/SLAM-Hive/slam_hive_results/mapping_results/2165/1725_orb-slam2-ros-mono+MH_01_easy+Image_comb_test-20.yamlsave map False
ERROR: Unable to communicate with master!
... logging to /root/.ros/log/bbfc96f8-3b27-11ef-8797-0242ac110003/roslaunch-fe213adec633-70.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/mono.launch
[1mstarted roslaunch server http://fe213adec633:42053/[0m

SUMMARY
========

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

NODES
  /
    orb_node (ORB_SLAM2/Mono)

auto-starting new master
[1mprocess[master]: started with pid [85][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/mono.launch http://localhost:11311
[1msetting /run_id to bbfc96f8-3b27-11ef-8797-0242ac110003[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: Monocular

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!


Camera Parameters: 
- fx: 275.192
- fy: 274.378
- cx: 220.329
- cy: 149.025
- k1: -0.283408
- k2: 0.0739591
- p1: 0.00019359
- p2: 1.76187e-05
- 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
rosbag play /slamhive/dataset/MH_01_easy.bag /cam0/image_raw:=/camera/image_raw --clock 
[0m[ INFO] [1720222751.698955956]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics...New Map created with 108 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Database... done
New Map created with 116 points
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()
virtual int g2o::SparseOptimizer::optimize(int, bool): 0 vertices to optimize, maybe forgot to call initializeOptimization()

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1720222945.481831169, 1403636766.685854655]: Shutdown request received.[0m
[33m[ WARN] [1720222945.482817569, 1403636766.685854655]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720222945.499188592, 1403636766.685854655]: Shutdown request received.[0m
[33m[ WARN] [1720222945.499240207, 1403636766.685854655]: Reason given for shutdown: [user request][0m
killed

Saving keyframe trajectory to KeyFrameTrajectory.txt ...

trajectory saved!
Map Saving to Map.pcd
Map Saving Finished!
OpenCV Error: Assertion failed (tlsSlots.size() > slotIdx) in releaseSlot, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/system.cpp, line 1092
terminate called after throwing an instance of 'cv::Exception'
  what():  /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/system.cpp:1092: error: (-215) tlsSlots.size() > slotIdx in function releaseSlot

[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/bbfc96f8-3b27-11ef-8797-0242ac110003/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [254][0m
[31m[orb_node-2] process has died [pid 102, exit code -6, cmd /home/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Mono /home/ORB_SLAM2/Vocabulary/ORBvoc.txt /slamhive/mappingtask.yaml /camera/image_raw:=/camera/image_raw __name:=orb_node __log:=/root/.ros/log/bbfc96f8-3b27-11ef-8797-0242ac110003/orb_node-2.log].
log file: /root/.ros/log/bbfc96f8-3b27-11ef-8797-0242ac110003/orb_node-2*.log[0m
