/SLAM-Hive/slam_hive_results/mapping_results/3276/906_orb-slam3-ros-mono+left_camera+MH_01_easy+exploration_experiment_5-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/af67eeb6-9d3c-11ef-becf-0242ac110002/roslaunch-7b4e6b51062a-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.launch
[1mstarted roslaunch server http://7b4e6b51062a:39365/[0m

SUMMARY
========

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

NODES
  /
    orb_node (ORB_SLAM3/Mono)

auto-starting new master
[1mprocess[master]: started with pid [85][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/mono.launch http://localhost:11311
[1msetting /run_id to af67eeb6-9d3c-11ef-becf-0242ac110002[0m
[1mprocess[rosout-1]: started with pid [96][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [100][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
Loading settings from /slamhive/mappingtask.yaml
Camera1.k3 optional parameter does not exist...
	-Loaded camera 1
	-Loaded image info
	-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
	-Features per image: 1000
	-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_05_difficult.bag /cam0/image_raw:=/camera/image_raw --clock 
[0m[ INFO] [1731006963.966613613]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics...First KF:0; Map init KF:0
New Map created with 97 points
*Loop detected
Local Mapping STOP
Local Mapping RELEASE
Local Mapping STOP
Local Mapping RELEASE

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1731007084.578472159, 1403638632.914025723]: Shutdown request received.[0m
[33m[ WARN] [1731007084.579397473, 1403638632.914025723]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731007084.595681910, 1403638632.914025723]: Shutdown request received.[0m
[33m[ WARN] [1731007084.595709658, 1403638632.914025723]: Reason given for shutdown: [user request][0m
killed
Shutdown

Saving keyframe trajectory to KeyFrameTrajectory.txt ...
Map Saving to Map.pcd
Map Saving Finished!
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/af67eeb6-9d3c-11ef-becf-0242ac110002/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [317][0m
[1m[orb_node-2] process has finished cleanly
log file: /root/.ros/log/af67eeb6-9d3c-11ef-becf-0242ac110002/orb_node-2*.log[0m
