/SLAM-Hive/slam_hive_results/mapping_results/2044/1604_orb-slam2-ros-stereo+MH_02_easy+Image_comb_test-19.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/c283db66-3af1-11ef-b754-0242ac110003/roslaunch-098c964e8239-70.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://098c964e8239:40143/[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 c283db66-3af1-11ef-b754-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [96][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [101][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: 349.097
- fy: 349.097
- cx: 291.749
- cy: 205.617
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 2
- 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): 8.25584
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] [1720199569.815214014]: 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 145 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 358 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 333 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 348 points
Track lost soon after initialisation, reseting...
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 473 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 309 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 342 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 290 points
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 320 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 291 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 404 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 258 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 315 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 330 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Loop Closing... done
Reseting Database... done
New map created with 365 points
Track lost soon after initialisation, reseting...
Reseting Loop Closing... done
Reseting Database... done
New map created with 354 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 300 points
Track lost soon after initialisation, reseting...
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 156 points

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720199729.786963812, 1403637010.628111266]: Shutdown request received.[0m
[33m[ WARN] [1720199729.787966320, 1403637010.628111266]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720199729.804185161, 1403637010.628111266]: Shutdown request received.[0m
[33m[ WARN] [1720199729.804220155, 1403637010.628111266]: 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/c283db66-3af1-11ef-b754-0242ac110003/rosout-1*.log[0m
[1m[orb_node-2] process has finished cleanly
log file: /root/.ros/log/c283db66-3af1-11ef-b754-0242ac110003/orb_node-2*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [761][0m
