/SLAM-Hive/slam_hive_results/mapping_results/3121/2326_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-16.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720544170.208052754]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720544170.209499535]: init begins[0m
[31m[ERROR] [1720544170.210513698]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/24645bba-3e14-11ef-a558-0242ac110005/roslaunch-9941477000e4-118.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://9941477000e4:45241/[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
[1mROS_MASTER_URI=http://9941477000e4:11311/[0m
]2;roscore http://9941477000e4:11311/
[1msetting /run_id to 24645bba-3e14-11ef-a558-0242ac110005[0m
[0m[ INFO] [1720544171.364408296]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720544171.365926664]: 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] [1720544171.372867563]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720544171.373132046]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720544171.373161996]: ROW: 192 COL: 300 [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] [1720544171.373437224]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720544171.373661097]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720544171.373862983]: 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
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 [223][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720544180.369460270]: 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: 316907601.64 
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! 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720544185.819304177]: Initialization finish![0m
time: 1403636583.963556, t: 0.009763 -0.041055 -0.171243 q: -0.033755 0.842071 0.032728 0.537313 
time: 1403636584.363555, t: 0.007509 -0.026107 -0.082324 q: -0.045573 0.834822 0.049847 0.546361 
time: 1403636584.763556, t: 0.029608 -0.028404 0.194122 q: -0.032537 0.804475 0.038525 0.591843 
time: 1403636585.563555, t: 0.013160 -0.028925 0.055071 q: -0.024113 0.812246 0.041461 0.581339 
time: 1403636585.963556, t: -0.021380 -0.040161 -0.024619 q: -0.065078 0.845275 0.051942 0.527805 
time: 1403636586.363555, t: -0.040676 -0.040920 -0.015132 q: -0.051334 0.888727 0.031707 0.454449 
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time: 1403636591.563555, t: -0.018927 -0.190585 -0.033121 q: -0.069617 0.908840 0.041610 0.409185 
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time: 1403636592.363555, t: 0.098128 -0.239938 -0.053339 q: -0.027525 0.898256 -0.023543 0.437977 
time: 1403636592.763556, t: 0.206529 -0.163670 -0.051282 q: -0.056697 0.889160 0.028869 0.453152 
wait for imu ... 
time: 1403636593.163555, t: 0.175564 0.048229 -0.056034 q: -0.131409 0.884793 0.118945 0.430959 
time: 1403636593.563555, t: -0.032312 0.160255 -0.059625 q: -0.154554 0.886006 0.136345 0.415350 
time: 1403636593.963556, t: -0.276736 -0.094722 -0.077300 q: -0.094052 0.902497 0.029246 0.419284 
time: 1403636594.363555, t: -0.157992 -0.213930 -0.088874 q: -0.015564 0.900814 -0.063138 0.429309 
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time: 1403636597.563555, t: 0.058968 -0.022171 -0.101317 q: -0.068057 0.888705 0.098777 0.442510 
time: 1403636597.963556, t: -0.014085 -0.140517 -0.084920 q: -0.113491 0.867386 0.151076 0.460368 
time: 1403636598.363555, t: -0.162851 -0.185546 -0.122310 q: -0.093817 0.890639 0.155323 0.416936 
time: 1403636598.763556, t: -0.107581 -0.091716 -0.177909 q: -0.106056 0.870441 0.161028 0.452940 
time: 1403636599.163555, t: 0.016196 -0.064618 -0.276452 q: -0.136637 0.827916 0.158352 0.520393 
time: 1403636599.563555, t: 0.028095 -0.087873 -0.299152 q: -0.135233 0.798122 0.138652 0.570517 
time: 1403636599.963556, t: 0.032731 -0.096097 -0.314834 q: -0.137056 0.787461 0.129640 0.586783 
time: 1403636600.363555, t: 0.018119 -0.106370 -0.314715 q: -0.141562 0.786486 0.124312 0.588172 
wait for imu ... 
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time: 1403636602.763556, t: 0.018396 -0.110107 -0.316813 q: -0.138429 0.787660 0.123268 0.587566 
time: 1403636603.163555, t: 0.018260 -0.110255 -0.316784 q: -0.138003 0.787753 0.123201 0.587555 
time: 1403636603.563555, t: 0.018186 -0.110412 -0.316762 q: -0.137692 0.787863 0.123183 0.587485 
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time: 1403636759.563555, t: 0.156087 -0.006664 -0.066557 q: -0.131572 0.795936 0.152919 0.570780 
time: 1403636759.963556, t: 0.099224 0.001364 -0.119458 q: -0.120094 0.800726 0.163490 0.563637 
time: 1403636760.363555, t: 0.048754 0.000694 -0.158261 q: -0.122695 0.798111 0.159897 0.567801 
time: 1403636760.763556, t: -0.004560 -0.003295 -0.220523 q: -0.110505 0.804834 0.170234 0.557720 
time: 1403636761.163555, t: -0.058599 0.016704 -0.273906 q: -0.113234 0.812307 0.170832 0.546032 
time: 1403636761.563555, t: -0.074203 0.069904 -0.301208 q: -0.117169 0.801479 0.168609 0.561670 
time: 1403636761.963556, t: -0.079450 0.117443 -0.283624 q: -0.134451 0.799487 0.153797 0.564881 
time: 1403636762.363555, t: -0.085281 0.155903 -0.258263 q: -0.098829 0.811832 0.174921 0.548238 
time: 1403636762.763556, t: -0.057077 0.235770 -0.331647 q: -0.144468 0.802468 0.142160 0.561218 
time: 1403636763.163555, t: -0.078037 0.193094 -0.362280 q: -0.120302 0.790681 0.104985 0.591041 
time: 1403636763.563555, t: -0.087628 0.187722 -0.386320 q: -0.121840 0.800173 0.100477 0.578604 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720544369.100171248]: Shutdown request received.[0m
[33m[ WARN] [1720544369.100215911]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720544369.101176143]: Shutdown request received.[0m
[33m[ WARN] [1720544369.101196315]: Reason given for shutdown: [user request][0m
killed
