/SLAM-Hive/slam_hive_results/mapping_results/3123/2328_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-18.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720544617.712873862]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720544617.715019613]: init begins[0m
[31m[ERROR] [1720544617.716117868]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/2f201098-3e15-11ef-a110-0242ac110005/roslaunch-51385de8ca99-118.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://51385de8ca99:34263/[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] [1720544618.819222451]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720544618.820788174]: 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] [1720544618.827249716]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720544618.827461138]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720544618.827487929]: ROW: 480 COL: 752 [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] [1720544618.827721835]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720544618.827919076]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720544618.828076427]: 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://51385de8ca99:11311/[0m
]2;roscore http://51385de8ca99:11311/
[1msetting /run_id to 2f201098-3e15-11ef-a110-0242ac110005[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] [1720544627.869210927]: 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: 316908049.14 
init first imu pose
averge acc 8.893766 -0.424314 -3.324727
init R0 
  0.352648   0.118464   0.928227
         0  -0.991954   0.126597
  0.935756 -0.0446441  -0.349811
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720544639.617511486]: gyroscope bias initial calibration 0.0275249 0.0638368 0.0857117[0m
[0m[ INFO] [1720544639.661986578]: Initialization finish![0m
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time: 1403636720.263556, t: 7.375564 -6.563124 -0.709959 q: -0.122386 0.804750 0.155735 0.559595 
time: 1403636721.263556, t: 6.813088 -6.546876 -0.888334 q: -0.092219 0.806358 0.100861 0.575421 
time: 1403636722.263556, t: 6.472811 -6.675710 -0.941021 q: -0.049161 0.812157 0.068484 0.577317 
time: 1403636723.263556, t: 6.090901 -6.660034 -0.934097 q: -0.042748 0.814152 0.053625 0.576588 
time: 1403636724.263556, t: 5.682148 -6.592366 -0.922988 q: 0.007491 0.825148 -0.020059 0.564511 
time: 1403636725.263556, t: 5.396432 -6.495645 -0.741421 q: 0.033927 0.816599 -0.076398 0.571120 
time: 1403636726.263556, t: 5.191295 -6.439985 -0.630469 q: 0.039718 0.815111 -0.066195 0.574138 
time: 1403636727.263556, t: 4.994902 -6.448352 -0.441263 q: 0.037596 0.811013 -0.043831 0.582172 
time: 1403636728.263556, t: 4.730661 -6.336010 -0.162999 q: 0.037945 0.809122 -0.045786 0.584624 
time: 1403636729.263556, t: 4.344241 -6.089389 -0.075918 q: -0.001801 0.810004 0.008516 0.586359 
time: 1403636730.263556, t: 3.837954 -5.803293 -0.023844 q: -0.008272 0.819479 0.009326 0.572973 
time: 1403636731.263556, t: 3.541901 -5.536649 0.045178 q: -0.029154 0.815838 -0.006934 0.577503 
time: 1403636732.263556, t: 3.417053 -5.513878 -0.103314 q: -0.013292 0.812428 0.005878 0.582880 
time: 1403636733.263556, t: 3.082082 -5.424378 -0.077496 q: -0.001581 0.810130 0.020398 0.585894 
time: 1403636734.263556, t: 2.571349 -5.142342 0.064405 q: -0.010094 0.813185 0.017603 0.581651 
time: 1403636735.263556, t: 2.127351 -4.828920 0.129322 q: -0.021623 0.823137 0.017928 0.567147 
time: 1403636736.263556, t: 1.900510 -4.586391 0.341112 q: -0.028188 0.814969 0.028508 0.578116 
time: 1403636737.263556, t: 1.712561 -4.324424 0.375059 q: -0.051676 0.811058 0.064790 0.579065 
time: 1403636738.263556, t: 1.535996 -4.054783 0.531922 q: -0.060528 0.818994 0.061448 0.567282 
time: 1403636739.263556, t: 1.538882 -4.082019 0.505181 q: 0.039629 0.812271 -0.096177 0.573929 
time: 1403636740.263556, t: 1.574147 -4.312170 0.331385 q: 0.128097 0.798841 -0.173179 0.561652 
time: 1403636741.263556, t: 1.565795 -4.466700 0.006608 q: 0.129309 0.791709 -0.172951 0.571458 
time: 1403636742.263556, t: 1.501939 -4.545916 -0.339762 q: 0.121825 0.809940 -0.181382 0.544294 
time: 1403636743.263556, t: 1.602899 -4.641704 -0.537444 q: 0.114778 0.816280 -0.194531 0.531668 
time: 1403636744.263556, t: 1.922601 -4.904215 -0.872628 q: 0.149331 0.781323 -0.221723 0.563980 
time: 1403636745.263556, t: 2.118215 -5.146248 -1.523706 q: 0.140853 0.791666 -0.220349 0.552152 
time: 1403636746.263556, t: 2.229761 -5.301092 -1.527994 q: 0.184805 0.774821 -0.226589 0.560497 
time: 1403636747.263556, t: 2.339000 -5.140330 -1.428096 q: 0.158150 0.785881 -0.229136 0.552156 
time: 1403636748.263556, t: 2.605702 -5.052229 -1.153040 q: 0.149330 0.775926 -0.261205 0.554447 
time: 1403636749.263556, t: 2.796752 -5.074249 -0.939498 q: 0.158602 0.766915 -0.271089 0.559640 
time: 1403636750.263556, t: 2.807152 -5.135729 -0.740022 q: 0.174335 0.768762 -0.242712 0.565423 
time: 1403636751.263556, t: 2.677975 -4.961984 -0.272878 q: 0.163626 0.790574 -0.231520 0.542787 
time: 1403636752.263556, t: 2.640774 -4.866252 0.127039 q: 0.140982 0.792856 -0.213024 0.553284 
time: 1403636753.263556, t: 2.645218 -4.880711 0.384538 q: 0.033479 0.818886 -0.016454 0.572743 
optimize pose graph 
time: 1403636754.263556, t: 2.591146 -4.678117 0.395591 q: -0.006343 0.805790 0.021189 0.591789 
time: 1403636755.263556, t: 2.277476 -4.260830 0.430983 q: -0.053401 0.807522 0.089866 0.580501 
time: 1403636756.263556, t: 1.929486 -3.714387 0.507031 q: -0.054626 0.808637 0.084362 0.579659 
time: 1403636757.263556, t: 1.482552 -3.104260 0.548581 q: -0.062407 0.805247 0.088074 0.583031 
optimize pose graph 
time: 1403636758.263556, t: 0.940561 -2.513199 0.687974 q: -0.088878 0.804203 0.119021 0.575493 
time: 1403636759.263556, t: 0.763339 -2.025906 0.625507 q: -0.129752 0.805731 0.088385 0.571096 
optimize pose graph 
time: 1403636760.263556, t: 0.675162 -1.964852 0.464358 q: -0.092057 0.811565 0.118347 0.564696 
time: 1403636761.263556, t: 0.588516 -1.945386 0.326841 q: -0.084206 0.826210 0.128799 0.541938 
time: 1403636762.263556, t: 0.603338 -1.773041 0.358526 q: -0.066285 0.811006 0.134138 0.565582 
time: 1403636763.263556, t: 0.587666 -1.753531 0.250957 q: -0.090887 0.805359 0.058689 0.582831 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720544816.449574601]: Shutdown request received.[0m
[33m[ WARN] [1720544816.449615319]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720544816.450505642]: Shutdown request received.[0m
[33m[ WARN] [1720544816.450541683]: Reason given for shutdown: [user request][0m
killed
