/SLAM-Hive/slam_hive_results/mapping_results/3153/2358_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-18.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720550773.668777566]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720550773.670433104]: init begins[0m
[31m[ERROR] [1720550773.671584209]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/845c0b6c-3e23-11ef-b2f8-0242ac110005/roslaunch-f8d78a28a7ad-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://f8d78a28a7ad:45337/[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] [1720550774.775084021]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720550774.776699104]: 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] [1720550774.782399736]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720550774.782638908]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720550774.782665809]: ROW: 480 COL: 752 [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] [1720550774.782916916]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720550774.783119265]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720550774.783280887]: 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://f8d78a28a7ad:11311/[0m
]2;roscore http://f8d78a28a7ad:11311/
[1msetting /run_id to 845c0b6c-3e23-11ef-b2f8-0242ac110005[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] [1720550783.827626542]: 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: 316913927.19 
init first imu pose
averge acc 9.530741 -0.420674 -3.109175
init R0 
  0.312691   0.127356   0.941278
         0  -0.990971   0.134079
  0.949855 -0.0419253  -0.309867
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! 
[33m[ WARN] [1720550796.546625590]: gyroscope bias initial calibration -0.0847778 -0.0315924  0.0497523[0m
[0m[ INFO] [1720550796.587824506]: Initialization finish![0m
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time: 1403636989.151666, t: -11010.034038 -13169.772054 -6577.414754 q: 0.573026 -0.532846 -0.270317 -0.560932 
time: 1403636990.151666, t: -11181.067804 -13373.203355 -6653.296016 q: 0.531208 -0.551564 -0.294416 -0.571765 
time: 1403636991.151666, t: -11259.110699 -13623.298692 -6726.559478 q: 0.521754 -0.557909 -0.313030 -0.564379 
time: 1403636993.151666, t: -12657.335608 -13191.570114 -6920.401604 q: -0.279237 0.695542 0.116963 0.651589 
time: 1403636994.151666, t: -9217.066900 -13736.962947 -6978.970273 q: 0.731603 -0.146169 -0.607885 -0.271787 
time: 1403636995.151666, t: -12099.038677 -14133.124749 -7010.012770 q: 0.613125 -0.513352 -0.310951 -0.513670 
time: 1403636996.151666, t: -12215.575991 -14346.401711 -7074.064116 q: 0.606553 -0.522065 -0.322094 -0.505763 
time: 1403636997.151666, t: -12296.955092 -14574.174704 -7138.523002 q: 0.634196 -0.420524 -0.430933 -0.485028 
time: 1403636998.151666, t: -11510.714070 -15063.795521 -7232.133399 q: 0.632200 -0.341569 -0.529402 -0.450985 
time: 1403636999.151666, t: -11680.567408 -15278.535231 -7304.033214 q: 0.634334 -0.353171 -0.482243 -0.490238 
time: 1403637000.151666, t: -11689.378902 -15508.649486 -7375.638271 q: 0.634025 -0.374583 -0.457243 -0.498627 
time: 1403637001.151666, t: -11902.138080 -15702.956472 -7449.565650 q: 0.614417 -0.417032 -0.428673 -0.514603 
time: 1403637002.151666, t: -11958.699955 -15937.494765 -7517.064356 q: 0.610945 -0.429070 -0.431494 -0.506416 
time: 1403637003.151666, t: -11599.097812 -16209.471850 -7611.834643 q: 0.544726 -0.495431 -0.402439 -0.543935 
time: 1403637004.151666, t: -11614.073447 -16443.540746 -7682.110793 q: 0.541029 -0.498055 -0.406769 -0.542004 
time: 1403637005.151666, t: -11729.146499 -16664.820158 -7755.303658 q: 0.538802 -0.517295 -0.388319 -0.539729 
time: 1403637006.151666, t: -11753.308434 -16895.902788 -7825.132231 q: 0.539244 -0.506998 -0.393888 -0.544997 
time: 1403637007.151666, t: -13582.725862 -15869.098440 -7973.300780 q: -0.001480 0.701900 0.039806 0.711161 
time: 1403637008.151666, t: -12858.422897 -12875.328275 -8056.103136 q: 0.051104 0.726957 -0.021951 0.684426 
time: 1403637009.151666, t: -12512.969060 -12554.928802 -8139.902452 q: 0.480971 0.784500 -0.176196 0.349546 
time: 1403637010.151666, t: -12536.052517 -12358.686408 -8252.408326 q: 0.460553 0.776226 -0.150401 0.403416 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720550938.507186968]: Shutdown request received.[0m
[33m[ WARN] [1720550938.507229101]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720550938.508113935]: Shutdown request received.[0m
[33m[ WARN] [1720550938.508152285]: Reason given for shutdown: [user request][0m
killed
