/SLAM-Hive/slam_hive_results/mapping_results/3129/2334_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-24.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720545958.396591987]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720545958.398450576]: init begins[0m
[31m[ERROR] [1720545958.399517266]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/4e3ba746-3e18-11ef-a95c-0242ac110005/roslaunch-cac10b77b885-118.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://cac10b77b885:46091/[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://cac10b77b885:11311/[0m
]2;roscore http://cac10b77b885:11311/
[1msetting /run_id to 4e3ba746-3e18-11ef-a95c-0242ac110005[0m
[0m[ INFO] [1720545959.552136005]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720545959.554783785]: 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] [1720545959.560976672]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720545959.561197571]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720545959.561221151]: 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] [1720545959.561465869]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720545959.561684037]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720545959.561839469]: 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 [213][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720545968.554190446]: 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: 316909389.82 
init R0 
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] [1720545990.782673295]: gyroscope bias initial calibration 0.00610089  0.0182121  0.0483476[0m
[0m[ INFO] [1720545990.855004311]: Initialization finish![0m
time: 1403636600.763556, t: -53.707516 -13.489910 -6.487434 q: -0.054315 0.761788 0.006763 0.645510 
time: 1403636602.763556, t: -10.737279 5.460291 3.620798 q: -0.000124 0.796385 -0.057498 0.602050 
time: 1403636604.763556, t: -14.620646 26.277077 4.106590 q: 0.137267 0.766703 -0.230966 0.583078 
time: 1403636606.763556, t: -18.142833 32.686718 4.502157 q: 0.148242 0.757177 -0.261828 0.579787 
time: 1403636608.763556, t: 106.075680 22.873460 -1.102342 q: 0.098404 0.816516 -0.165209 0.544357 
time: 1403636610.763556, t: 80.212106 59.344120 -4.288764 q: -0.064654 0.810587 0.175723 0.554879 
time: 1403636612.763556, t: 81.903565 89.161916 -24.616868 q: -0.207354 0.651224 0.537662 0.493793 
time: 1403636614.763556, t: 245.108696 249.561640 -64.423367 q: -0.158732 0.668115 0.536325 0.490696 
time: 1403636616.763556, t: 452.855306 -30.789769 -94.091778 q: 0.037297 0.840347 -0.025211 0.540176 
time: 1403636618.763556, t: 457.604516 -15.062313 -97.036643 q: 0.010601 0.841536 -0.064465 0.536236 
time: 1403636620.763556, t: 501.284240 -24.353371 -136.007058 q: -0.008898 0.827424 0.058999 0.558399 
time: 1403636622.763556, t: 926.423839 -180.499302 -175.596596 q: 0.100348 0.856067 0.048887 0.504669 
time: 1403636624.763556, t: 1019.670505 -437.995210 -152.578684 q: -0.114785 0.861038 0.269355 0.415796 
time: 1403636626.763556, t: 1235.237018 -436.550606 -173.446744 q: 0.012446 0.900894 0.079543 0.426508 
time: 1403636628.763556, t: 1278.019853 -132.342729 -218.009106 q: 0.174532 0.814665 -0.281509 0.476038 
time: 1403636630.763556, t: 1449.445216 162.669843 -230.446215 q: 0.416684 0.669828 -0.509991 0.342949 
time: 1403636632.763556, t: 1582.173483 415.798539 -251.718287 q: -0.480390 -0.526444 0.645356 -0.274951 
time: 1403636634.763556, t: 1635.569197 686.047648 -222.175076 q: 0.544746 0.447266 -0.667566 0.239917 
