/SLAM-Hive/slam_hive_results/mapping_results/3143/2348_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-8.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720548875.501305954]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720548875.503500746]: init begins[0m
[31m[ERROR] [1720548875.504581999]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/18f96508-3e1f-11ef-bfa0-0242ac110005/roslaunch-7bbabcd4aa96-119.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://7bbabcd4aa96:44167/[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] [1720548876.657857791]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720548876.660199511]: 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] [1720548876.666379294]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720548876.666570455]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720548876.666598823]: ROW: 288 COL: 451 [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] [1720548876.666843118]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720548876.667044302]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720548876.667213559]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://7bbabcd4aa96:11311/[0m
]2;roscore http://7bbabcd4aa96:11311/
[1msetting /run_id to 18f96508-3e1f-11ef-bfa0-0242ac110005[0m
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 [249][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720548885.634340844]: 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: 316912029.00 
init first imu pose
averge acc 9.580116 -0.442934 -3.147281
init R0 
[33m[ WARN] [1720548889.928031405]: gyroscope bias initial calibration -0.00275818   0.0233743   0.0809091[0m
[0m[ INFO] [1720548889.981313620]: Initialization finish![0m
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optimize pose graph 
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wait for imu ... 
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time: 1403636994.351666, t: 5.821870 -4.577448 -0.601979 q: 0.124051 0.779940 -0.160153 0.592162 
time: 1403636994.551666, t: 5.685013 -4.478882 -0.616699 q: 0.121343 0.780149 -0.163204 0.591615 
time: 1403636994.751667, t: 5.533486 -4.365921 -0.610334 q: 0.108512 0.790302 -0.174484 0.577238 
time: 1403636994.951667, t: 5.372343 -4.257007 -0.589571 q: 0.095571 0.793889 -0.185715 0.571066 
time: 1403636995.151666, t: 5.207454 -4.159684 -0.580690 q: 0.107532 0.788036 -0.177279 0.579662 
time: 1403636995.351666, t: 5.032256 -4.070185 -0.559851 q: 0.114657 0.786483 -0.169484 0.582730 
time: 1403636995.551666, t: 4.842674 -3.972525 -0.512094 q: 0.113149 0.793491 -0.167922 0.573909 
time: 1403636995.751667, t: 4.653211 -3.871196 -0.454625 q: 0.109882 0.794619 -0.170410 0.572248 
time: 1403636995.951667, t: 4.461882 -3.773864 -0.421294 q: 0.096762 0.795982 -0.181316 0.569364 
time: 1403636996.151666, t: 4.271510 -3.690347 -0.406588 q: 0.103985 0.798915 -0.177509 0.565166 
time: 1403636996.351666, t: 4.087079 -3.614340 -0.382987 q: 0.109797 0.801050 -0.170794 0.563110 
time: 1403636996.551666, t: 3.913064 -3.544385 -0.325436 q: 0.101637 0.804538 -0.152839 0.564826 
time: 1403636996.751667, t: 3.743153 -3.472592 -0.268689 q: 0.080754 0.811451 -0.122250 0.565757 
time: 1403636996.951667, t: 3.583296 -3.401177 -0.261936 q: 0.050924 0.817659 -0.085368 0.567056 
