/SLAM-Hive/slam_hive_results/mapping_results/654/305_orb-slam3-ros-stereo-inertial+MH_01_easy+comb_test-2.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/33c96f7e-147e-11ef-8fa6-0242ac110003/roslaunch-64e02f33da7f-68.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-inertial.launch
[1mstarted roslaunch server http://64e02f33da7f:44347/[0m

SUMMARY
========

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

NODES
  /
    orb_node (ORB_SLAM3/Stereo_Inertial)

auto-starting new master
[1mprocess[master]: started with pid [83][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/stereo-inertial.launch http://localhost:11311
[1msetting /run_id to 33c96f7e-147e-11ef-8fa6-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [94][0m
started core service [/rosout]
[1mprocess[orb_node-2]: started with pid [97][0m

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, 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-Inertial

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

Initialization of Atlas from scratch 
Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name: 

Camera Parameters: 
- Camera: Pinhole
- Image scale: 1
- fx: 435.205
- fy: 435.205
- cx: 367.452
- cy: 252.201
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 20
- color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 3.85272

ORB Extractor Parameters: 
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

Left camera to Imu Transform (Tbc): 
[0.014865543, -0.99988091, 0.004140297, -0.021640146;
 0.99955726, 0.014967213, 0.02571553, -0.064676985;
 -0.025774436, 0.0037561883, 0.99966073, 0.0098107308;
 0, 0, 0, 1]

IMU frequency: 100 Hz
IMU gyro noise: 0.00017 rad/s/sqrt(Hz)
IMU gyro walk: 1.9393e-05 rad/s^2/sqrt(Hz)
IMU accelerometer noise: 0.002 m/s^2/sqrt(Hz)
IMU accelerometer walk: 0.003 m/s^3/sqrt(Hz)
There are 1 cameras in the atlas
Camera 0 is pinhole
rosbag play /slamhive/dataset/MH_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu --clock 
[0m[ INFO] [1715971793.955784203]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 0.00 
not IMU meas
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 0
mnInitialFrameId = 0
0 Frames set to lost
not IMU meas
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 0
mnInitialFrameId = 1
0 Frames set to lost
not IMU meas
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 0
mnInitialFrameId = 3
0 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 0
mnInitialFrameId = 5
0 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
First KF:0; Map init KF:0
New Map created with 185 points
Timestamp jump detected, before IMU initialization. Reseting...
mnFirstFrameId = 104
mnInitialFrameId = 51
2 Frames set to lost
not IMU meas
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
not enough acceleration
First KF:1; Map init KF:0
New Map created with 185 points
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Not enough motion for initializing. Reseting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
Timestamp jump detected. State set to LOST. Reseting IMU integration...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 134
mnInitialFrameId = 106
70 Frames set to lost
not IMU meas
First KF:22; Map init KF:1
New Map created with 656 points
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 204
mnInitialFrameId = 202
71 Frames set to lost
not IMU meas
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 204
mnInitialFrameId = 205
70 Frames set to lost
not IMU meas
First KF:23; Map init KF:22
New Map created with 464 points
Timestamp jump detected, before IMU initialization. Reseting...
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 209
mnInitialFrameId = 207
99 Frames set to lost
not IMU meas
First KF:30; Map init KF:23
New Map created with 563 points
start VIBA 1
end VIBA 1
start VIBA 2
end VIBA 2

Done.
killing:
 * /orb_node
 * /rosout
[33m[ WARN] [1715971987.859648552, 1403636766.688236612]: Shutdown request received.[0m
[33m[ WARN] [1715971987.860545011, 1403636766.688236612]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1715971987.877328316, 1403636766.688236612]: Shutdown request received.[0m
[33m[ WARN] [1715971987.877369442, 1403636766.688236612]: Reason given for shutdown: [user request][0m
killed
Shutdown

Saving keyframe trajectory to KeyFrameTrajectory_TUM_Format.txt ...

Saving camera trajectory to FrameTrajectory_TUM_Format.txt ...

Saving camera trajectory to FrameTrajectory_KITTI_Format.txt ...
Map Saving to Map.pcd
Map Saving Finished!
terminate called without an active exception
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/33c96f7e-147e-11ef-8fa6-0242ac110003/rosout-1*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [3337][0m
[31m[orb_node-2] process has died [pid 97, exit code -6, cmd /home/ORB_SLAM3/Examples/ROS/ORB_SLAM3/Stereo_Inertial /home/ORB_SLAM3/Vocabulary/ORBvoc.txt /slamhive/mappingtask.yaml true /camera/left/image_raw:=/camera/left/image_raw /camera/right/image_raw:=/camera/right/image_raw /imu:=/imu __name:=orb_node __log:=/root/.ros/log/33c96f7e-147e-11ef-8fa6-0242ac110003/orb_node-2.log].
log file: /root/.ros/log/33c96f7e-147e-11ef-8fa6-0242ac110003/orb_node-2*.log[0m
