/SLAM-Hive/slam_hive_results/mapping_results/3155/2360_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-20.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720551152.452386114]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720551152.453971337]: init begins[0m
[31m[ERROR] [1720551152.455041286]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/6621382e-3e24-11ef-8002-0242ac110005/roslaunch-7a3be98e0fef-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://7a3be98e0fef:34295/[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] [1720551153.558592342]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720551153.560208306]: 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] [1720551153.566441048]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720551153.566658707]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720551153.566683374]: 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] [1720551153.566906711]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720551153.567098438]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720551153.567240565]: 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://7a3be98e0fef:11311/[0m
]2;roscore http://7a3be98e0fef:11311/
[1msetting /run_id to 6621382e-3e24-11ef-8002-0242ac110005[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 [249][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720551162.571817489]: 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: 316914305.93 
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! 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720551175.276853095]: gyroscope bias initial calibration -0.0618952  0.0576694  0.0416194[0m
[0m[ INFO] [1720551175.323020133]: Initialization finish![0m
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time: 1403636994.151666, t: 13716.461614 28093.693366 -36432.695015 q: -0.475814 0.760906 0.440169 0.029563 
time: 1403636995.151666, t: 13326.824184 28581.994846 -37001.755278 q: -0.392953 0.814630 0.424949 0.037190 
time: 1403636996.151666, t: 14260.176305 28926.321104 -37541.846832 q: -0.132500 0.907651 0.390901 0.076219 
time: 1403636997.151666, t: 14042.620926 29481.224524 -38083.916957 q: -0.282129 0.845271 0.453329 0.020310 
time: 1403636998.151666, t: 14892.263449 29662.559365 -38669.764666 q: -0.432127 0.752150 0.496280 0.035256 
time: 1403636999.151666, t: 14196.196191 30373.743914 -39262.837550 q: -0.384624 0.743374 0.508636 0.201865 
time: 1403637000.151666, t: 14341.822384 30872.568512 -39894.672027 q: -0.257032 0.807026 0.474181 0.240410 
time: 1403637001.151666, t: 15175.358634 31136.564075 -40530.512068 q: -0.365495 0.795881 0.475213 0.084606 
time: 1403637002.151666, t: 15082.558318 31698.884037 -41128.379163 q: -0.392583 0.791892 0.466111 0.039071 
time: 1403637003.151666, t: 14499.783759 32318.963799 -41750.641267 q: -0.391132 0.769282 0.487558 0.132316 
time: 1403637004.151666, t: 15736.656119 32522.892175 -42367.116507 q: -0.217552 0.855828 0.459261 0.096487 
time: 1403637005.151666, t: 15221.928071 33242.131866 -42966.311174 q: -0.296408 0.848550 0.438041 0.015045 
time: 1403637006.151666, t: 17527.497030 32480.281954 -43583.300912 q: -0.356355 0.818192 0.451034 -0.011847 
time: 1403637007.151666, t: 14568.263489 34187.613093 -44179.303738 q: 0.501223 -0.741524 -0.419171 0.152358 
time: 1403637008.151666, t: 16346.472771 34369.587781 -44806.220717 q: -0.182244 0.851865 0.485407 0.074113 
time: 1403637009.151666, t: 15698.183283 35143.604352 -45415.782589 q: -0.301225 0.830775 0.465843 -0.045456 
time: 1403637010.151666, t: 14888.014916 35861.913837 -46035.036130 q: -0.151263 0.886024 0.430927 0.079891 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720551317.244761844]: Shutdown request received.[0m
[33m[ WARN] [1720551317.244802546]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720551317.245717813]: Shutdown request received.[0m
[33m[ WARN] [1720551317.245742261]: Reason given for shutdown: [user request][0m
killed