time: 1403636636.763556, t: 1306.983137 1297.422413 -209.347328 q: 0.589468 0.347213 -0.705807 0.183867 
time: 1403636638.763556, t: -100.974204 1469.616259 -104.183802 q: 0.275968 0.702011 -0.448139 0.479785 
time: 1403636640.763556, t: -645.296642 760.397611 62.422916 q: -0.134760 0.765590 -0.023051 0.628633 time: 1403636642.763556, t: -696.126658 712.930168 11.086413 q: -0.209265 0.767580 -0.050662 0.603708 
time: 1403636644.763556, t: -810.530223 729.089154 32.328235 q: -0.224930 0.749228 -0.063019 0.619752 
time: 1403636646.763556, t: -832.528851 975.767191 41.058688 q: -0.157994 0.761229 -0.146528 0.611636 
time: 1403636648.763556, t: -375.621226 1514.625214 39.431675 q: -0.005360 0.768705 -0.314006 0.557194 
time: 1403636650.763556, t: 69.805015 1701.634214 71.179144 q: 0.216039 0.684951 -0.569232 0.400180 
time: 1403636652.763556, t: 342.375102 1758.720614 100.469305 q: -0.378141 -0.510043 0.750412 -0.183707 
time: 1403636654.763556, t: 536.626670 1792.305268 122.802584 q: -0.472276 -0.403192 0.776727 -0.105291 
time: 1403636656.763556, t: 692.429552 1825.940694 137.872485 q: 0.553913 0.233471 -0.799051 -0.013756 
time: 1403636658.763556, t: 819.565212 1867.490103 145.349869 q: 0.559175 0.199944 -0.801775 -0.067102 
time: 1403636660.763556, t: 940.451115 1905.908810 143.906083 q: 0.579405 0.162683 -0.793342 -0.091828 
time: 1403636662.763556, t: 1068.346538 1931.039755 133.093597 q: 0.591260 0.111553 -0.795529 -0.071423 
time: 1403636664.763556, t: 1210.408655 1935.721621 112.911305 q: 0.612758 0.125851 -0.775436 -0.085959 
time: 1403636666.763556, t: 1370.815319 1915.594339 82.918611 q: 0.604815 0.101293 -0.785092 -0.086996 
time: 1403636668.763556, t: 1550.081611 1871.344040 43.499550 q: 0.613100 0.074077 -0.777543 -0.118524 
time: 1403636670.763556, t: 1747.638169 1803.339051 -4.792935 q: 0.638950 0.068170 -0.765660 0.029337 
time: 1403636672.763556, t: 1966.842352 1722.814334 -57.941243 q: 0.583277 0.295648 -0.755845 0.032828 
time: 1403636674.763556, t: 2211.319959 1628.313234 -118.775386 q: 0.552960 0.352543 -0.744868 0.122966 
time: 1403636676.763556, t: 2483.995556 1529.661520 -184.865413 q: -0.470565 -0.542586 0.658255 -0.225544 
time: 1403636678.763556, t: 2783.148340 1424.832870 -254.100788 q: 0.343045 0.709005 -0.504862 0.353194 
time: 1403636680.763556, t: 3100.635905 1319.191624 -323.818799 q: 0.252737 0.788668 -0.367334 0.423311 
time: 1403636682.763556, t: 3428.582292 1213.039335 -393.386051 q: 0.240285 0.768393 -0.398455 0.439396 
time: 1403636684.763556, t: 3346.048846 562.864033 -611.370857 q: 0.133272 0.748337 -0.397734 0.513847 
time: 1403636686.763556, t: 3738.562716 545.709901 -575.812170 q: 0.040939 0.828512 -0.160612 0.534879 
time: 1403636688.763556, t: 4025.616384 514.731920 -635.353394 q: 0.078735 0.815940 -0.202485 0.535764 
time: 1403636690.763556, t: 4206.091347 287.154007 -673.696411 q: 0.043553 0.786741 -0.310364 0.531805 
time: 1403636692.763556, t: 4512.421438 237.985381 -708.337179 q: 0.109732 0.790924 -0.300760 0.521480 
time: 1403636694.763556, t: 4905.835449 359.203050 -724.338863 q: 0.123758 0.777243 -0.338940 0.515458 
time: 1403636696.763556, t: 4620.126497 -546.405728 -829.582935 q: 0.012619 0.784750 -0.251352 0.566419 
time: 1403636698.763556, t: 3768.830694 -501.409590 -1278.921024 q: 0.242207 0.651543 -0.550898 0.461887 
time: 1403636700.763556, t: 3662.676911 -710.218470 -1343.486421 q: -0.342435 -0.480327 0.750963 -0.296781 
time: 1403636702.763556, t: 3275.872949 -966.067378 -1387.732918 q: -0.307467 -0.497564 0.775137 -0.238866 
