/SLAM-Hive/slam_hive_results/mapping_results/1659/1163_orb-slam3-ros-stereo-inertial+MH_05_difficult+Image_comb_test-28.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/1f4f3c9e-3a3b-11ef-91d7-0242ac110003/roslaunch-01eb412cc2bd-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://01eb412cc2bd:37505/[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 1f4f3c9e-3a3b-11ef-91d7-0242ac110003[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: 174.768
- fy: 174.768
- cx: 146.124
- cy: 102.932
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 1
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 16.4862

ORB Extractor Parameters: 
- Number of Features: 1000
- 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_05_difficult.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu --clock 
[0m[ INFO] [1720121127.559793226]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics...not IMU meas
First KF:0; Map init KF:0
New Map created with 102 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Active map reset, Done!!!
mnFirstFrameId = 1
mnInitialFrameId = 0
5 Frames set to lost
not IMU meas
First KF:5; Map init KF:0
New Map created with 279 points
start VIBA 1
end VIBA 1
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
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 = 7
mnInitialFrameId = 5
16 Frames set to lost
not IMU meas
not enough acceleration
First KF:16; Map init KF:5
New Map created with 619 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
start VIBA 1
end VIBA 1
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 = 21
mnInitialFrameId = 17
26 Frames set to lost
not IMU meas
First KF:26; Map init KF:16
New Map created with 669 points
start VIBA 1
end VIBA 1
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
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!!!
not IMU meas
First KF:37; Map init KF:26
New Map created with 684 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
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 = 44
mnInitialFrameId = 42
41 Frames set to lost
not IMU meas
First KF:41; Map init KF:37
New Map created with 623 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
mnFirstFrameId = 49
mnInitialFrameId = 47
46 Frames set to lost
not IMU meas
First KF:46; Map init KF:41
New Map created with 406 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
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 = 55
mnInitialFrameId = 53
49 Frames set to lost
First KF:49; Map init KF:46
New Map created with 396 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
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 = 75
mnInitialFrameId = 57
54 Frames set to lost
not IMU meas
First KF:54; Map init KF:49
New Map created with 451 points
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
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 = 81
mnInitialFrameId = 79
55 Frames set to lost
not IMU meas
First KF:55; Map init KF:54
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
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 = 84
mnInitialFrameId = 82
61 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
First KF:61; Map init KF:55
New Map created with 666 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
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 = 93
mnInitialFrameId = 89
65 Frames set to lost
not IMU meas
First KF:65; Map init KF:61
start VIBA 1
end VIBA 1
Fail to track local map!
IMU is not or recently initialized. Reseting active map...

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720121248.046916732, 1403638632.916961001]: Shutdown request received.[0m
[33m[ WARN] [1720121248.047975610, 1403638632.916961001]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720121248.064640074, 1403638632.916961001]: Shutdown request received.[0m
[33m[ WARN] [1720121248.064684703, 1403638632.916961001]: 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!
terminate called without an active exception
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/1f4f3c9e-3a3b-11ef-91d7-0242ac110003/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [374][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/1f4f3c9e-3a3b-11ef-91d7-0242ac110003/orb_node-2.log].
log file: /root/.ros/log/1f4f3c9e-3a3b-11ef-91d7-0242ac110003/orb_node-2*.log[0m
