/SLAM-Hive/slam_hive_results/mapping_results/3124/2329_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-19.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720544841.447392446]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720544841.449764410]: init begins[0m
[31m[ERROR] [1720544841.450760241]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b47b1af8-3e15-11ef-b751-0242ac110005/roslaunch-c22a0580e253-117.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://c22a0580e253:36171/[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] [1720544842.556405868]: 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] [1720544842.561591928]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720544842.561817123]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720544842.561839337]: ROW: 384 COL: 601 [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] [1720544842.562027978]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720544842.562242405]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720544842.562406392]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://c22a0580e253:11311/[0m
]2;roscore http://c22a0580e253:11311/
[1msetting /run_id to b47b1af8-3e15-11ef-b751-0242ac110005[0m
[0m[ INFO] [1720544842.603623406]: 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] [1720544851.602726977]: 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: 316908272.87 
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! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720544863.328590089]: gyroscope bias initial calibration -0.006925 0.0431834 0.0565518[0m
[0m[ INFO] [1720544863.366804916]: Initialization finish![0m
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time: 1403636762.263556, t: -2.445553 -2.659423 -0.023666 q: -0.072069 0.809061 0.141529 0.565858 
time: 1403636763.263556, t: -2.428593 -2.607399 -0.134993 q: -0.096142 0.804058 0.065345 0.583075 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720545040.205881798]: Shutdown request received.[0m
[33m[ WARN] [1720545040.205914469]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720545040.206955803]: Shutdown request received.[0m
[33m[ WARN] [1720545040.206989403]: Reason given for shutdown: [user request][0m
killed
