/SLAM-Hive/slam_hive_results/mapping_results/1032/698_orb-slam3-ros-mono-inertial+right_camera+MH_01_easy+exploration_experiment-8.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/baeb3414-23d9-11ef-ab1d-0242ac110004/roslaunch-a647bc06cec8-70.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://a647bc06cec8:33633/[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 baeb3414-23d9-11ef-ab1d-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: 200
	-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_01_easy.bag /cam1/image_raw:=/camera/image_raw /imu0:=/imu --clock 
[0m[ INFO] [1717660372.422659045]: 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.

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 0.00 
First KF:0; Map init KF:0
New Map created with 1048 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 = 1
mnInitialFrameId = 0
41 Frames set to lost
First KF:11; Map init KF:0
New Map created with 617 points
start VIBA 1
end VIBA 1
start VIBA 2
end VIBA 2
*Loop detected
phi =  0.038862668957402272 -0.070168864591664007  0.023683485435395869
BAD LOOP!!!
*Loop detected
phi =    0.01532949581859191  -0.067798796957789231 -0.0070015665590349519
BAD LOOP!!!
*Loop detected
phi =  0.019159375867409449 -0.066778771274473861 -0.010686508084266872
BAD LOOP!!!
*Loop detected
phi =  0.014974614968589572 -0.058495989910870322 -0.031762159798514225
BAD LOOP!!!

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1717660566.087255303, 1403636766.691360391]: Shutdown request received.[0m
[33m[ WARN] [1717660566.088337343, 1403636766.691360391]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1717660566.104552403, 1403636766.691360391]: Shutdown request received.[0m
[33m[ WARN] [1717660566.104594513, 1403636766.691360391]: Reason given for shutdown: [user request][0m
killed
Shutdown

Saving keyframe trajectory to KeyFrameTrajectory.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/baeb3414-23d9-11ef-ab1d-0242ac110004/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [159][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/baeb3414-23d9-11ef-ab1d-0242ac110004/orb_node-2.log].
log file: /root/.ros/log/baeb3414-23d9-11ef-ab1d-0242ac110004/orb_node-2*.log[0m
