/SLAM-Hive/slam_hive_results/mapping_results/2034/1594_orb-slam2-ros-stereo+MH_02_easy+Image_comb_test-9.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/dd817f68-3aec-11ef-a412-0242ac110003/roslaunch-143ae3bc35df-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://143ae3bc35df:44891/[0m

SUMMARY
========

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

NODES
  /
    orb_node (ORB_SLAM2/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 dd817f68-3aec-11ef-a412-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [96][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [102][0m

ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, 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!


Camera Parameters: 
- 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)

ORB Extractor Parameters: 
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 13.2093
rosbag play /slamhive/dataset/MH_02_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw --clock 
[0m[ INFO] [1720197467.574960281]: 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 
New map created with 216 points
Loop detected!
Local Mapping RELEASE
Starting Global Bundle Adjustment
Global Bundle Adjustment finished
Updating map ...
Local Mapping RELEASE
Map updated!

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720197627.541240861, 1403637010.627154986]: Shutdown request received.[0m
[33m[ WARN] [1720197627.542181462, 1403637010.627154986]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720197627.561510497, 1403637010.627154986]: Shutdown request received.[0m
[33m[ WARN] [1720197627.561573379, 1403637010.627154986]: Reason given for shutdown: [user request][0m
killed

Saving keyframe trajectory to KeyFrameTrajectory_TUM_Format.txt ...

trajectory saved!

Saving camera trajectory to FrameTrajectory_TUM_Format.txt ...

trajectory saved!
Map Saving to Map.pcd
Map Saving Finished!

Saving camera trajectory to FrameTrajectory_KITTI_Format.txt ...

trajectory saved!
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/dd817f68-3aec-11ef-a412-0242ac110003/rosout-1*.log[0m
[1m[orb_node-2] process has finished cleanly
log file: /root/.ros/log/dd817f68-3aec-11ef-a412-0242ac110003/orb_node-2*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [3194][0m
