/SLAM-Hive/slam_hive_results/mapping_results/1038/704_orb-slam3-ros-mono-inertial+right_camera+MH_01_easy+exploration_experiment-14.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/54c180e0-23dd-11ef-8393-0242ac110004/roslaunch-151d861737eb-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://151d861737eb:40217/[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 54c180e0-23dd-11ef-8393-0242ac110004[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: 10
	-Gyro noise: 0.00017
	-Accelerometer noise: 0.002
	-Gyro walk: 1.9393e-05
	-Accelerometer walk: 0.003
	-IMU frequency: 50
	-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] [1717661918.979549322]: 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 
Empty IMU measurements vector!!!
First KF:0; Map init KF:0
New Map created with 947 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
26 Frames set to lost
First KF:11; Map init KF:0
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 = 28
mnInitialFrameId = 26
30 Frames set to lost
First KF:14; Map init KF:11
New Map created with 831 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 = 33
mnInitialFrameId = 31
41 Frames set to lost
First KF:19; Map init KF:14
New Map created with 212 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 = 45
mnInitialFrameId = 43
43 Frames set to lost
First KF:21; Map init KF:19
New Map created with 289 points
start VIBA 1
end VIBA 1
start VIBA 2
end VIBA 2
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
*Loop detected
phi = 0.0020656413993976916 -0.016012548995160504  0.018968667013387525
BAD LOOP!!!
*Loop detected
phi = 0.0088763668356569847 -0.020147868429702114  0.021301788491573753
BAD LOOP!!!
*Loop detected
phi =  -0.00981274057863229 -0.011499875188482812   0.07071346725142269
BAD LOOP!!!
*Loop detected
phi = 0.00020916169042860028  -0.036557203636307684 -0.0011969983901357463
BAD LOOP!!!
*Loop detected
phi = 0.0087375614194823339  -0.02513126420587394 0.0091948128377366406
BAD LOOP!!!
*Loop detected
phi =  0.052455210071768503 -0.039591061897626588 0.0054819031179410439
BAD LOOP!!!
*Loop detected
phi =  0.060831236473151556 -0.034565725983059944 0.0027361279104877283
BAD LOOP!!!
*Loop detected
phi =  0.053388122831464511 -0.033167687539549177 0.0064328697830909401
BAD LOOP!!!
*Loop detected
phi = 0.070632526493518172 -0.06012979994660142 0.014752227318560587
BAD LOOP!!!

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1717662112.681229164, 1403636766.694379365]: Shutdown request received.[0m
[33m[ WARN] [1717662112.682214240, 1403636766.694379365]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1717662112.698858763, 1403636766.694379365]: Shutdown request received.[0m
[33m[ WARN] [1717662112.698892681, 1403636766.694379365]: 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/54c180e0-23dd-11ef-8393-0242ac110004/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [169][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/54c180e0-23dd-11ef-8393-0242ac110004/orb_node-2.log].
log file: /root/.ros/log/54c180e0-23dd-11ef-8393-0242ac110004/orb_node-2*.log[0m