time: 1403636704.763556, t: 2731.699951 -1112.795996 -1439.615968 q: -0.235406 -0.561576 0.736168 -0.295420 
time: 1403636706.763556, t: 2875.350155 -755.361812 -1392.579739 q: -0.326762 -0.470287 0.770856 -0.278994 
time: 1403636708.763556, t: 3114.449619 -1125.106349 -1328.719888 q: -0.336712 -0.467687 0.768533 -0.277941 
time: 1403636710.763556, t: 3555.094010 -1097.678425 -1291.048651 q: -0.344772 -0.441472 0.778847 -0.282190 
time: 1403636712.763556, t: 3380.767096 -1450.978044 -1033.788506 q: -0.309050 -0.548303 0.659938 -0.410285 
time: 1403636714.763556, t: 2708.444832 -1296.391284 -1307.214657 q: -0.363126 -0.465029 0.711213 -0.382182 
time: 1403636716.763556, t: 2844.237493 -1132.972743 -1422.558942 q: -0.316995 -0.520370 0.658275 -0.442045 
time: 1403636718.763556, t: 2592.738675 -1176.066435 -1456.153564 q: 0.190076 0.631279 -0.498227 0.563141 
time: 1403636720.763556, t: 2292.297166 -1131.018404 -1409.535014 q: 0.192624 0.638711 -0.482250 0.567785 
time: 1403636722.763556, t: 2337.792046 -1370.571078 -1339.180159 q: -0.273087 -0.574653 0.589704 -0.497440 
time: 1403636724.763556, t: 2832.813543 -1748.409210 -1467.681572 q: -0.350764 -0.473699 0.713166 -0.379432 
time: 1403636726.763556, t: 3422.092262 -1758.120285 -1687.079924 q: -0.349444 -0.438740 0.733858 -0.383208 
time: 1403636728.763556, t: 3082.744359 -1799.887472 -1763.279386 q: -0.340859 -0.486225 0.681706 -0.427406 
time: 1403636730.763556, t: 2849.016414 -2071.103652 -2051.858782 q: -0.288024 -0.500614 0.711927 -0.399484 
time: 1403636732.763556, t: 2730.727555 -2767.180151 -1670.677108 q: -0.336049 -0.479503 0.709479 -0.392158 
time: 1403636734.763556, t: 3199.989523 -2818.456812 -2002.024262 q: -0.343412 -0.472865 0.732632 -0.348880 
time: 1403636736.763556, t: 3049.648349 -2841.752603 -2041.007298 q: -0.339359 -0.509918 0.690183 -0.385314 
time: 1403636738.763556, t: 2744.366001 -3023.856358 -2028.696763 q: -0.311295 -0.481674 0.713054 -0.403287 
time: 1403636740.763556, t: 2598.639693 -3227.233582 -2018.448446 q: -0.378688 -0.332692 0.822847 -0.262362 
time: 1403636742.763556, t: 2634.856312 -3503.060330 -2040.754217 q: -0.391695 -0.312686 0.829985 -0.244800 
time: 1403636744.763556, t: 2651.401785 -3777.391449 -2082.339952 q: -0.417188 -0.240389 0.852067 -0.205301 
time: 1403636746.763556, t: 1928.195250 -3152.781081 -2518.865491 q: -0.431676 -0.265458 0.840725 -0.190708 
time: 1403636748.763556, t: 2048.282871 -3330.365821 -2484.067861 q: -0.429843 -0.238490 0.845543 -0.208361 
time: 1403636750.763556, t: 2408.070896 -3716.514742 -2645.106266 q: -0.410769 -0.244845 0.854344 -0.203511 
time: 1403636752.763556, t: 2088.582828 -4135.407517 -2465.526060 q: -0.312635 -0.345496 0.820418 -0.331371 
time: 1403636754.763556, t: 1942.426539 -4454.691218 -2423.724313 q: -0.283728 -0.456811 0.702421 -0.466290 
time: 1403636756.763556, t: 1818.500697 -4670.947060 -2522.291187 q: -0.290181 -0.464506 0.685488 -0.479724 
time: 1403636758.763556, t: 1767.724693 -4940.315298 -2614.141403 q: -0.247697 -0.468650 0.701135 -0.476889 
time: 1403636760.763556, t: 1771.555075 -5236.437658 -2723.761716 q: -0.296979 -0.472210 0.704946 -0.438032 
time: 1403636762.763556, t: 1954.351110 -5778.683502 -2781.338850 q: -0.305819 -0.406034 0.764200 -0.397000 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720546157.185686972]: Shutdown request received.[0m
[33m[ WARN] [1720546157.185742570]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720546157.186646421]: Shutdown request received.[0m
[33m[ WARN] [1720546157.186671256]: Reason given for shutdown: [user request][0m
killed
