/SLAM-Hive/slam_hive_results/mapping_results/2955/2163_vins-fusion-stereo+MH_01_easy+Image_comb_test-3.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720489669.255746015]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720489669.257086012]: init begins[0m
[31m[ERROR] [1720489669.258186415]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/3f4ad3fc-3d95-11ef-a2d1-0242ac110005/roslaunch-d7bdfc2c6d4a-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;roscore
[1mstarted roslaunch server http://d7bdfc2c6d4a:36235/[0m
ros_comm version 1.12.17


SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES

auto-starting new master
[1mprocess[master]: started with pid [155][0m
[0m[ INFO] [1720489670.412667905]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720489670.413323495]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720489670.418840094]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720489670.419028252]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720489670.419050621]: ROW: 240 COL: 376 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[0m[ INFO] [1720489670.419310357]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720489670.419514930]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720489670.419682385]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://d7bdfc2c6d4a:11311/[0m
]2;roscore http://d7bdfc2c6d4a:11311/
[1msetting /run_id to 3f4ad3fc-3d95-11ef-a2d1-0242ac110005[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /slamhive/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720489679.411588897]: 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: 316853100.69 
[0m[ INFO] [1720489681.732308717]: Initialization finish![0m
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time: 1403636581.013556, t: 0.191018 -0.038301 0.090084 q: 0.979316 -0.010327 -0.195953 -0.049347 
time: 1403636581.213556, t: 0.113272 -0.025508 -0.020798 q: 0.999770 -0.017079 -0.001576 -0.012903 
time: 1403636581.313555, t: 0.150938 -0.025518 -0.030756 q: 0.999685 -0.016623 0.015642 -0.010433 
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optimize pose graph 
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optimize pose graph 
time: 1403636756.213556, t: 0.694096 1.359150 1.350545 q: 0.998021 0.046015 -0.019280 -0.038273 
time: 1403636756.313555, t: 0.695222 1.297486 1.315714 q: 0.997999 0.046805 -0.019020 -0.038013 
time: 1403636756.413555, t: 0.692220 1.230614 1.284850 q: 0.997968 0.046851 -0.017806 -0.039338 
time: 1403636756.513556, t: 0.683791 1.170120 1.245678 q: 0.997922 0.048212 -0.017539 -0.038987 
time: 1403636756.613555, t: 0.666843 1.108615 1.208254 q: 0.997882 0.049185 -0.016680 -0.039172 
time: 1403636756.713556, t: 0.652297 1.042647 1.175711 q: 0.997856 0.050231 -0.015303 -0.039060 
time: 1403636756.813555, t: 0.643029 0.979392 1.133893 q: 0.997826 0.051534 -0.014096 -0.038594 
time: 1403636756.913555, t: 0.638677 0.915274 1.094036 q: 0.997777 0.052162 -0.014604 -0.038813 
time: 1403636757.013556, t: 0.637786 0.852889 1.046979 q: 0.997742 0.053037 -0.014685 -0.038491 
time: 1403636757.113555, t: 0.630017 0.791315 0.994396 q: 0.997733 0.054385 -0.014595 -0.036848 
time: 1403636757.213556, t: 0.617465 0.730030 0.943401 q: 0.997735 0.054716 -0.014836 -0.036202 
