/SLAM-Hive/slam_hive_results/mapping_results/3133/2338_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-28.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720546852.035846985]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720546852.037645144]: init begins[0m
[31m[ERROR] [1720546852.038728265]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/62e28348-3e1a-11ef-b012-0242ac110005/roslaunch-bf00e78d6b69-118.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://bf00e78d6b69:46857/[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] [1720546853.142065760]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720546853.143843442]: 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] [1720546853.149493715]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720546853.149704761]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720546853.149729927]: ROW: 192 COL: 300 [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] [1720546853.149974707]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720546853.150201170]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720546853.150347154]: 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://bf00e78d6b69:11311/[0m
]2;roscore http://bf00e78d6b69:11311/
[1msetting /run_id to 62e28348-3e1a-11ef-b012-0242ac110005[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] [1720546862.193014791]: 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: 316910283.46 
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! 
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 ... 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720546884.416457104]: gyroscope bias initial calibration -0.0259665  0.0117821  -0.022218[0m
[0m[ INFO] [1720546884.495906582]: Initialization finish![0m
time: 1403636602.763556, t: 290.097735 -1352.920015 -1104.719257 q: 0.706281 -0.343209 0.606874 -0.122798 
wait for imu ... 
time: 1403636604.763556, t: 1409.760236 -972.358226 -1458.040663 q: 0.933939 -0.274496 0.218648 0.067850 
time: 1403636606.763556, t: 1986.542176 705.249709 -1845.186986 q: 0.963246 0.006784 -0.130546 0.234669 
time: 1403636608.763556, t: 2033.479614 -1319.659425 -2206.077818 q: 0.843313 -0.283988 -0.353070 -0.288992 
wait for imu ... 
time: 1403636610.763556, t: 2258.905660 -1716.177847 -2540.425213 q: 0.821704 -0.275055 -0.384520 -0.318263 
time: 1403636612.763556, t: 2906.072224 -1578.100969 -2876.537587 q: 0.888790 -0.222685 -0.323157 -0.236712 
time: 1403636614.763556, t: 3630.314836 -1127.804944 -3270.632833 q: 0.871926 -0.025323 -0.459533 -0.167132 
time: 1403636616.763556, t: 3270.665726 -2742.666445 -3648.103938 q: 0.827495 -0.406383 -0.160069 -0.352820 
time: 1403636618.763556, t: 3844.666977 -2951.445359 -4098.180968 q: 0.832964 -0.376087 -0.205104 -0.350231 
time: 1403636620.763556, t: 4970.506668 -2301.159365 -4564.123428 q: 0.929063 0.049926 -0.276774 -0.240302 
time: 1403636622.763556, t: 5740.801009 -2076.814196 -5095.591188 q: 0.840919 0.079524 -0.523002 -0.114020 
time: 1403636624.763556, t: 5491.278458 -3844.071436 -5573.345881 q: 0.766010 -0.226666 -0.529554 -0.285349 
time: 1403636626.763556, t: 6928.741898 -2505.616894 -6044.794297 q: 0.821949 0.018497 -0.540914 -0.177396 
time: 1403636628.763556, t: 7481.436809 -3025.703316 -6545.590652 q: 0.823879 -0.032406 -0.537705 -0.176202 
time: 1403636630.763556, t: 8215.207796 -3128.723412 -7069.554241 q: 0.814101 -0.170313 -0.509848 -0.219746 
time: 1403636632.763556, t: 5300.245415 -7070.279336 -7596.646826 q: 0.666765 -0.487891 -0.423331 -0.371722 
time: 1403636634.763556, t: 6608.687707 -7256.962873 -8136.738173 q: 0.726514 -0.326833 -0.496527 -0.344700 
