/SLAM-Hive/slam_hive_results/mapping_results/3144/2349_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-9.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720549065.617421794]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720549065.618400620]: init begins[0m
[31m[ERROR] [1720549065.619371140]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/8a47af80-3e1f-11ef-b9a4-0242ac110005/roslaunch-0d054476a319-118.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://0d054476a319:35749/[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] [1720549066.723956281]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720549066.724710213]: 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] [1720549066.730968144]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720549066.731162195]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720549066.731188888]: ROW: 240 COL: 376 [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] [1720549066.731433373]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720549066.731626584]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720549066.731793902]: 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://0d054476a319:11311/[0m
]2;roscore http://0d054476a319:11311/
[1msetting /run_id to 8a47af80-3e1f-11ef-b9a4-0242ac110005[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_02_easy.bag  --clock 
[0m[ INFO] [1720549075.771759376]: 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: 316912219.13 
init first imu pose
averge acc 9.580116 -0.442934 -3.147281
init R0 
   0.314883    0.132273    0.939868
3.08149e-33   -0.990242    0.139362
    0.94913  -0.0438827    -0.31181
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720549080.063819279]: gyroscope bias initial calibration -0.00863476   0.0184994   0.0504004[0m
[0m[ INFO] [1720549080.111016589]: Initialization finish![0m
time: 1403636860.751667, t: 0.000272 -0.098140 0.101114 q: -0.049199 0.853147 0.039842 0.517815 
time: 1403636860.951667, t: 0.000067 -0.098314 0.139161 q: -0.041296 0.855527 0.049124 0.513766 
time: 1403636861.151666, t: 0.008132 -0.095681 0.252659 q: -0.020343 0.842796 0.033946 0.536776 
time: 1403636861.351666, t: 0.017932 -0.096608 0.373371 q: -0.021146 0.815793 0.032982 0.577016 
time: 1403636861.551666, t: 0.024213 -0.099402 0.420020 q: -0.018385 0.803454 0.026156 0.594508 
time: 1403636861.751667, t: 0.021489 -0.104503 0.347920 q: -0.014144 0.816132 0.023319 0.577222 
time: 1403636861.951667, t: 0.014791 -0.101294 0.235159 q: -0.018524 0.832853 0.025430 0.552600 
time: 1403636862.151666, t: 0.003438 -0.094867 0.132008 q: -0.026355 0.851014 0.020551 0.524079 
time: 1403636862.351666, t: 0.000323 -0.093739 0.106938 q: -0.022925 0.858536 0.032373 0.511216 
time: 1403636862.551666, t: 0.006717 -0.093467 0.199154 q: -0.015575 0.855072 0.031444 0.517320 
time: 1403636862.751667, t: 0.019282 -0.095627 0.332595 q: -0.004820 0.839998 0.026581 0.541917 
time: 1403636862.951667, t: 0.024964 -0.094181 0.457893 q: -0.012360 0.832281 0.012942 0.554065 
wait for imu ... 
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time: 1403636863.351666, t: 0.020748 -0.099596 0.375283 q: 0.003824 0.822695 0.029406 0.567708 
time: 1403636863.551666, t: 0.015437 -0.098343 0.239684 q: -0.001820 0.831897 0.024587 0.554382 
time: 1403636863.751667, t: 0.004993 -0.097535 0.128069 q: -0.024426 0.848013 0.020845 0.529002 
time: 1403636863.951667, t: 0.002443 -0.099471 0.119309 q: -0.032838 0.858693 0.026251 0.510764 
time: 1403636864.151666, t: 0.004130 -0.102850 0.232739 q: -0.027104 0.852644 0.034171 0.520669 
time: 1403636864.351666, t: 0.011458 -0.100463 0.371827 q: -0.021870 0.845820 0.033101 0.531992 
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wait for imu ... 
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time: 1403637009.951667, t: 0.105100 0.452614 0.162818 q: -0.060649 0.791595 0.011938 0.607912 
time: 1403637010.151666, t: 0.100349 0.450720 0.163535 q: -0.060492 0.791931 0.012739 0.607473 
time: 1403637010.351666, t: 0.101902 0.451578 0.163794 q: -0.060077 0.792191 0.012933 0.607172 

Done.
time: 1403637010.551666, t: 0.102520 0.451897 0.163765 q: -0.059960 0.792282 0.012883 0.607066 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720549230.501584674]: Shutdown request received.[0m
[33m[ WARN] [1720549230.501626418]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720549230.502560436]: Shutdown request received.[0m
[33m[ WARN] [1720549230.502587727]: Reason given for shutdown: [user request][0m
killed