time: 1403636757.313555, t: 0.604290 0.661640 0.898285 q: 0.997642 0.053465 -0.016168 -0.039870 
time: 1403636757.413555, t: 0.582027 0.599376 0.851813 q: 0.997564 0.053249 -0.018928 -0.040897 
time: 1403636757.513556, t: 0.560201 0.537059 0.802082 q: 0.997271 0.053729 -0.023409 -0.044906 
time: 1403636757.613555, t: 0.542285 0.467898 0.753779 q: 0.996539 0.058924 -0.033345 -0.048223 
time: 1403636757.713556, t: 0.531806 0.399184 0.705776 q: 0.995481 0.065611 -0.046178 -0.050798 
time: 1403636757.813555, t: 0.532366 0.332682 0.657787 q: 0.994471 0.072489 -0.055475 -0.051925 
time: 1403636757.913555, t: 0.539660 0.264423 0.610255 q: 0.993893 0.078426 -0.058180 -0.051387 
time: 1403636758.113555, t: 0.569424 0.122640 0.524244 q: 0.994444 0.087466 -0.033746 -0.047885 
time: 1403636758.213556, t: 0.601660 0.044009 0.503334 q: 0.994560 0.089440 -0.025397 -0.046977 
optimize pose graph 
time: 1403636758.313555, t: 0.580934 0.014555 0.444917 q: 0.994426 0.093816 -0.019752 -0.043878 
time: 1403636758.413555, t: 0.574976 -0.058881 0.417160 q: 0.994367 0.094129 -0.028021 -0.039870 
time: 1403636758.513556, t: 0.553939 -0.148668 0.420943 q: 0.993818 0.095297 -0.047856 -0.030884 
time: 1403636758.613555, t: 0.540361 -0.207239 0.393251 q: 0.992615 0.098201 -0.068477 -0.019593 
time: 1403636758.713556, t: 0.526706 -0.269654 0.390618 q: 0.993072 0.097199 -0.063373 -0.018574 
time: 1403636758.813555, t: 0.519136 -0.319562 0.380992 q: 0.994102 0.095455 -0.046390 -0.022326 
time: 1403636758.913555, t: 0.509060 -0.362851 0.381671 q: 0.994709 0.092679 -0.031792 -0.030877 
time: 1403636759.013556, t: 0.493438 -0.405321 0.380593 q: 0.994880 0.091648 -0.024708 -0.034686 
time: 1403636759.113555, t: 0.479838 -0.445912 0.379345 q: 0.994879 0.095211 -0.021993 -0.025832 
time: 1403636759.213556, t: 0.458188 -0.479900 0.377026 q: 0.994427 0.102872 -0.022537 -0.004919 
time: 1403636759.313555, t: 0.435160 -0.506955 0.380257 q: 0.993961 0.107121 -0.023013 0.006084 
time: 1403636759.413555, t: 0.410698 -0.524240 0.382729 q: 0.994422 0.102905 -0.021549 -0.008437 
time: 1403636759.513556, t: 0.380268 -0.534336 0.384373 q: 0.994682 0.098235 -0.019114 -0.024340 
time: 1403636759.613555, t: 0.351749 -0.539459 0.385742 q: 0.994611 0.095714 -0.017605 -0.035759 
time: 1403636759.713556, t: 0.331076 -0.542346 0.382717 q: 0.994457 0.094679 -0.018091 -0.041991 
time: 1403636759.813555, t: 0.318893 -0.544247 0.372290 q: 0.994408 0.095106 -0.016436 -0.042873 
time: 1403636759.913555, t: 0.310651 -0.546763 0.358684 q: 0.994306 0.094927 -0.022812 -0.042706 
time: 1403636760.013556, t: 0.298681 -0.548518 0.345465 q: 0.994072 0.094168 -0.033094 -0.043096 
time: 1403636760.113555, t: 0.285267 -0.549744 0.332863 q: 0.993829 0.093491 -0.042024 -0.042390 
time: 1403636760.213556, t: 0.272430 -0.550524 0.323457 q: 0.993882 0.093558 -0.041510 -0.041505 
time: 1403636760.313555, t: 0.259371 -0.551732 0.316786 q: 0.994408 0.094431 -0.027113 -0.038723 
optimize pose graph 
time: 1403636760.413555, t: 0.243706 -0.552116 0.312115 q: 0.994572 0.093495 -0.018964 -0.041538 
time: 1403636760.613555, t: 0.203626 -0.551302 0.300694 q: 0.994198 0.091823 -0.029646 -0.047532 
time: 1403636760.713556, t: 0.185286 -0.552220 0.293533 q: 0.993820 0.090683 -0.036931 -0.052293 
