/SLAM-Hive/slam_hive_results/mapping_results/3120/2325_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-15.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720543946.722543846]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720543946.724341920]: init begins[0m
[31m[ERROR] [1720543946.725398894]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9f2e9e4c-3e13-11ef-b188-0242ac110005/roslaunch-780c2cbcc52c-117.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://780c2cbcc52c:38695/[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 [154][0m
[0m[ INFO] [1720543947.831710166]: 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] [1720543947.836614632]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720543947.836806314]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720543947.836844775]: ROW: 240 COL: 376 [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] [1720543947.837120182]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720543947.837331328]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720543947.837490640]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://780c2cbcc52c:11311/[0m
]2;roscore http://780c2cbcc52c:11311/
[1msetting /run_id to 9f2e9e4c-3e13-11ef-b188-0242ac110005[0m
[0m[ INFO] [1720543947.878184819]: 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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [247][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720543956.877818064]: 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: 316907378.15 
init first imu pose
averge acc 8.132320 -0.420480 -2.900939
init R0 
   0.33909   0.134948   0.931025
         0  -0.989658   0.143447
  0.940754 -0.0486414  -0.335583
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720543962.292510038]: gyroscope bias initial calibration  0.011159  0.016903 0.0879773[0m
[0m[ INFO] [1720543962.332976529]: Initialization finish![0m
time: 1403636583.963556, t: 0.005932 0.002168 -0.185924 q: -0.053933 0.841267 0.052112 0.535393 
time: 1403636584.363555, t: 0.018711 0.007069 -0.100761 q: -0.104795 0.830476 0.094491 0.538887 
time: 1403636584.763556, t: 0.047336 -0.020846 0.166438 q: -0.131445 0.791376 0.101936 0.588265 
time: 1403636585.163555, t: 0.042192 -0.025929 0.216639 q: -0.135393 0.787248 0.086500 0.595338 
time: 1403636585.563555, t: 0.057550 -0.021275 0.023817 q: -0.084280 0.817045 0.072871 0.565707 
time: 1403636585.963556, t: 0.002147 -0.033031 -0.046848 q: -0.103162 0.847347 0.071952 0.515931 
time: 1403636586.363555, t: -0.030888 -0.035614 -0.032250 q: -0.098353 0.888333 0.064280 0.443913 
time: 1403636586.763556, t: -0.055156 -0.065487 -0.019951 q: -0.123454 0.902191 0.088646 0.403674 
time: 1403636587.163555, t: -0.029683 -0.071327 -0.020016 q: -0.150732 0.892488 0.128279 0.405326 
time: 1403636587.963556, t: 0.056154 -0.274158 -0.035287 q: -0.084523 0.905003 0.034001 0.415536 
time: 1403636588.363555, t: 0.073893 -0.348397 -0.056252 q: -0.076875 0.910279 0.023628 0.406107 
time: 1403636588.763556, t: 0.047303 -0.299086 -0.046983 q: -0.076937 0.909759 0.023749 0.407254 
time: 1403636589.163555, t: -0.004378 -0.153809 -0.025416 q: -0.090360 0.904610 0.041051 0.414524 
time: 1403636589.563555, t: -0.064037 0.026500 -0.004369 q: -0.098749 0.903800 0.060796 0.411944 
time: 1403636590.363555, t: -0.128305 0.229044 -0.002568 q: -0.109532 0.900032 0.080135 0.414155 
time: 1403636590.763556, t: -0.107188 0.100122 0.001872 q: -0.086040 0.901882 0.064644 0.418363 
time: 1403636591.163555, t: -0.055757 -0.076789 -0.015323 q: -0.086286 0.906160 0.054589 0.410425 
time: 1403636591.563555, t: -0.013993 -0.187622 -0.044183 q: -0.075487 0.907995 0.038773 0.410297 
time: 1403636591.963556, t: 0.020703 -0.213613 -0.055276 q: -0.043299 0.882824 0.003933 0.467687 
time: 1403636592.363555, t: 0.108408 -0.239910 -0.066908 q: -0.029835 0.897424 -0.027071 0.439325 
time: 1403636592.763556, t: 0.225823 -0.155855 -0.065485 q: -0.062621 0.888032 0.027572 0.454662 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636593.163555, t: 0.183975 0.063573 -0.066228 q: -0.134723 0.883370 0.116564 0.433497 
