/SLAM-Hive/slam_hive_results/mapping_results/835/620_orb-slam3-ros-stereo-inertial+MH_01_easy+comb_test_3-80.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/86ddb8fa-194c-11ef-89b5-0242ac110009/roslaunch-4ec2aa306f19-71.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-inertial.launch
[1mstarted roslaunch server http://4ec2aa306f19:44909/[0m

SUMMARY
========

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

NODES
  /
    orb_node (ORB_SLAM3/Stereo_Inertial)

auto-starting new master
[1mprocess[master]: started with pid [86][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/stereo-inertial.launch http://localhost:11311
[1msetting /run_id to 86ddb8fa-194c-11ef-89b5-0242ac110009[0m
[1mprocess[rosout-1]: started with pid [97][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [103][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: Stereo-Inertial

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: 

Camera Parameters: 
- Camera: Pinhole
- Image scale: 1
- fx: 436.244
- fy: 436.244
- cx: 364.441
- cy: 256.952
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 20
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 6.60467

ORB Extractor Parameters: 
- Number of Features: 2500
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

Left camera to Imu Transform (Tbc): 
[0.014865543, -0.99988091, 0.004140297, -0.021640146;
 0.99955726, 0.014967213, 0.02571553, -0.064676985;
 -0.025774436, 0.0037561883, 0.99966073, 0.0098107308;
 0, 0, 0, 1]

IMU frequency: 50 Hz
IMU gyro noise: 0.00017 rad/s/sqrt(Hz)
IMU gyro walk: 1.9393e-05 rad/s^2/sqrt(Hz)
IMU accelerometer noise: 0.002 m/s^2/sqrt(Hz)
IMU accelerometer walk: 0.003 m/s^3/sqrt(Hz)
There are 1 cameras in the atlas
Camera 0 is pinhole
rosbag play /slamhive/dataset/MH_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu --clock 
[0m[ INFO] [1716500214.369338282]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.
Empty IMU measurements vector!!!
not IMU meas
not IMU meas
not enough acceleration
not enough acceleration
First KF:0; Map init KF:0
New Map created with 1199 points
start VIBA 1
end VIBA 1
start VIBA 2
end VIBA 2
*Loop detected
phi = -0.013385980729323042  0.038311195043725002  0.027370910749418813
BAD LOOP!!!
*Loop detected
phi = -0.016345223155938466  0.018279410809936787  0.014392508355134805
BAD LOOP!!!
*Loop detected
phi = 0.0055267423867491616  0.033500151481580219 0.0088099876792271901
BAD LOOP!!!
*Loop detected
phi = -0.0099233294224924089    0.01367092716168102 -0.0054112003799421928
BAD LOOP!!!
*Loop detected
phi = -0.014562566739624336  0.020671116812627795  0.016171923905369399
BAD LOOP!!!
*Loop detected
phi = -0.011284313699121478  0.021931170379305757  0.010823295215655775
BAD LOOP!!!
*Loop detected
phi = -0.011926159325494524  0.015312473920999291 0.0012606754405720287
BAD LOOP!!!
*Loop detected
phi = -0.012096887804313384  0.014479059889037716 0.0057016628304677602
BAD LOOP!!!
*Loop detected
phi = -0.0067390309925000396   0.017931313409286408  0.0093024912514785649
BAD LOOP!!!
*Loop detected
phi = -0.00018331225113772627    0.005823899596562006     0.01209181722983149
Local Mapping STOP
Local Mapping RELEASE
*Loop detected
phi = 0.0021027223669722647  0.024663922783970629 -0.027450357654710947
BAD LOOP!!!
*Loop detected
phi =  0.028614735322796923 -0.013147127642896401 -0.019841129484576635
BAD LOOP!!!
*Loop detected
phi =  0.032674896932536099 -0.018879281956981398 -0.037799246220815798
BAD LOOP!!!
*Loop detected
phi =  0.034837795190854767 -0.018325226739349561 -0.042342725352061412
BAD LOOP!!!
*Loop detected
*Loop detected
phi = 0.015527571720258959 0.018490324155109553 -0.02668422993863211
BAD LOOP!!!
*Loop detected
phi = -0.029898263733964821  0.017110640581882886  0.006566789706833563
BAD LOOP!!!
*Loop detected
phi = -0.031920343516117014    0.0221658341741429 0.0078095243768781216
BAD LOOP!!!
*Loop detected
phi = -0.023398408132592356   0.02189106097021544  0.010884900066703214
BAD LOOP!!!
*Loop detected
phi = -0.029285274760679405  0.019994733214224052 0.0070429188059126617
BAD LOOP!!!

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1716500407.933827008, 1403636766.693332235]: Shutdown request received.[0m
[33m[ WARN] [1716500407.934654804, 1403636766.693332235]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1716500407.952030779, 1403636766.693332235]: Shutdown request received.[0m
[33m[ WARN] [1716500407.952069889, 1403636766.693332235]: Reason given for shutdown: [user request][0m
killed
Shutdown

Saving keyframe trajectory to KeyFrameTrajectory_TUM_Format.txt ...

Saving camera trajectory to FrameTrajectory_TUM_Format.txt ...

Saving camera trajectory to FrameTrajectory_KITTI_Format.txt ...
Map Saving to Map.pcd
Map Saving Finished!
terminate called without an active exception
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/86ddb8fa-194c-11ef-89b5-0242ac110009/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [7008][0m
[31m[orb_node-2] process has died [pid 103, exit code -6, cmd /home/ORB_SLAM3/Examples/ROS/ORB_SLAM3/Stereo_Inertial /home/ORB_SLAM3/Vocabulary/ORBvoc.txt /slamhive/mappingtask.yaml true /camera/left/image_raw:=/camera/left/image_raw /camera/right/image_raw:=/camera/right/image_raw /imu:=/imu __name:=orb_node __log:=/root/.ros/log/86ddb8fa-194c-11ef-89b5-0242ac110009/orb_node-2.log].
log file: /root/.ros/log/86ddb8fa-194c-11ef-89b5-0242ac110009/orb_node-2*.log[0m
