/SLAM-Hive/slam_hive_results/mapping_results/3149/2354_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-14.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720550015.796665272]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720550015.799166001]: init begins[0m
[31m[ERROR] [1720550015.800226092]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c0a16b8c-3e21-11ef-bcb4-0242ac110005/roslaunch-6ab1b742018c-117.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://6ab1b742018c:38925/[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 [154][0m
[0m[ INFO] [1720550016.903019465]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720550016.905768535]: 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] [1720550016.911908744]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720550016.912123187]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720550016.912149926]: 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] [1720550016.912392107]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720550016.912633971]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720550016.912804055]: 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://6ab1b742018c:11311/[0m
]2;roscore http://6ab1b742018c:11311/
[1msetting /run_id to c0a16b8c-3e21-11ef-bcb4-0242ac110005[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 [247][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720550025.932266844]: 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: 316913169.29 
init first imu pose
averge acc 9.704770 -0.367023 -3.127050
init R0 
 0.308595  0.110881  0.944709
        0 -0.993182   0.11657
 0.951193 -0.035973 -0.306492
[33m[ WARN] [1720550032.324586320]: gyroscope bias initial calibration -0.00288844   0.0211034   0.0787973[0m
[0m[ INFO] [1720550032.364332851]: Initialization finish![0m
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time: 1403637010.451667, t: 0.676777 0.176991 -0.075609 q: -0.066348 0.791820 0.018981 0.606844 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720550180.592822185]: Shutdown request received.[0m
[33m[ WARN] [1720550180.592861630]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720550180.593813604]: Shutdown request received.[0m
[33m[ WARN] [1720550180.593862703]: Reason given for shutdown: [user request][0m
killed
