/SLAM-Hive/slam_hive_results/mapping_results/3275/1675_orb-slam2-ros-stereo+MH_05_difficult+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/43aafbc8-9d3c-11ef-a321-0242ac110002/roslaunch-e69d6afe2b7f-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://e69d6afe2b7f:36111/[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 43aafbc8-9d3c-11ef-a321-0242ac110002[0m
[1mprocess[rosout-1]: started with pid [96][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: 436.244
- fy: 436.244
- cx: 364.441
- cy: 256.952
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- 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

Depth Threshold (Close/Far Points): 6.60467
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] [1731006783.200112460]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.
New map created with 164 points
Loop detected!
Local Mapping STOP
Local Mapping RELEASE
Starting Global Bundle Adjustment
Local Mapping STOP
Local Mapping RELEASE
Map updated!
Loop detected!
Local Mapping STOP
Local Mapping RELEASE
Starting Global Bundle Adjustment

Done.
Global Bundle Adjustment finished
Updating map ...
Local Mapping STOP
Local Mapping RELEASE
Map updated!
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1731006903.787960932, 1403638632.912538732]: Shutdown request received.[0m
[33m[ WARN] [1731006903.788961695, 1403638632.912538732]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1731006903.805331668, 1403638632.912538732]: Shutdown request received.[0m
[33m[ WARN] [1731006903.805377263, 1403638632.912538732]: 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/43aafbc8-9d3c-11ef-a321-0242ac110002/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [4437][0m
[1m[orb_node-2] process has finished cleanly
log file: /root/.ros/log/43aafbc8-9d3c-11ef-a321-0242ac110002/orb_node-2*.log[0m
