/SLAM-Hive/slam_hive_results/mapping_results/1121/775_orb-slam3-ros-stereo-inertial+MH_01_easy+exploration_experiment_2-13.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/2b4145e2-244c-11ef-9332-0242ac110004/roslaunch-99071082e59a-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://99071082e59a:41477/[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 2b4145e2-244c-11ef-9332-0242ac110004[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: 218.322
- fy: 218.322
- cx: 182.341
- cy: 128.591
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 10
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 13.2093

ORB Extractor Parameters: 
- Number of Features: 2000
- 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: 200 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_02_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu --clock 
[0m[ INFO] [1717709523.477432251]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 0.00 
not IMU meas
First KF:0; Map init KF:0
New Map created with 448 points
start VIBA 1
end VIBA 1
start VIBA 2
end VIBA 2

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1717709683.113527582, 1403637010.635645317]: Shutdown request received.[0m
[33m[ WARN] [1717709683.114571289, 1403637010.635645317]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1717709683.134211154, 1403637010.635645317]: Shutdown request received.[0m
[33m[ WARN] [1717709683.134261645, 1403637010.635645317]: 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
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/2b4145e2-244c-11ef-9332-0242ac110004/rosout-1*.log[0m
[rosout-1] restarting process
Map Saving Finished!
terminate called without an active exception
[1mprocess[rosout-1]: started with pid [3188][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/2b4145e2-244c-11ef-9332-0242ac110004/orb_node-2.log].
log file: /root/.ros/log/2b4145e2-244c-11ef-9332-0242ac110004/orb_node-2*.log[0m