time: 1403636760.813555, t: 0.169340 -0.554867 0.287144 q: 0.993790 0.090404 -0.034068 -0.055200 
time: 1403636760.913555, t: 0.154667 -0.558969 0.280003 q: 0.993828 0.090372 -0.027008 -0.058382 
time: 1403636761.013556, t: 0.138911 -0.565738 0.273439 q: 0.993703 0.091410 -0.031289 -0.056740 
time: 1403636761.213556, t: 0.159518 -0.586480 0.249516 q: 0.990995 0.091486 -0.077990 -0.058961 
time: 1403636761.313555, t: 0.087248 -0.604136 0.260613 q: 0.992263 0.092633 -0.063165 -0.053334 
time: 1403636761.413555, t: 0.085782 -0.618181 0.263222 q: 0.992759 0.093681 -0.053671 -0.052662 
time: 1403636761.513556, t: 0.086210 -0.634351 0.270110 q: 0.993471 0.094729 -0.038347 -0.050705 
time: 1403636761.613555, t: 0.088197 -0.653499 0.275034 q: 0.993971 0.094382 -0.027141 -0.048751 
time: 1403636761.713556, t: 0.092200 -0.673382 0.277741 q: 0.994257 0.097185 -0.024303 -0.037651 
time: 1403636761.813555, t: 0.096536 -0.687781 0.282209 q: 0.994281 0.100400 -0.024426 -0.027003 
time: 1403636761.913555, t: 0.102581 -0.699031 0.283873 q: 0.994296 0.100449 -0.025395 -0.025324 
time: 1403636762.013556, t: 0.110426 -0.707501 0.283907 q: 0.994373 0.095807 -0.024574 -0.037952 
time: 1403636762.113555, t: 0.119381 -0.712748 0.281994 q: 0.994131 0.088180 -0.022021 -0.058678 
time: 1403636762.213556, t: 0.127705 -0.719361 0.279058 q: 0.993660 0.083256 -0.027427 -0.070401 
time: 1403636762.313555, t: 0.131176 -0.731485 0.276355 q: 0.993299 0.083296 -0.043324 -0.067396 
time: 1403636762.413555, t: 0.127602 -0.749041 0.277082 q: 0.993080 0.084656 -0.054482 -0.060468 
time: 1403636762.513556, t: 0.118300 -0.770064 0.283028 q: 0.993637 0.091618 -0.053060 -0.038432 
time: 1403636762.613555, t: 0.101492 -0.790350 0.299688 q: 0.993934 0.100459 -0.043148 -0.011908 
time: 1403636762.713556, t: 0.077811 -0.803547 0.318371 q: 0.994144 0.102763 -0.032503 -0.007773 
time: 1403636762.813555, t: 0.048519 -0.807954 0.340410 q: 0.994460 0.098754 -0.027528 -0.023216 
time: 1403636762.913555, t: 0.047706 -0.801184 0.336725 q: 0.994737 0.099365 0.016084 -0.019161 
time: 1403636763.013556, t: 0.038843 -0.787569 0.330849 q: 0.996280 0.079680 -0.021499 -0.024803 
time: 1403636763.113555, t: 0.030016 -0.771233 0.316567 q: 0.997845 0.064587 -0.010650 -0.004525 
time: 1403636763.213556, t: 0.030066 -0.768025 0.313617 q: 0.998357 0.056973 -0.005413 0.003008 
time: 1403636763.313555, t: 0.030107 -0.766799 0.318486 q: 0.998303 0.057058 -0.010689 0.004627 
time: 1403636763.413555, t: 0.030276 -0.766953 0.317920 q: 0.998268 0.057342 -0.012122 0.005026 
time: 1403636763.513556, t: 0.030029 -0.767419 0.318332 q: 0.998291 0.057085 -0.011542 0.004898 
time: 1403636763.613555, t: 0.030043 -0.767381 0.318263 q: 0.998299 0.056933 -0.011572 0.004800 
time: 1403636763.713556, t: 0.030133 -0.767330 0.318282 q: 0.998295 0.057004 -0.011514 0.004937 
time: 1403636763.813555, t: 0.030065 -0.767421 0.318327 q: 0.998291 0.057076 -0.011468 0.005090 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720489868.003369383]: Shutdown request received.[0m
[33m[ WARN] [1720489868.003411187]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720489868.004282669]: Shutdown request received.[0m
[33m[ WARN] [1720489868.004309985]: Reason given for shutdown: [user request][0m
killed
