242ac110003/orb_node-2.log].
log file: /root/.ros/log/4a144b44-4d01-11ef-ad9b-0242ac110003/orb_node-2*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [153][0m
mv: cannot stat '/home/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CameraTrajectory.txt': No such file or directory
