/SLAM-Hive/slam_hive_results/mapping_results/2122/1682_orb-slam2-ros-stereo+MH_05_difficult+Image_comb_test-7.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/9cb2f720-3b12-11ef-abb6-0242ac110003/roslaunch-c9d77a8f3c2a-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://c9d77a8f3c2a:33271/[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 [86][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/stereo.launch http://localhost:11311
[1msetting /run_id to 9cb2f720-3b12-11ef-abb6-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [97][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [103][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: 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): 8.25584
rosbag play /slamhive/dataset/MH_05_difficult.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw --clock 
[0m[ INFO] [1720213679.757943318]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics...New map created with 169 points

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720213800.515709901, 1403638632.915465090]: Shutdown request received.[0m
[33m[ WARN] [1720213800.516579069, 1403638632.915465090]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720213800.535585710, 1403638632.915465090]: Shutdown request received.[0m
[33m[ WARN] [1720213800.535620904, 1403638632.915465090]: 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[orb_node-2] process has finished cleanly
log file: /root/.ros/log/9cb2f720-3b12-11ef-abb6-0242ac110003/orb_node-2*.log[0m
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/9cb2f720-3b12-11ef-abb6-0242ac110003/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [2424][0m
