/SLAM-Hive/slam_hive_results/mapping_results/2956/2164_vins-fusion-stereo+MH_01_easy+Image_comb_test-4.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720489894.060212443]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720489894.061203019]: init begins[0m
[31m[ERROR] [1720489894.062194147]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c549a230-3d95-11ef-94e6-0242ac110005/roslaunch-41a9f9a3cdb5-118.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://41a9f9a3cdb5:43951/[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] [1720489895.167230032]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720489895.167547609]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720489895.173506568]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720489895.173693676]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720489895.173724187]: ROW: 192 COL: 300 [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] [1720489895.173960486]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720489895.174173002]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720489895.174328000]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://41a9f9a3cdb5:11311/[0m
]2;roscore http://41a9f9a3cdb5:11311/
[1msetting /run_id to c549a230-3d95-11ef-94e6-0242ac110005[0m
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] [1720489904.185431996]: 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: 316853325.46 
[0m[ INFO] [1720489906.468087653]: Initialization finish![0m
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time: 1403636763.713556, t: -0.037632 -1.279740 1.133704 q: 0.999532 -0.010341 0.003954 0.028524 
time: 1403636763.813555, t: -0.037685 -1.279749 1.133765 q: 0.999527 -0.010307 0.004016 0.028692 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720490092.800062148]: Shutdown request received.[0m
[33m[ WARN] [1720490092.800104281]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720490092.801017565]: Shutdown request received.[0m
[33m[ WARN] [1720490092.801043013]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/c549a230-3d95-11ef-94e6-0242ac110005/rosout-1*.log[0m
