/SLAM-Hive/slam_hive_results/mapping_results/3273/1795_orb-slam2-ros-mono+MH_04_difficult+Image_comb_test-0.yamlsave map False
ERROR: Unable to communicate with master!
... logging to /root/.ros/log/51895876-9d3b-11ef-a22e-0242ac110002/roslaunch-5cc979e5a8aa-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://5cc979e5a8aa:44783/[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 51895876-9d3b-11ef-a22e-0242ac110002[0m
[1mprocess[rosout-1]: started with pid [96][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [99][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...
rosbag play /slamhive/dataset/MH_04_difficult.bag /cam0/image_raw:=/camera/image_raw --clock 
[0m[ INFO] [1731006372.633067735]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 0.00 
Vocabulary loaded!


Camera Parameters: 
- fx: 458.654
- fy: 457.296
- cx: 367.215
- cy: 248.375
- k1: -0.283408
- k2: 0.0739591
- p1: 0.00019359
- p2: 1.76187e-05
- fps: 20
- 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
New Map created with 115 points

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1731006481.240010769, 1403638229.911273542]: Shutdown request received.[0m
[33m[ WARN] [1731006481.240920698, 1403638229.911273542]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731006481.258401719, 1403638229.911273542]: Shutdown request received.[0m
[33m[ WARN] [1731006481.258448604, 1403638229.911273542]: 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/51895876-9d3b-11ef-a22e-0242ac110002/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [229][0m
[31m[orb_node-2] process has died [pid 99, 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/51895876-9d3b-11ef-a22e-0242ac110002/orb_node-2.log].
log file: /root/.ros/log/51895876-9d3b-11ef-a22e-0242ac110002/orb_node-2*.log[0m
