/SLAM-Hive/slam_hive_results/mapping_results/3130/2335_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-25.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720546181.801892387]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720546181.804806951]: init begins[0m
[31m[ERROR] [1720546181.805912939]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/d3644f5e-3e18-11ef-8d8d-0242ac110005/roslaunch-00ae6402590d-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://00ae6402590d:34677/[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] [1720546182.911732045]: 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] [1720546182.916278630]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720546182.916507688]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720546182.916531648]: 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] [1720546182.916771043]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720546182.916969315]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720546182.917125618]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://00ae6402590d:11311/[0m
]2;roscore http://00ae6402590d:11311/
[1msetting /run_id to d3644f5e-3e18-11ef-8d8d-0242ac110005[0m
[0m[ INFO] [1720546182.957278770]: 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 [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720546191.965022764]: 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: 316909613.23 
init first imu pose
averge acc 9.910340 -0.410350 -4.054184
init R0 
  0.380285  0.0931361   0.920168
         0  -0.994917   0.100702
   0.92487 -0.0382954  -0.378351
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! 
wait for imu ... 
wait for imu ... 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720546214.168532752]: gyroscope bias initial calibration  -0.0243057  -0.0141094 -0.00346738[0m
[0m[ INFO] [1720546214.254126312]: Initialization finish![0m
time: 1403636600.763556, t: -421.966116 -542.888003 -265.402718 q: 0.652929 -0.064414 -0.207777 -0.725509 
time: 1403636602.763556, t: -276.274652 -671.343704 -153.568529 q: 0.761980 -0.160762 -0.339325 -0.527637 
time: 1403636604.763556, t: -522.532256 -619.065896 -122.309080 q: 0.631364 -0.371486 -0.358036 -0.578954 
time: 1403636606.763556, t: -654.228648 -788.815569 -185.137432 q: 0.631019 -0.345357 -0.358435 -0.595037 
time: 1403636608.763556, t: -628.189685 -1063.959045 -277.821427 q: 0.614957 0.112170 -0.674536 -0.392743 
time: 1403636610.763556, t: -727.313952 -1336.979764 -407.026260 q: 0.590143 0.191815 -0.684815 -0.382055 
time: 1403636612.763556, t: 433.800084 -1665.417976 -577.345607 q: 0.612297 0.546979 -0.555140 -0.133138 
time: 1403636614.763556, t: 1979.793892 906.320349 -809.411465 q: 0.056873 0.795968 0.376030 0.470958 
time: 1403636616.763556, t: 2539.343027 102.252328 -823.998911 q: 0.105807 0.787042 -0.216144 0.568024 
time: 1403636618.763556, t: 2885.922736 -1043.936122 -925.289594 q: -0.122389 0.878358 -0.218255 0.407275 
time: 1403636620.763556, t: 2827.061748 1503.303460 -1269.105133 q: -0.276193 0.808598 0.351021 0.382977 
time: 1403636622.763556, t: 1943.174944 2357.926336 -1660.041547 q: -0.408113 0.696990 0.556915 0.193636 
time: 1403636624.763556, t: 1769.747432 -3273.620879 -1822.786622 q: -0.320287 0.854203 -0.243575 0.329278 
time: 1403636626.763556, t: 2998.161391 2109.998206 -1999.168823 q: 0.692106 -0.123596 -0.550188 -0.450562 
time: 1403636628.763556, t: 3357.680751 15.623505 -2325.337324 q: 0.567282 -0.209325 -0.311435 -0.733064 
time: 1403636630.763556, t: 3366.572429 -540.254745 -2417.103499 q: -0.273109 0.632917 0.042647 0.723193 
