/SLAM-Hive/slam_hive_results/mapping_results/3154/2359_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-19.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720550963.090036839]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720550963.096639437]: init begins[0m
[31m[ERROR] [1720550963.097721790]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/f54366f4-3e23-11ef-b390-0242ac110005/roslaunch-54a09142a757-118.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://54a09142a757:33707/[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] [1720550964.245851163]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://54a09142a757:11311/[0m
]2;roscore http://54a09142a757:11311/
[1msetting /run_id to f54366f4-3e23-11ef-b390-0242ac110005[0m
[0m[ INFO] [1720550964.253585020]: 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] [1720550964.260173001]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720550964.260419365]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720550964.260451051]: ROW: 384 COL: 601 [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] [1720550964.260732968]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720550964.260940242]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720550964.261108159]: 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 [227][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720550973.245660611]: 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: 316914116.61 
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] [1720550985.964603117]: gyroscope bias initial calibration 0.0332128 0.0597266 0.0683811[0m
[0m[ INFO] [1720550986.002743791]: Initialization finish![0m
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time: 1403636993.151666, t: 13813.435897 1722.275071 -16162.060543 q: 0.812372 0.023588 -0.238337 0.531687 
time: 1403636994.151666, t: 13848.435999 1830.353798 -16488.736255 q: 0.866965 0.118134 -0.141734 0.462954 
time: 1403636995.151666, t: 13910.203278 1924.467690 -16810.722503 q: 0.891120 0.120064 -0.124820 0.419415 
time: 1403636996.151666, t: 14243.662969 1792.590392 -17062.517799 q: 0.888350 0.156758 -0.195281 0.384873 
time: 1403636997.151666, t: 14288.473926 1895.848459 -17371.747201 q: 0.891290 0.295164 -0.154217 0.307730 
time: 1403636998.151666, t: 14346.525663 1997.935209 -17686.818398 q: 0.910594 0.310896 -0.117467 0.245691 
time: 1403636999.151666, t: 14761.784942 1913.481371 -17896.972458 q: 0.945004 0.241816 -0.046504 0.215241 
time: 1403637000.151666, t: 14859.333399 2016.602144 -18204.435650 q: 0.957104 0.235258 -0.025726 0.167161 
time: 1403637001.151666, t: 14956.645287 2122.084326 -18516.177376 q: 0.964030 0.236595 -0.015178 0.120159 
time: 1403637002.151666, t: 15061.198739 2229.410119 -18827.843823 q: 0.969255 0.235222 -0.017060 0.070180 
time: 1403637003.151666, t: 15213.484701 2214.824413 -19164.956182 q: 0.957528 0.267196 -0.104402 0.029094 
time: 1403637004.151666, t: 15124.256724 2274.177325 -19592.802006 q: 0.930053 0.301870 -0.208043 -0.024364 
time: 1403637005.151666, t: 15220.424709 2356.480222 -19887.810207 q: 0.932636 0.303830 -0.186878 -0.054359 
time: 1403637006.151666, t: 15147.247283 2394.434626 -20291.953097 q: 0.900139 0.328422 -0.258620 -0.122497 
time: 1403637007.151666, t: 15213.273907 2435.881463 -20625.659970 q: 0.873652 0.380121 -0.205052 -0.224042 
time: 1403637008.151666, t: 15380.082309 2139.553728 -21120.688923 q: 0.864822 0.340456 -0.209233 -0.303965 
time: 1403637009.151666, t: 15479.217142 1760.676623 -21562.469276 q: 0.865428 0.163455 -0.299775 -0.366675 
time: 1403637010.151666, t: 15591.980475 1734.363436 -21891.788754 q: 0.861515 0.222042 -0.259566 -0.375653 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720551127.906699136]: Shutdown request received.[0m
[33m[ WARN] [1720551127.906740936]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720551127.907709446]: Shutdown request received.[0m
[33m[ WARN] [1720551127.907739067]: Reason given for shutdown: [user request][0m
killed