time: 1403636593.563555, t: -0.030471 0.181085 -0.066307 q: -0.157588 0.884644 0.133704 0.417965 
time: 1403636593.963556, t: -0.198628 0.049124 -0.086103 q: -0.098023 0.901717 0.028205 0.420122 
time: 1403636594.363555, t: -0.178894 -0.086472 -0.089684 q: -0.016803 0.899520 -0.066261 0.431497 
time: 1403636594.763556, t: -0.008458 -0.226811 -0.080592 q: -0.014295 0.886014 -0.059999 0.459538 
time: 1403636595.163555, t: 0.021369 0.036162 -0.076945 q: -0.089243 0.879891 0.058491 0.463040 
time: 1403636595.563555, t: -0.123555 0.194800 -0.071139 q: -0.139772 0.878161 0.122587 0.440761 
time: 1403636595.963556, t: -0.206592 -0.056422 -0.098513 q: -0.077524 0.891774 0.064730 0.441067 
time: 1403636596.363555, t: -0.339433 -0.151935 -0.101137 q: -0.042719 0.897400 0.002574 0.439138 
time: 1403636596.763556, t: -0.486616 -0.061626 -0.058453 q: -0.039513 0.893280 0.018522 0.447378 
time: 1403636597.163555, t: 0.116228 0.185275 -0.182982 q: -0.026783 0.898499 0.030264 0.437112 
time: 1403636597.563555, t: -0.035561 -0.073048 -0.051747 q: -0.070875 0.887672 0.094543 0.445059 
time: 1403636597.963556, t: -0.046560 0.018181 -0.066508 q: -0.114795 0.866611 0.146630 0.462934 
time: 1403636598.363555, t: -0.221514 -0.025113 -0.098265 q: -0.094285 0.890246 0.150327 0.419493 
time: 1403636598.763556, t: -0.123812 -0.037741 -0.164248 q: -0.107340 0.869893 0.156086 0.455414 
time: 1403636599.163555, t: -0.035757 -0.055505 -0.238952 q: -0.139708 0.826708 0.153871 0.522838 
time: 1403636599.563555, t: -0.004633 -0.058762 -0.269716 q: -0.134976 0.797462 0.133640 0.572692 
time: 1403636599.963556, t: 0.012248 -0.055258 -0.287838 q: -0.137608 0.786989 0.124547 0.588389 
time: 1403636600.363555, t: 0.010540 -0.058504 -0.292438 q: -0.143652 0.785897 0.119731 0.589402 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636600.763556, t: 0.015395 -0.055115 -0.296823 q: -0.144017 0.786422 0.119406 0.588678 
time: 1403636601.163555, t: 0.025708 -0.047006 -0.301496 q: -0.144125 0.786751 0.119314 0.588231 
time: 1403636601.563555, t: 0.025333 -0.047278 -0.301528 q: -0.143914 0.786958 0.119226 0.588023 
time: 1403636601.963556, t: 0.025147 -0.047392 -0.301631 q: -0.143638 0.787154 0.119326 0.587808 
time: 1403636602.363555, t: 0.024931 -0.047543 -0.301670 q: -0.143373 0.787378 0.119381 0.587561 
time: 1403636602.763556, t: 0.024587 -0.047722 -0.301607 q: -0.143310 0.787514 0.119247 0.587422 
time: 1403636603.163555, t: 0.024330 -0.047822 -0.301600 q: -0.143119 0.787632 0.119250 0.587310 
time: 1403636603.563555, t: 0.024135 -0.047947 -0.301604 q: -0.142996 0.787759 0.119287 0.587161 
time: 1403636603.963556, t: 0.023960 -0.048063 -0.301602 q: -0.142818 0.787847 0.119274 0.587090 
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time: 1403636760.763556, t: -0.037774 -0.291859 -0.249104 q: -0.108253 0.804823 0.164693 0.559837 
time: 1403636761.163555, t: -0.089109 -0.275992 -0.304121 q: -0.110934 0.812484 0.165396 0.547912 
time: 1403636761.563555, t: -0.104098 -0.212226 -0.327855 q: -0.114183 0.802048 0.162927 0.563148 
time: 1403636761.963556, t: -0.106385 -0.151400 -0.307479 q: -0.131211 0.799996 0.147419 0.566619 
time: 1403636762.363555, t: -0.108058 -0.114295 -0.282850 q: -0.095641 0.812677 0.168286 0.549625 
time: 1403636762.763556, t: -0.085007 -0.036472 -0.354956 q: -0.141537 0.802734 0.136413 0.563007 
time: 1403636763.163555, t: -0.103052 -0.077181 -0.381551 q: -0.117375 0.790743 0.099799 0.592444 
time: 1403636763.563555, t: -0.105758 -0.078573 -0.398359 q: -0.118868 0.800214 0.095332 0.580034 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720544145.497121271]: Shutdown request received.[0m
[33m[ WARN] [1720544145.497158610]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720544145.498100776]: Shutdown request received.[0m
[33m[ WARN] [1720544145.498127802]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/9f2e9e4c-3e13-11ef-b188-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
