/SLAM-Hive/slam_hive_results/mapping_results/3258/2463_orb-slam2-ros-rgbd+rgbd_dataset_freiburg2_desk-4.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/565334f4-4d03-11ef-ad12-0242ac110003/roslaunch-ee10348008ce-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/rgbd.launch
[1mstarted roslaunch server http://ee10348008ce:36197/[0m

SUMMARY
========

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

NODES
  /
    orb_node (ORB_SLAM2/RGBD)

auto-starting new master
[1mprocess[master]: started with pid [85][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/rgbd.launch http://localhost:11311
[1msetting /run_id to 565334f4-4d03-11ef-ad12-0242ac110003[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: RGB-D

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


Camera Parameters: 
- fx: 520.909
- fy: 521.007
- cx: 325.141
- cy: 249.702
- k1: 0.231222
- k2: -0.784899
- k3: 0.917205
- p1: -0.003257
- p2: -0.000105
- fps: 30
- color order: RGB (ignored if grayscale)

ORB Extractor Parameters: 
- Number of Features: 1250
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 3.07156
rosbag play /slamhive/dataset/rgbd_dataset_freiburg2_desk.bag /camera/rgb/image_color:=/slamhive/camera/rgb /camera/depth/image:=/slamhive/camera/depth --clock 
[0m[ INFO] [1722186240.162888900]: Opening /slamhive/dataset/rgbd_dataset_freiburg2_desk.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.
New map created with 1006 points
Loop detected!
Local Mapping STOP
Local Mapping RELEASE
Starting Global Bundle Adjustment
Global Bundle Adjustment finished
Updating map ...
Local Mapping STOP
Local Mapping RELEASE
Map updated!

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1722186495.348397638, 1311868164.330604073]: Shutdown request received.[0m
[33m[ WARN] [1722186495.349349600, 1311868164.330604073]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1722186495.366812620, 1311868164.330604073]: Shutdown request received.[0m
[33m[ WARN] [1722186495.366854020, 1311868164.330604073]: Reason given for shutdown: [user request][0m
killed
Map Saving to Map.pcd
Map Saving Finished!

Saving keyframe trajectory to KeyFrameTrajectory.txt ...

trajectory saved!

Saving camera trajectory to CameraTrajectory.txt ...
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/565334f4-4d03-11ef-ad12-0242ac110003/rosout-1*.log[0m
[rosout-1] restarting process

trajectory saved!
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

[1mprocess[rosout-1]: started with pid [154][0m
[31m[orb_node-2] process has died [pid 102, exit code -6, cmd /home/ORB_SLAM2/Examples/ROS/ORB_SLAM2/RGBD /home/ORB_SLAM2/Vocabulary/ORBvoc.txt /slamhive/mappingtask.yaml /camera/rgb/image_raw:=/slamhive/camera/rgb /camera/depth_registered/image_raw:=/slamhive/camera/depth __name:=orb_node __log:=/root/.ros/log/565334f4-4d03-11ef-ad12-0242ac110003/orb_node-2.log].
log file: /root/.ros/log/565334f4-4d03-11ef-ad12-0242ac110003/orb_node-2*.log[0m
