/SLAM-Hive/slam_hive_results/mapping_results/1299/953_orb-slam3-ros-mono-inertial+right_camera+MH_01_easy+exploration_experiment_5-15.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/6737fadc-2497-11ef-a5e7-0242ac110004/roslaunch-c5966d859fe3-71.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/mono-inertial.launch
[1mstarted roslaunch server http://c5966d859fe3:35701/[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 [86][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/mono-inertial.launch http://localhost:11311
[1msetting /run_id to 6737fadc-2497-11ef-a5e7-0242ac110004[0m
[1mprocess[rosout-1]: started with pid [97][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [100][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): [ 229.327 228.648 183.607 124.188 ]
	-Camera 1 distortion parameters: [  -0.283408 0.0739591 0.00019359 1.76187e-05 ]
	-Original image size: [ 376 , 240 ]
	-Current image size: [ 300 , 175 ]
	-Camera 1 parameters after resize: [  182.974 166.723 146.495 90.5534 ]
	-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_05_difficult.bag /cam1/image_raw:=/camera/image_raw /imu0:=/imu --clock 
[0m[ INFO] [1717741836.360608276]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.
First KF:0; Map init KF:0
New Map created with 105 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 = 58
mnInitialFrameId = 0
4 Frames set to lost
First KF:3; Map init KF:0
New Map created with 111 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 = 77
mnInitialFrameId = 61
31 Frames set to lost
First KF:14; Map init KF:3
New Map created with 172 points
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
TRACK: Reset map because local mapper set the bad imu flag LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
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 = 127
mnInitialFrameId = 103
75 Frames set to lost
First KF:32; Map init KF:14
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 = 221
mnInitialFrameId = 171
101 Frames set to lost
First KF:43; Map init KF:32
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!!!
First KF:50; Map init KF:43
New Map created with 341 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 = 268
mnInitialFrameId = 265
145 Frames set to lost
First KF:61; Map init KF:50
New Map created with 403 points
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
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 = 297
mnInitialFrameId = 294
165 Frames set to lost
First KF:69; Map init KF:61
New Map created with 439 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 = 319
mnInitialFrameId = 316
188 Frames set to lost
First KF:78; Map init KF:69
New Map created with 354 points
start VIBA 1
end VIBA 1
start VIBA 2
end VIBA 2
*Loop detected
phi = -0.070863540935484595 -0.063247875529876305 -0.015191913184875451
BAD LOOP!!!
*Loop detected
phi = -0.091696895720064203 -0.077424554362554993 -0.053393329261203562
BAD LOOP!!!
*Loop detected
phi =  -0.048826308784228965   -0.03616949104208296 -0.0068147105618420467
BAD LOOP!!!
*Loop detected
phi = -0.028531416244756538 -0.026596663650024326  0.002405528967015548
BAD LOOP!!!
*Loop detected
phi =  -0.018788951449431743 -0.0086237313704393102   0.010376174666877564
BAD LOOP!!!
*Loop detected
phi =  -0.056002159947702988 0.00063819466029364801  -0.013233714958943989
BAD LOOP!!!
*Loop detected
phi = -0.015279161026325301 -0.006589441630236172 0.0056491012145538809
BAD LOOP!!!
*Loop detected
phi =  -0.013242081826678661 -0.0018489831859133555   0.010064870155336457
BAD LOOP!!!
*Loop detected
phi =  -0.011441996673664519 -0.0075711410634991937  0.0097241362320459497
BAD LOOP!!!
*Loop detected
phi =  -0.013547784307616603 -0.0077549425584431892   0.008443830761891629
BAD LOOP!!!
*Loop detected
phi =   -0.01796381973800712 -0.0025273760471336386  0.0052746676169658927
BAD LOOP!!!
*Loop detected
phi = -0.015931423910708439 0.0034142960768250193 0.0076661437593266556
BAD LOOP!!!
*Loop detected
phi =  -0.012117932794620373 -0.0046183776008854273   0.012715932749172229
BAD LOOP!!!

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1717741956.967612578, 1403638632.914303767]: Shutdown request received.[0m
[33m[ WARN] [1717741956.968574490, 1403638632.914303767]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1717741956.984783859, 1403638632.914303767]: Shutdown request received.[0m
[33m[ WARN] [1717741956.984811749, 1403638632.914303767]: 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/6737fadc-2497-11ef-a5e7-0242ac110004/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [390][0m
[31m[orb_node-2] process has died [pid 100, 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/6737fadc-2497-11ef-a5e7-0242ac110004/orb_node-2.log].
log file: /root/.ros/log/6737fadc-2497-11ef-a5e7-0242ac110004/orb_node-2*.log[0m
