/SLAM-Hive/slam_hive_results/mapping_results/3140/2345_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-5.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720548299.044932888]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720548299.046535896]: init begins[0m
[31m[ERROR] [1720548299.047572968]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c15fd29c-3e1d-11ef-8520-0242ac110005/roslaunch-12a7de3caa62-119.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://12a7de3caa62:36507/[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 [156][0m
[0m[ INFO] [1720548300.201843342]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720548300.202548795]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://12a7de3caa62:11311/[0m
]2;roscore http://12a7de3caa62:11311/
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[1msetting /run_id to c15fd29c-3e1d-11ef-8520-0242ac110005[0m
result path /home/output/vio.csv
[33m[ WARN] [1720548300.209934507]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720548300.210155743]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720548300.210192341]: 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] [1720548300.210479700]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720548300.210694535]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720548300.210861557]: 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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720548309.203031007]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316911452.56 
init first imu pose
averge acc 9.439445 -0.460368 -3.138128
init R0 
  0.318508   0.137589   0.937882
         0   -0.98941   0.145148
   0.94792 -0.0462307  -0.315135
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720548312.418426768]: gyroscope bias initial calibration -0.00869712  0.00855239   0.0391317[0m
[0m[ INFO] [1720548312.442850078]: Initialization finish![0m
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time: 1403637010.101666, t: 0.352749 -0.241552 0.321894 q: -0.052035 0.791184 0.006033 0.609331 
time: 1403637010.201667, t: 0.357046 -0.239746 0.320245 q: -0.052466 0.791048 0.006110 0.609469 
time: 1403637010.301666, t: 0.358332 -0.240580 0.318592 q: -0.053233 0.791111 0.006217 0.609320 
wait for imu ... 
time: 1403637010.401666, t: 0.357115 -0.242855 0.317347 q: -0.053650 0.790906 0.006510 0.609547 
time: 1403637010.501667, t: 0.353803 -0.246120 0.316413 q: -0.054157 0.790821 0.006789 0.609609 

Done.
time: 1403637010.601666, t: 0.343816 -0.249739 0.317433 q: -0.055104 0.790596 0.007261 0.609810 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720548463.846317827]: Shutdown request received.[0m
[33m[ WARN] [1720548463.846368764]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720548463.847132708]: Shutdown request received.[0m
[33m[ WARN] [1720548463.847156226]: Reason given for shutdown: [user request][0m
killed
