/SLAM-Hive/slam_hive_results/mapping_results/1234/888_orb-slam3-ros-stereo+MH_01_easy+exploration_experiment_4-6.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/b15b7dc4-247d-11ef-a895-0242ac110004/roslaunch-30cd18d41ce1-70.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/stereo.launch
[1mstarted roslaunch server http://30cd18d41ce1:35423/[0m

SUMMARY
========

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

NODES
  /
    orb_node (ORB_SLAM3/Stereo)

auto-starting new master
[1mprocess[master]: started with pid [85][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/stereo.launch http://localhost:11311
[1msetting /run_id to b15b7dc4-247d-11ef-a895-0242ac110004[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: Stereo

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: 10
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 6.60467

ORB Extractor Parameters: 
- Number of Features: 2000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7
There are 1 cameras in the atlas
Camera 0 is pinhole
rosbag play /slamhive/dataset/MH_04_difficult.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw --clock 
[0m[ INFO] [1717730793.835974551]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 0.00 
First KF:0; Map init KF:0
New Map created with 260 points
*Loop detected
Local Mapping STOP
Local Mapping RELEASE
Local Mapping STOP
Local Mapping RELEASE

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1717730902.554931629, 1403638229.911418645]: Shutdown request received.[0m
[33m[ WARN] [1717730902.556053971, 1403638229.911418645]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1717730902.572960049, 1403638229.911418645]: Shutdown request received.[0m
[33m[ WARN] [1717730902.572986639, 1403638229.911418645]: 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!
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/b15b7dc4-247d-11ef-a895-0242ac110004/rosout-1*.log[0m
[1m[orb_node-2] process has finished cleanly
log file: /root/.ros/log/b15b7dc4-247d-11ef-a895-0242ac110004/orb_node-2*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [2187][0m
