/SLAM-Hive/slam_hive_results/mapping_results/2985/2193_vins-fusion-stereo+MH_02_easy+Image_comb_test-3.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720496337.438068210]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720496337.440625624]: init begins[0m
[31m[ERROR] [1720496337.441726805]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c5d6a220-3da4-11ef-8730-0242ac110005/roslaunch-ab393a38fbb1-118.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://ab393a38fbb1:44223/[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] [1720496338.547040893]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720496338.551803256]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720496338.552048536]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720496338.552096950]: 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] [1720496338.552278550]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720496338.552512994]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720496338.552685560]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://ab393a38fbb1:11311/[0m
]2;roscore http://ab393a38fbb1:11311/
[1msetting /run_id to c5d6a220-3da4-11ef-8730-0242ac110005[0m
[0m[ INFO] [1720496338.593699737]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
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_02_easy.bag  --clock 
[0m[ INFO] [1720496347.588500909]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316859490.95 
[0m[ INFO] [1720496350.863898049]: Initialization finish![0m
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time: 1403636859.901666, t: 0.337331 0.056470 -0.063934 q: 0.997589 -0.066631 0.003247 -0.019123 
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time: 1403636867.601666, t: 0.256690 0.076199 -0.161671 q: 0.987468 -0.054581 -0.148056 0.002718 
optimize pose graph 
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unstable tracking...
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unstable tracking...
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unstable tracking...
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unstable tracking...
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unstable tracking...
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unstable tracking...
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unstable tracking...
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unstable tracking...
unstable tracking...
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unstable tracking...
unstable tracking...
unstable tracking...
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unstable tracking...
unstable tracking...
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unstable tracking...
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killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720496502.312694238]: Shutdown request received.[0m
[33m[ WARN] [1720496502.312740138]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720496502.313654916]: Shutdown request received.[0m
[33m[ WARN] [1720496502.313699577]: Reason given for shutdown: [user request][0m
killed