time: 1403636632.763556, t: 3651.829270 -93.955792 -2501.455926 q: -0.340911 0.670187 -0.169267 0.637163 
time: 1403636634.763556, t: 3894.389791 -250.212311 -2650.367351 q: 0.577367 -0.583270 -0.133977 -0.555422 
time: 1403636636.763556, t: 4262.312339 225.382195 -2253.373806 q: 0.563717 -0.599223 -0.133273 -0.552625 
time: 1403636638.763556, t: 4441.628414 484.694757 -2352.239226 q: 0.616082 -0.635249 -0.252011 -0.391652 
time: 1403636640.763556, t: 4744.011966 404.743745 -2470.451356 q: 0.696760 -0.537740 -0.316825 -0.353530 
time: 1403636642.763556, t: 4219.259999 -2032.524476 -2134.734531 q: -0.443749 0.257838 0.407722 0.755228 
time: 1403636644.763556, t: 2825.068778 -2811.670362 -2308.325846 q: -0.391552 0.369201 0.505792 0.674205 
time: 1403636646.763556, t: 3337.138328 -2851.878294 -2411.094421 q: 0.571444 -0.443637 -0.550241 -0.416980 
time: 1403636648.763556, t: 3799.287663 -3100.593640 -2579.392809 q: 0.725238 -0.404644 -0.376382 -0.410646 
time: 1403636652.763556, t: 4326.108113 -3928.441924 -3044.948978 q: 0.690569 -0.528990 -0.293626 -0.396318 
time: 1403636654.763556, t: 4734.525607 -4349.782168 -3326.874886 q: 0.722261 -0.478654 -0.276976 -0.415348 
time: 1403636656.763556, t: 3791.030934 -5230.535570 -3633.884055 q: 0.597752 -0.593084 -0.240285 -0.482916 
time: 1403636658.763556, t: 5031.401062 -5506.743956 -3939.118180 q: 0.697341 -0.539036 -0.250785 -0.400328 
time: 1403636660.763556, t: 5710.198799 -5912.657755 -4289.255897 q: 0.736496 -0.422046 -0.328021 -0.414553 
time: 1403636662.763556, t: 6467.082641 -6281.589368 -4670.329325 q: 0.789601 -0.316298 -0.371967 -0.371654 
time: 1403636664.763556, t: 7167.197073 -6717.067580 -5086.538890 q: 0.808508 -0.169334 -0.418497 -0.377493 
time: 1403636666.763556, t: 7707.180119 -7330.540365 -5539.714804 q: 0.807922 -0.077398 -0.466343 -0.351848 
time: 1403636668.763556, t: 8029.534602 -8164.990583 -6031.722601 q: 0.806813 -0.028284 -0.463120 -0.365751 
time: 1403636670.763556, t: 8264.675247 -9093.498344 -6566.310141 q: 0.850747 0.086982 -0.455647 -0.247082 
time: 1403636672.763556, t: 8701.719284 -9930.862364 -7146.248666 q: 0.743164 0.339796 -0.476682 -0.324069 
time: 1403636674.763556, t: 9205.714826 -10771.622268 -7774.404830 q: 0.672991 0.486991 -0.494371 -0.255971 
time: 1403636676.763556, t: 9744.597960 -11631.746662 -8448.768946 q: 0.467704 0.726428 -0.462699 -0.198659 
time: 1403636678.763556, t: 10280.928951 -12525.250758 -9159.387392 q: 0.182682 0.902092 -0.381831 -0.084037 
time: 1403636680.763556, t: 10898.824719 -13397.592060 -9889.904310 q: -0.047967 0.958223 -0.281551 0.015401 
time: 1403636682.763556, t: 11526.758274 -14292.230025 -10632.477989 q: -0.115493 0.947735 -0.292707 0.052746 
time: 1403636684.763556, t: 8988.314207 -16413.979051 -11383.998786 q: -0.047381 0.915280 -0.388816 0.094016 
time: 1403636686.763556, t: 2710.001189 -16447.696022 -12113.925808 q: 0.101783 0.831965 -0.533660 0.112613 
time: 1403636690.763556, t: 9273.974455 -18612.701037 -13601.043809 q: -0.015311 0.922413 -0.248946 0.294866 
time: 1403636692.763556, t: 6416.868540 -20076.280523 -14355.860578 q: -0.126110 0.903234 -0.342907 0.225121 
time: 1403636694.763556, t: 11671.034616 -19342.263299 -15106.194437 q: 0.001852 0.953273 -0.139459 0.267989 
time: 1403636696.763556, t: 13235.399718 -18960.643304 -15816.562371 q: -0.072639 0.954633 0.064768 0.281434 
time: 1403636698.763556, t: 15762.300999 -16745.339977 -16606.721747 q: 0.136474 0.901659 0.195484 0.360795 
time: 1403636700.763556, t: 12536.896434 -21497.784084 -17474.459366 q: 0.447442 0.878388 -0.151550 0.072545 
time: 1403636702.763556, t: 14869.966654 -20746.971837 -18408.468565 q: 0.486456 0.819325 -0.302678 0.021276 