time: 1403636636.763556, t: 9289.322689 -5566.963988 -8693.646628 q: 0.806683 -0.052165 -0.545025 -0.222461 
time: 1403636638.763556, t: 9854.938911 -6254.464739 -9275.618477 q: 0.793000 -0.137741 -0.542472 -0.240628 
time: 1403636640.763556, t: 10777.419178 -6418.337685 -9884.002042 q: 0.812795 -0.068752 -0.526224 -0.240261 
time: 1403636642.763556, t: 11745.992289 -6476.092469 -10500.381668 q: 0.745387 -0.137085 -0.617131 -0.211552 
time: 1403636646.763556, t: 13647.884178 -6806.786206 -11774.602962 q: 0.823823 -0.117541 -0.524168 -0.180963 
time: 1403636648.763556, t: 13561.629453 -8909.949494 -12446.385467 q: 0.736001 -0.441628 -0.406320 -0.313324 
time: 1403636650.763556, t: 14954.572363 -8637.749796 -13132.035324 q: 0.679565 -0.561167 -0.341613 -0.326472 
time: 1403636652.763556, t: 15363.060223 -9941.338333 -13838.732133 q: 0.518661 -0.764969 -0.167950 -0.342938 
time: 1403636654.763556, t: 16743.259841 -9772.200610 -14557.850203 q: -0.497974 0.778369 0.136441 0.357138 
time: 1403636656.763556, t: 17082.106270 -11242.174063 -15294.482008 q: -0.372818 0.856206 -0.001636 0.357651 
time: 1403636658.763556, t: 18663.269153 -10852.215276 -16039.425046 q: -0.367858 0.862404 0.045291 0.344803 
time: 1403636660.763556, t: 18778.259467 -12705.349393 -16800.436500 q: -0.338550 0.871293 0.016760 0.354896 
time: 1403636662.763556, t: 20148.248608 -12794.913975 -17566.949358 q: -0.359833 0.867758 -0.016007 0.342433 
time: 1403636664.763556, t: 21206.632771 -13337.350570 -18351.747925 q: -0.382073 0.846450 0.034402 0.369269 
time: 1403636666.763556, t: 21808.763125 -14565.276045 -19146.489517 q: -0.373527 0.858100 0.019597 0.351792 
time: 1403636668.763556, t: 21756.745536 -16283.580344 -19931.520508 q: 0.018459 0.902329 -0.246948 0.352814 
time: 1403636670.763556, t: 23432.576262 -16150.394601 -20700.979765 q: -0.309253 0.818339 -0.129264 0.466877 
time: 1403636672.763556, t: 22289.723750 -18901.653948 -21498.980000 q: -0.375828 0.771007 0.135546 0.495913 
time: 1403636674.763556, t: 25202.172655 -17792.687428 -22313.943624 q: 0.549567 -0.595416 -0.322812 -0.489130 
time: 1403636676.763556, t: 23527.294847 -20973.805295 -23158.722228 q: 0.561868 -0.541510 -0.428114 -0.455838 
time: 1403636678.763556, t: 26068.567972 -20563.895716 -23997.093110 q: 0.636407 -0.128833 -0.673175 -0.353871 
time: 1403636680.763556, t: 25851.355334 -22465.034915 -24874.605202 q: 0.641684 -0.036448 -0.700194 -0.310872 
time: 1403636682.763556, t: 27342.178258 -22971.256470 -25738.455628 q: 0.625673 0.054380 -0.738694 -0.244761 
time: 1403636684.763556, t: 28675.687585 -23664.272247 -26642.123762 q: 0.702430 -0.078480 -0.637730 -0.306160 
time: 1403636686.763556, t: 28319.310651 -25719.183042 -27542.227167 q: 0.635748 0.009664 -0.721192 -0.274980 
time: 1403636688.763556, t: 32068.822390 -23975.970594 -28440.468471 q: 0.584187 0.261054 -0.745180 -0.187836 
time: 1403636690.763556, t: 30432.223782 -27562.310087 -29346.735854 q: 0.660080 -0.027447 -0.725790 -0.191754 
time: 1403636692.763556, t: 34082.935983 -26049.884466 -30275.020904 q: 0.716399 -0.040060 -0.639014 -0.277181 
time: 1403636694.763556, t: 33254.781894 -29114.891203 -31212.480702 q: 0.780891 -0.170811 -0.529814 -0.283424 
time: 1403636696.763556, t: 38787.180774 -22873.049836 -32209.263092 q: 0.735793 0.247764 -0.627756 -0.056072 
time: 1403636698.763556, t: 21259.901054 -33432.924281 -33170.311347 q: 0.643917 -0.481708 -0.216208 -0.553699 
time: 1403636700.763556, t: 39238.798778 -27357.171935 -34207.635954 q: 0.730058 0.084609 -0.637028 -0.232491 
time: 1403636702.763556, t: 31604.671588 -35926.451038 -35271.027560 q: -0.488893 0.679369 0.319736 0.444085 
