/SLAM-Hive/slam_hive_results/mapping_results/3128/2333_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-23.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720545734.916135877]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720545734.917824725]: init begins[0m
[31m[ERROR] [1720545734.918867196]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c907f49e-3e17-11ef-be0b-0242ac110005/roslaunch-205b4afce661-118.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://205b4afce661:38335/[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] [1720545736.072599682]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://205b4afce661:11311/[0m
]2;roscore http://205b4afce661:11311/
[0m[ INFO] [1720545736.074345429]: Connected to master at [localhost:11311][0m
[1msetting /run_id to c907f49e-3e17-11ef-be0b-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720545736.082654455]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720545736.082842539]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720545736.082870800]: 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] [1720545736.083288755]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720545736.083511769]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720545736.083677940]: 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 [245][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720545745.077241581]: 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: 316909166.34 
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! 
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! 
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] [1720545756.770431876]: gyroscope bias initial calibration  -0.104459  0.0763544 -0.0293403[0m
[0m[ INFO] [1720545756.812088940]: Initialization finish![0m
time: 1403636590.263556, t: -43.205090 -139.073879 -2.403638 q: 0.854880 -0.473419 -0.160781 -0.138580 
time: 1403636591.263556, t: -157.231017 -62.012738 -50.737830 q: 0.653800 -0.409512 -0.046915 -0.634543 
time: 1403636592.263556, t: -197.371554 -100.773859 -83.902389 q: 0.726479 -0.348748 0.000191 -0.592117 
time: 1403636593.263556, t: -67.324195 -266.210215 -118.536908 q: 0.933715 -0.059764 -0.259215 -0.239610 
time: 1403636594.263556, t: -49.996537 -336.153288 -171.897131 q: 0.955504 -0.180665 -0.210943 -0.099370 
time: 1403636595.263556, t: -25.679302 -410.205259 -236.276769 q: 0.974309 0.063104 -0.191054 -0.101184 
time: 1403636596.263556, t: 8.191197 -486.281351 -313.451438 q: 0.976178 0.046930 -0.211561 -0.010798 
time: 1403636597.263556, t: 52.159137 -563.071625 -402.697626 q: 0.967433 0.157461 -0.196020 0.029265 
time: 1403636598.263556, t: 105.879662 -638.049695 -504.265697 q: 0.917485 0.355860 -0.170814 0.049068 
time: 1403636599.263556, t: 168.893650 -709.354775 -617.302904 q: 0.877753 0.445001 -0.030646 0.174887 
time: 1403636600.263556, t: 235.142877 -777.758362 -741.366553 q: 0.828610 0.496791 0.016641 0.257540 
time: 1403636601.263556, t: 311.459291 -839.366714 -875.154438 q: 0.760933 0.571884 0.029406 0.305066 
time: 1403636602.263556, t: -238.770061 -1019.504165 -1030.421539 q: 0.491162 0.853207 -0.171941 -0.035142 
time: 1403636603.263556, t: -106.224507 -1118.239300 -1176.823419 q: 0.315333 0.935611 -0.123965 0.099150 
time: 1403636604.263556, t: 94.045916 -1185.266113 -1319.902503 q: -0.116729 0.983648 -0.074431 0.115198 
time: 1403636605.263556, t: 142.545536 -1275.905616 -1475.312865 q: 0.057665 0.970642 -0.130783 0.193457 
time: 1403636606.263556, t: 386.358110 -1268.767749 -1632.268418 q: -0.023248 0.984496 -0.039012 0.169425 
time: 1403636607.263556, t: 517.621424 -1306.115573 -1784.024623 q: -0.044210 0.939474 -0.018891 0.339230 
wait for imu ... 
time: 1403636608.263556, t: 586.405266 -1406.362985 -1952.488276 q: -0.142669 0.906377 -0.019429 0.397177 
time: 1403636609.263556, t: 640.087010 -1524.071463 -2120.252557 q: -0.202512 0.855391 -0.035694 0.475417 
wait for imu ... 