time: 1403636704.763556, t: 13702.117003 -22896.213572 -19403.480285 q: 0.298066 0.885931 -0.311372 -0.171263 
time: 1403636706.763556, t: 14703.533308 -23244.518719 -20335.126654 q: 0.178399 0.947336 -0.204082 0.170526 
time: 1403636708.763556, t: 16712.053260 -22567.188625 -21177.847371 q: 0.187881 0.942165 -0.132054 0.244105 
time: 1403636710.763556, t: 17471.589579 -22918.488819 -22085.570988 q: 0.163693 0.971327 -0.019530 0.171313 
time: 1403636712.763556, t: 18883.916480 -22383.115715 -23115.093029 q: 0.128285 0.958459 0.159216 0.198869 
time: 1403636714.763556, t: 19672.079195 -22360.684220 -24157.862838 q: 0.111016 0.934515 0.301564 0.153022 
time: 1403636716.763556, t: 19899.073917 -23264.431088 -25247.920388 q: -0.000890 0.867275 0.472711 0.156133 
time: 1403636718.763556, t: 20717.134106 -23355.302998 -26402.714367 q: -0.276482 0.780797 0.560229 -0.007534 
time: 1403636720.763556, t: 21481.920144 -23505.768713 -27560.738177 q: -0.333807 0.737375 0.587197 -0.007085 
time: 1403636722.763556, t: 22256.111389 -23572.543833 -28718.485494 q: -0.296480 0.753754 0.583883 0.055099 
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time: 1403636726.763556, t: 23429.866280 -23965.324705 -31162.006276 q: 0.018626 0.742148 0.638310 0.203540 
time: 1403636728.763556, t: 24274.867784 -22077.712210 -32639.668265 q: -0.014387 0.742335 0.666313 0.068986 
time: 1403636730.763556, t: 24751.654141 -23018.024750 -34184.575464 q: -0.018606 0.588019 0.800718 -0.112867 
time: 1403636732.763556, t: 25270.766987 -22304.384069 -35671.127381 q: -0.122647 0.556749 0.819458 -0.058964 
time: 1403636734.763556, t: 25574.736103 -21131.598926 -37154.791107 q: -0.124617 0.562172 0.817401 -0.016999 
time: 1403636736.763556, t: 25384.105097 -19548.094176 -38673.044244 q: -0.214900 0.519827 0.826798 0.001632 
time: 1403636738.763556, t: 24722.143723 -18122.934716 -40186.274187 q: -0.244150 0.538631 0.806367 0.006317 
time: 1403636740.763556, t: 24580.883826 -17431.692266 -41672.607196 q: -0.198512 0.592534 0.777611 0.069410 
time: 1403636742.763556, t: 23763.404647 -16540.480428 -43155.182968 q: -0.217124 0.563876 0.791582 0.091098 
time: 1403636744.763556, t: 23306.563396 -15953.113447 -44646.514129 q: -0.243092 0.552512 0.797193 0.010945 
time: 1403636746.763556, t: 21560.667394 -15592.414341 -46120.901101 q: -0.241497 0.519552 0.819503 -0.012648 
time: 1403636748.763556, t: 19693.554990 -16206.317092 -47593.135913 q: -0.291898 0.467615 0.833619 -0.034802 
time: 1403636750.763556, t: 18467.338589 -16929.086966 -49110.431407 q: -0.243705 0.386899 0.888992 -0.024702 
time: 1403636752.763556, t: 18505.008037 -17593.780126 -50833.631490 q: -0.282012 0.198632 0.928301 -0.138822 
time: 1403636754.763556, t: 17864.507371 -17749.375796 -52430.193480 q: -0.291782 0.046600 0.900437 -0.319225 
time: 1403636756.763556, t: 17260.141287 -18098.096915 -54014.807204 q: -0.324520 -0.008400 0.908219 -0.264110 
time: 1403636758.763556, t: 16654.332391 -18142.817447 -55700.160328 q: -0.246141 -0.031423 0.892329 -0.377062 
time: 1403636760.763556, t: 16022.833325 -18286.746834 -57403.666994 q: -0.258388 -0.052174 0.893064 -0.364623 
time: 1403636762.763556, t: 15449.598954 -18351.832239 -59148.638477 q: -0.264559 -0.001274 0.928116 -0.261931 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720546380.566689942]: Shutdown request received.[0m
[33m[ WARN] [1720546380.566747284]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720546380.567748503]: Shutdown request received.[0m
[33m[ WARN] [1720546380.567778798]: Reason given for shutdown: [user request][0m
killed