time: 1403636704.763556, t: 42146.153198 -26977.078725 -36331.037773 q: 0.711338 -0.077151 -0.665390 -0.212846 
time: 1403636706.763556, t: 35434.849294 -37715.683007 -37474.610236 q: 0.703312 -0.393338 -0.497950 -0.320444 
time: 1403636708.763556, t: 42458.444693 -33885.100965 -38535.988609 q: 0.806630 -0.092444 -0.471825 -0.343778 
time: 1403636710.763556, t: 38758.173156 -39422.622872 -39641.552984 q: 0.738452 -0.367516 -0.446673 -0.346560 
time: 1403636712.763556, t: 46053.249050 -33399.788351 -40699.784677 q: 0.787093 -0.127318 -0.486502 -0.357197 
time: 1403636714.763556, t: 38885.417199 -42424.152221 -41808.792304 q: 0.705114 -0.361287 -0.507089 -0.339334 
time: 1403636716.763556, t: 48355.814605 -35613.430039 -42948.403861 q: 0.760658 0.103978 -0.579330 -0.273798 
time: 1403636718.763556, t: 39775.627102 -45136.648980 -44085.049075 q: 0.704451 -0.131668 -0.597757 -0.359302 
time: 1403636720.763556, t: 52066.491109 -29643.084679 -45256.038456 q: 0.650888 0.539776 -0.533539 0.017963 
time: 1403636722.763556, t: 39866.724555 -47287.171417 -46440.121332 q: 0.656274 -0.179634 -0.599887 -0.420917 
time: 1403636724.763556, t: 50804.490909 -22404.635321 -47625.044675 q: 0.806949 0.330447 -0.477219 -0.109085 
time: 1403636726.763556, t: 43248.884990 -47426.765408 -48845.027096 q: 0.555508 -0.437232 -0.469158 -0.529274 
time: 1403636728.763556, t: 55909.158772 -32441.929796 -50125.313004 q: 0.773211 0.119523 -0.547731 -0.296396 
time: 1403636730.763556, t: 43500.339974 -49616.266501 -51356.293153 q: 0.666363 -0.256936 -0.511639 -0.477672 
time: 1403636732.763556, t: 57795.597851 -33114.598737 -52631.125775 q: 0.731953 0.293856 -0.501170 -0.355981 
time: 1403636734.763556, t: 45577.820847 -50962.916161 -53882.095642 q: 0.618205 -0.278190 -0.482566 -0.554583 
time: 1403636736.763556, t: 56543.596457 -45993.050001 -55150.204013 q: 0.682948 0.059845 -0.524769 -0.504597 
time: 1403636738.763556, t: 47417.156179 -53517.590614 -56315.809354 q: 0.678637 -0.209080 -0.466865 -0.527043 
time: 1403636740.763556, t: 56268.618699 -50928.759754 -57613.036699 q: 0.718406 -0.011448 -0.517210 -0.465032 
time: 1403636742.763556, t: 52861.423345 -55249.665378 -58875.747117 q: 0.683466 -0.286374 -0.402424 -0.537512 
time: 1403636744.763556, t: 59422.490987 -52619.675527 -60187.876727 q: 0.763436 0.008556 -0.509341 -0.397069 
time: 1403636746.763556, t: 51981.175461 -59194.856990 -61430.131412 q: 0.669633 -0.344351 -0.377725 -0.538830 
time: 1403636748.763556, t: 62901.680748 -53385.373586 -62758.963838 q: 0.741865 -0.060826 -0.452383 -0.491209 
time: 1403636750.763556, t: 56509.359514 -61021.408243 -64049.528330 q: 0.698966 -0.277167 -0.427191 -0.502129 
time: 1403636752.763556, t: 60810.335970 -60680.175505 -65369.892117 q: 0.704885 0.085343 -0.542834 -0.448537 
time: 1403636754.763556, t: 61603.965476 -62193.947780 -66717.538273 q: 0.681547 -0.011015 -0.573894 -0.453892 
time: 1403636756.763556, t: 62758.435536 -63665.579967 -68087.926076 q: 0.671930 0.108488 -0.625964 -0.380670 
time: 1403636758.763556, t: 62507.687473 -65991.809907 -69517.686140 q: 0.647890 0.113168 -0.666762 -0.350513 
time: 1403636760.763556, t: 62966.349065 -67779.424943 -70923.115763 q: 0.586520 -0.169755 -0.575132 -0.544427 
time: 1403636762.763556, t: 67726.861633 -66711.758230 -72360.435272 q: 0.661687 0.111856 -0.675933 -0.304586 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720547050.890627953]: Shutdown request received.[0m
[33m[ WARN] [1720547050.890673237]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720547050.891661533]: Shutdown request received.[0m
[33m[ WARN] [1720547050.891703151]: Reason given for shutdown: [user request][0m
killed
