/SLAM-Hive/slam_hive_results/mapping_results/3116/2321_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-11.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720543046.963704640]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720543046.965745339]: init begins[0m
[31m[ERROR] [1720543046.966709639]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/86e22fd6-3e11-11ef-9c87-0242ac110005/roslaunch-e4a616364267-118.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://e4a616364267:44409/[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] [1720543048.070025783]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720543048.071489709]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720543048.077807853]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720543048.078035886]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720543048.078058171]: ROW: 96 COL: 150 [0m
 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 9.81007
[0m[ INFO] [1720543048.078245437]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720543048.078479037]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720543048.078637074]: 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://e4a616364267:11311/[0m
]2;roscore http://e4a616364267:11311/
[1msetting /run_id to 86e22fd6-3e11-11ef-9c87-0242ac110005[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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720543057.105938012]: 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: 316906478.37 
init first imu pose
averge acc 7.915898 -0.433127 -2.692743
init R0 
  0.325749   0.150146   0.933458
         0  -0.987309   0.158808
  0.945456 -0.0517317  -0.321615
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720543060.397771186]: gyroscope bias initial calibration  0.018038 0.0705162 0.0975669[0m
[0m[ INFO] [1720543060.434101284]: Initialization finish![0m
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
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wait for imu ... 
time: 1403636763.463556, t: -0.816414 -0.262095 -0.159999 q: -0.124913 0.799722 0.106418 0.577509 
time: 1403636763.663555, t: -0.742727 -0.239921 -0.143186 q: -0.125556 0.800367 0.106442 0.576470 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720543245.716931216]: Shutdown request received.[0m
[33m[ WARN] [1720543245.716985528]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720543245.717930767]: Shutdown request received.[0m
[33m[ WARN] [1720543245.717959763]: Reason given for shutdown: [user request][0m
killed
