/SLAM-Hive/slam_hive_results/mapping_results/1561/1221_orb-slam3-ros-stereo+MH_03_medium+Image_comb_test-7.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/7538f64a-39af-11ef-a0a3-0242ac110003/roslaunch-d36f09c58d0b-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.launch
[1mstarted roslaunch server http://d36f09c58d0b:44753/[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 [86][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/stereo.launch http://localhost:11311
[1msetting /run_id to 7538f64a-39af-11ef-a0a3-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [97][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [104][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: 349.097
- fy: 349.097
- cx: 291.749
- cy: 205.617
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 10
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 8.25584

ORB Extractor Parameters: 
- Number of Features: 1000
- 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_03_medium.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw --clock 
[0m[ INFO] [1720061142.181037784]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 0.00 
First KF:0; Map init KF:0
New Map created with 209 points
*Loop detected
Local Mapping RELEASE
Local Mapping STOP

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720061284.203776964, 1403637266.458959303]: Shutdown request received.[0m
[33m[ WARN] [1720061284.204694826, 1403637266.458959303]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720061284.221218548, 1403637266.458959303]: Shutdown request received.[0m
[33m[ WARN] [1720061284.221265684, 1403637266.458959303]: 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[orb_node-2] process has finished cleanly
log file: /root/.ros/log/7538f64a-39af-11ef-a0a3-0242ac110003/orb_node-2*.log[0m
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/7538f64a-39af-11ef-a0a3-0242ac110003/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [2856][0m
