/SLAM-Hive/slam_hive_results/mapping_results/3157/2362_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-22.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720551530.980139226]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720551530.981028958]: init begins[0m
[31m[ERROR] [1720551530.982099059]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/47bf8100-3e25-11ef-a98f-0242ac110005/roslaunch-f66bf42ebe2b-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://f66bf42ebe2b:33761/[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] [1720551532.087063187]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720551532.087349081]: 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] [1720551532.093116053]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720551532.093326388]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720551532.093355496]: ROW: 192 COL: 300 [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] [1720551532.093602961]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720551532.093843614]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720551532.094015197]: 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://f66bf42ebe2b:11311/[0m
]2;roscore http://f66bf42ebe2b:11311/
[1msetting /run_id to 47bf8100-3e25-11ef-a98f-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] [1720551541.138462902]: 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: 316914684.50 
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! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720551553.832587648]: gyroscope bias initial calibration  0.0805378   -0.01537 0.00832818[0m
[0m[ INFO] [1720551553.881959031]: Initialization finish![0m
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time: 1403636992.151666, t: 316.562714 11903.360505 -7448.740378 q: -0.212326 0.918623 -0.240463 -0.230708 
time: 1403636993.151666, t: 259.937551 12245.018349 -7938.520832 q: -0.259776 0.897479 -0.235869 -0.267234 
time: 1403636994.151666, t: -275.723274 12309.293490 -8257.208111 q: -0.461948 0.814915 -0.306993 -0.168145 
time: 1403636996.151666, t: 219.142429 13219.339241 -9485.411448 q: -0.331255 0.811436 -0.407257 -0.256873 
time: 1403636997.151666, t: 314.982822 13574.123375 -10089.466383 q: -0.351865 0.786191 -0.438060 -0.257288 
time: 1403636998.151666, t: -1.488647 13852.987858 -10687.757297 q: -0.415060 0.759930 -0.471629 -0.166725 
time: 1403636999.151666, t: 431.198923 14255.186062 -11475.706895 q: -0.396587 0.738504 -0.497366 -0.223514 
time: 1403637000.151666, t: 408.920505 14582.662119 -12309.105226 q: -0.296013 0.760100 -0.537335 -0.214230 
time: 1403637001.151666, t: 246.801415 14911.083008 -13041.814566 q: -0.310853 0.724554 -0.595772 -0.153124 
time: 1403637002.151666, t: 314.408540 15288.280247 -13833.829496 q: -0.372422 0.659262 -0.645560 -0.099638 
time: 1403637003.151666, t: 607.216277 15672.196465 -14702.906775 q: 0.331371 -0.649385 0.670782 0.136177 
time: 1403637004.151666, t: 1656.455264 15915.977381 -15487.327451 q: 0.477283 -0.595161 0.642175 0.074804 
time: 1403637005.151666, t: 2759.193560 15745.958993 -16287.157963 q: 0.343938 -0.638115 0.658656 0.201713 
time: 1403637006.151666, t: 3515.002616 15414.191049 -17061.632645 q: 0.316346 -0.615419 0.682993 0.233892 
time: 1403637007.151666, t: 4141.073331 14888.342364 -17833.305453 q: 0.301668 -0.605606 0.728026 0.110522 
time: 1403637009.151666, t: 4509.829030 13007.074842 -19454.619143 q: 0.420591 -0.474966 0.756244 -0.160018 
time: 1403637010.151666, t: 4047.260478 11817.913903 -20280.626043 q: 0.347624 -0.412416 0.818502 -0.197801 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720551695.680421007]: Shutdown request received.[0m
[33m[ WARN] [1720551695.680461574]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720551695.681325517]: Shutdown request received.[0m
[33m[ WARN] [1720551695.681365642]: Reason given for shutdown: [user request][0m
killed