time: 1403636610.263556, t: 679.313013 -1669.535455 -2288.082595 q: -0.141132 0.861873 -0.282894 0.396520 
time: 1403636611.263556, t: 830.869942 -1699.940632 -2455.739727 q: -0.128608 0.845823 -0.064541 0.513690 
time: 1403636612.263556, t: 1089.782850 -1529.321014 -2613.641354 q: -0.051306 0.821054 -0.097813 0.560063 
time: 1403636613.263556, t: 1216.414508 -1565.809829 -2773.958530 q: -0.087540 0.810414 -0.041129 0.577818 
time: 1403636614.263556, t: 1432.770565 -1251.071557 -2932.859559 q: -0.072392 0.911539 0.014607 0.404529 
time: 1403636615.263556, t: 1493.484386 -1607.669420 -3094.763862 q: -0.118702 0.842311 0.108747 0.514389 
time: 1403636616.263556, t: 1664.620663 -1515.220073 -3252.305641 q: -0.137920 0.844079 0.117975 0.504570 
time: 1403636619.263556, t: 2135.833708 -1405.351741 -3732.321428 q: -0.084736 0.908246 0.082553 0.401365 
time: 1403636620.263556, t: 2276.874541 -1572.878927 -3896.334963 q: -0.003574 0.886453 0.046333 0.460481 
time: 1403636621.263556, t: 2423.042769 -1657.547718 -4056.887008 q: -0.074078 0.876320 0.118130 0.461110 
time: 1403636622.263556, t: 2612.467639 -1553.100343 -4220.810674 q: -0.132070 0.905109 -0.143548 0.377797 
time: 1403636623.263556, t: 2753.269475 -1746.712261 -4387.337321 q: -0.143657 0.875097 -0.133437 0.442451 
time: 1403636624.263556, t: 2946.489968 -1191.486886 -4548.102549 q: -0.069761 0.867023 -0.088859 0.485292 
time: 1403636625.263556, t: 3127.776669 -1546.502443 -4711.377561 q: -0.048026 0.915444 -0.084660 0.390497 
time: 1403636626.263556, t: 3310.554741 -1514.453819 -4874.618701 q: 0.049467 0.913777 -0.084307 0.394281 
time: 1403636627.263556, t: 3477.118832 -1744.161351 -5036.714677 q: -0.030958 0.937586 -0.096372 0.332695 
time: 1403636628.263556, t: 3689.071137 -1624.764553 -5206.286881 q: 0.075969 0.891662 -0.017733 0.445930 
time: 1403636629.263556, t: 3896.613459 -1637.243650 -5373.964325 q: -0.023688 0.953630 -0.135989 0.267460 
time: 1403636630.263556, t: 4101.241416 -1666.523315 -5548.339120 q: 0.146276 0.920703 -0.228046 0.280901 
time: 1403636631.263556, t: 4307.487453 -1717.542858 -5723.763652 q: 0.163495 0.916567 -0.219956 0.291195 
time: 1403636632.263556, t: 4422.453158 -896.078396 -5902.298110 q: -0.154273 0.930933 -0.054465 0.326493 
time: 1403636633.263556, t: 4712.437254 -1347.076149 -6075.661131 q: -0.027178 0.933675 -0.151173 0.323510 
time: 1403636634.263556, t: 4909.958271 -1215.228588 -6259.743373 q: -0.092507 0.943468 -0.111183 0.298244 
time: 1403636635.263556, t: 5139.920832 -1262.043309 -6446.948975 q: -0.014518 0.950198 -0.099280 0.295055 
time: 1403636636.263556, t: 5235.001645 -665.325696 -6638.103767 q: -0.283000 0.919420 0.002849 0.273075 
time: 1403636637.263556, t: 5274.891065 -254.429010 -6832.325596 q: -0.423121 0.898168 0.026416 0.116466 
time: 1403636638.263556, t: 5365.463760 42.687465 -7030.530705 q: -0.420860 0.864077 0.127690 0.244832 
time: 1403636639.263556, t: 5609.087190 101.676877 -7218.187036 q: -0.234346 0.898200 0.090746 0.360671 
time: 1403636640.263556, t: 5934.832735 30.967225 -7418.234515 q: -0.205064 0.961016 -0.003962 0.185424 
time: 1403636641.263556, t: 6297.465416 -151.305518 -7633.842030 q: -0.005857 0.967900 -0.001286 0.251264 
time: 1403636642.263556, t: 6049.578668 763.375277 -7843.378702 q: -0.427484 0.851532 0.163506 0.255767 
time: 1403636643.263556, t: 6225.415836 953.652731 -8042.980807 q: -0.311994 0.841263 0.223765 0.380611 
time: 1403636644.263556, t: 6592.423184 913.749384 -8247.480503 q: -0.212708 0.829620 0.299868 0.420196 
wait for imu ... 