time: 1403636997.151666, t: 3.435461 -3.332334 -0.278438 q: 0.025556 0.821940 -0.050077 0.566792 
time: 1403636997.351666, t: 3.300409 -3.272163 -0.305827 q: 0.013079 0.823916 -0.031353 0.565692 
time: 1403636997.551666, t: 3.179804 -3.218098 -0.305542 q: 0.011121 0.824352 -0.025007 0.565416 
time: 1403636997.751667, t: 3.089426 -3.170712 -0.277099 q: 0.014506 0.825802 -0.025903 0.563178 
optimize pose graph 
time: 1403636997.951667, t: 3.017409 -3.121630 -0.222523 q: 0.018171 0.826513 -0.029574 0.561846 
time: 1403636998.151666, t: 2.956074 -3.074978 -0.143701 q: 0.020672 0.826008 -0.033884 0.562259 
time: 1403636998.351666, t: 2.923269 -3.030802 -0.077089 q: 0.020915 0.825560 -0.038558 0.562607 
time: 1403636998.551666, t: 2.887473 -2.990093 -0.022967 q: 0.021798 0.823816 -0.040910 0.564959 
time: 1403636998.751667, t: 2.868078 -2.954871 0.051831 q: 0.026538 0.810682 -0.039164 0.583573 
time: 1403636998.951667, t: 2.845877 -2.916973 0.133616 q: 0.036977 0.807356 -0.034266 0.587908 
time: 1403636999.151666, t: 2.801655 -2.866992 0.187149 q: 0.042746 0.808397 -0.031773 0.586223 
time: 1403636999.351666, t: 2.773685 -2.808803 0.220447 q: 0.039943 0.812230 -0.035485 0.580886 
time: 1403636999.551666, t: 2.727516 -2.746264 0.233455 q: 0.033885 0.810417 -0.040500 0.583468 
time: 1403636999.751667, t: 2.681800 -2.678387 0.223835 q: 0.032238 0.807437 -0.042473 0.587539 
time: 1403636999.951667, t: 2.619079 -2.610529 0.209590 q: 0.035502 0.807342 -0.041425 0.587556 
time: 1403637000.151666, t: 2.541380 -2.533197 0.210349 q: 0.039803 0.808990 -0.038215 0.585226 
time: 1403637000.351666, t: 2.461564 -2.450866 0.230627 q: 0.037365 0.811669 -0.039402 0.581588 
time: 1403637000.551666, t: 2.375403 -2.357226 0.233956 q: 0.038763 0.811059 -0.038791 0.582389 
wait for imu ... 
time: 1403637000.751667, t: 2.285786 -2.261094 0.248430 q: 0.036744 0.810132 -0.039991 0.583727 
time: 1403637000.951667, t: 2.190943 -2.162065 0.278842 q: 0.036235 0.809836 -0.042206 0.584014 
time: 1403637001.151666, t: 2.095988 -2.056985 0.289448 q: 0.036122 0.809005 -0.043855 0.585049 
time: 1403637001.351666, t: 1.988728 -1.953251 0.303145 q: 0.033342 0.808991 -0.047061 0.584985 
time: 1403637001.551666, t: 1.875304 -1.849785 0.342685 q: 0.032290 0.813705 -0.049933 0.578229 
time: 1403637001.751667, t: 1.753482 -1.755021 0.371981 q: 0.033130 0.814190 -0.051358 0.577373 
time: 1403637001.951667, t: 1.631272 -1.662319 0.380068 q: 0.033517 0.815083 -0.052209 0.576012 
time: 1403637002.151666, t: 1.512559 -1.572662 0.369581 q: 0.033811 0.816305 -0.052450 0.574241 
time: 1403637002.351666, t: 1.398023 -1.485902 0.344860 q: 0.035696 0.816731 -0.051118 0.573640 
time: 1403637002.551666, t: 1.289221 -1.399499 0.342880 q: 0.041269 0.816704 -0.046954 0.573661 
time: 1403637002.751667, t: 1.183508 -1.309725 0.368201 q: 0.042373 0.816821 -0.047473 0.573371 
time: 1403637002.951667, t: 1.079648 -1.216078 0.385251 q: 0.039521 0.815817 -0.052130 0.574598 
time: 1403637003.151666, t: 0.978135 -1.120802 0.375136 q: 0.039908 0.816055 -0.054895 0.573975 
time: 1403637003.351666, t: 0.879604 -1.029322 0.355441 q: 0.039240 0.814223 -0.058393 0.576274 
time: 1403637003.551666, t: 0.786413 -0.936144 0.356594 q: 0.039044 0.812367 -0.060701 0.578663 