time: 1403636645.263556, t: 6878.816065 968.366421 -8456.584304 q: -0.081618 0.885985 0.238418 0.389264 
time: 1403636646.263556, t: 6408.384969 1800.354263 -8667.767419 q: -0.360351 0.860027 0.271612 0.238177 
time: 1403636647.263556, t: 7043.759898 1628.633254 -8880.091276 q: -0.048398 0.945905 0.161733 0.277064 
time: 1403636648.263556, t: 6884.367478 2160.515305 -9104.868209 q: -0.229753 0.933232 0.237174 0.141562 
time: 1403636649.263556, t: 6562.256235 2673.854419 -9322.555949 q: -0.204845 0.912989 0.224167 0.272469 
time: 1403636650.263556, t: 6328.135942 3068.541172 -9540.070436 q: -0.380929 0.838961 0.368907 0.122249 
time: 1403636651.263556, t: 6479.288575 3335.053568 -9762.623221 q: -0.237337 0.903957 0.300196 0.190828 
time: 1403636652.263556, t: 5184.234149 3672.028466 -9987.481449 q: -0.346817 0.848024 0.357965 0.180096 
time: 1403636653.263556, t: 5582.995977 4024.973121 -10206.600891 q: -0.303104 0.809142 0.495412 0.089356 
time: 1403636654.263556, t: 5694.047519 4335.754516 -10446.219842 q: -0.218814 0.873649 0.418714 0.116350 
time: 1403636655.263556, t: 5372.972362 4634.264037 -10695.074697 q: -0.153316 0.889448 0.329830 0.276748 
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time: 1403636657.263556, t: 3612.686480 4515.481997 -11194.252063 q: -0.419669 0.697506 0.564943 0.134918 
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time: 1403636758.263556, t: 15826.615757 -8992.302484 -109374.477110 q: 0.589050 -0.132311 -0.336320 0.722774 
time: 1403636759.263556, t: 15723.860548 -9003.772930 -110939.131645 q: 0.603829 0.080686 -0.216979 0.762759 
time: 1403636760.263556, t: 15681.061433 -8970.669268 -112569.130747 q: 0.664882 0.184451 -0.078037 0.719597 
time: 1403636761.263556, t: 15591.779694 -8949.364860 -114200.474359 q: 0.649028 0.224006 -0.103473 0.719637 
time: 1403636762.263556, t: 15558.213559 -8916.920931 -115838.124432 q: 0.645591 0.205608 -0.111871 0.726927 
wait for imu ... 
time: 1403636763.263556, t: 15510.996365 -8885.169467 -117485.171230 q: 0.578099 0.264560 -0.075598 0.768176 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720545933.716953096]: Shutdown request received.[0m
[33m[ WARN] [1720545933.717019276]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720545933.717954077]: Shutdown request received.[0m
[33m[ WARN] [1720545933.717977862]: Reason given for shutdown: [user request][0m
killed