time: 1403637003.751667, t: 0.686543 -0.844806 0.379306 q: 0.038817 0.812752 -0.062044 0.577995 
optimize pose graph 
time: 1403637003.951667, t: 0.579707 -0.759266 0.387869 q: 0.038497 0.816349 -0.059014 0.573245 
time: 1403637004.151666, t: 0.484303 -0.672255 0.372528 q: 0.040625 0.820155 -0.053842 0.568151 
time: 1403637004.351666, t: 0.401307 -0.591265 0.358714 q: 0.036953 0.821145 -0.053583 0.566996 
time: 1403637004.551666, t: 0.330705 -0.511486 0.383928 q: 0.036559 0.813725 -0.056785 0.577313 
time: 1403637004.751667, t: 0.251234 -0.434725 0.435803 q: 0.024017 0.811796 -0.072211 0.578961 
time: 1403637004.951667, t: 0.170240 -0.370880 0.448998 q: 0.019661 0.816634 -0.080985 0.571108 
time: 1403637005.151666, t: 0.097879 -0.323124 0.418195 q: 0.036086 0.818104 -0.073274 0.569240 
time: 1403637005.351666, t: 0.034538 -0.285114 0.378096 q: 0.041976 0.820721 -0.069775 0.565496 
time: 1403637005.551666, t: -0.024673 -0.247933 0.332984 q: 0.043815 0.816891 -0.063620 0.571596 
time: 1403637005.751667, t: -0.076248 -0.208013 0.321312 q: 0.032760 0.822487 -0.067444 0.563820 
time: 1403637005.951667, t: -0.120288 -0.183664 0.338051 q: 0.036940 0.819867 -0.062125 0.567974 
time: 1403637006.151666, t: -0.163900 -0.152572 0.350742 q: 0.036118 0.816214 -0.062805 0.573189 
time: 1403637006.351666, t: -0.201371 -0.124757 0.353366 q: 0.031251 0.824250 -0.066033 0.561493 
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time: 1403637007.551666, t: -0.261834 -0.085959 0.266394 q: -0.026610 0.810588 0.048423 0.583005 
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time: 1403637007.951667, t: -0.300042 -0.060484 0.219035 q: -0.032960 0.816978 0.038018 0.574470 
time: 1403637008.151666, t: -0.315565 -0.044356 0.202007 q: -0.028609 0.820534 0.034358 0.569847 
time: 1403637008.351666, t: -0.328285 -0.028406 0.194196 q: -0.019849 0.832382 0.034562 0.552767 
time: 1403637008.551666, t: -0.323104 -0.007164 0.203205 q: -0.023270 0.820469 0.027425 0.570558 
time: 1403637008.751667, t: -0.314147 0.013766 0.205987 q: -0.034759 0.816897 0.014896 0.575543 
time: 1403637008.951667, t: -0.304148 0.022742 0.189908 q: -0.049501 0.823961 0.002062 0.564477 
time: 1403637009.151666, t: -0.285555 0.007564 0.161700 q: -0.028225 0.822167 0.014110 0.568371 
time: 1403637009.351666, t: -0.259166 -0.015702 0.126649 q: 0.001932 0.820986 0.033629 0.569954 
time: 1403637009.551666, t: -0.247688 -0.029164 0.112635 q: -0.053581 0.800760 0.041629 0.595130 
time: 1403637009.751667, t: -0.257059 -0.038742 0.105386 q: -0.063918 0.792547 0.016819 0.606218 
time: 1403637009.951667, t: -0.261590 -0.039440 0.107945 q: -0.066282 0.790877 0.016571 0.608149 
time: 1403637010.151666, t: -0.264532 -0.040348 0.108611 q: -0.065741 0.791239 0.017240 0.607719 
time: 1403637010.351666, t: -0.263022 -0.039930 0.108363 q: -0.065266 0.791472 0.017298 0.607465 
time: 1403637010.551666, t: -0.261815 -0.039324 0.108372 q: -0.065113 0.791546 0.017229 0.607386 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720549040.341426892]: Shutdown request received.[0m
[33m[ WARN] [1720549040.341472866]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720549040.342526525]: Shutdown request received.[0m
[33m[ WARN] [1720549040.342553457]: Reason given for shutdown: [user request][0m
killed
