/SLAM-Hive/slam_hive_results/mapping_results/3159/2364_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-24.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720551909.457413307]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720551909.458401452]: init begins[0m
[31m[ERROR] [1720551909.459442663]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/2957868a-3e26-11ef-9e26-0242ac110005/roslaunch-177d2531f842-118.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://177d2531f842:37525/[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] [1720551910.563644197]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720551910.564521718]: 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] [1720551910.570455687]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720551910.570664307]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720551910.570695443]: 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] [1720551910.570935842]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720551910.571131092]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720551910.571311126]: 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://177d2531f842:11311/[0m
]2;roscore http://177d2531f842:11311/
[1msetting /run_id to 2957868a-3e26-11ef-9e26-0242ac110005[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] [1720551919.581480591]: 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: 316915062.94 
init first imu pose
averge acc 9.674898 -0.483755 -3.234680
init R0 
  0.320251   0.140118   0.936913
         0  -0.989001   0.147908
  0.947333 -0.0473676  -0.316729
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! 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720551942.878832153]: Initialization finish![0m
time: 1403636879.651666, t: -362.802135 -485.313928 -172.054240 q: -0.187693 0.599343 -0.584874 0.513305 
time: 1403636881.651666, t: -494.388687 -624.654774 -242.599326 q: -0.195248 0.570400 -0.555306 0.572851 
time: 1403636883.651666, t: -653.659134 -781.943698 -332.207143 q: -0.164756 0.434735 -0.510200 0.723572 
time: 1403636885.651666, t: -843.479499 -956.582861 -443.488741 q: -0.188366 0.370710 -0.523587 0.743605 
time: 1403636887.651666, t: 646.366337 1354.652070 -587.746010 q: 0.786890 -0.064688 -0.431021 0.436853 
time: 1403636889.651666, t: -414.016225 1768.867551 -775.612933 q: 0.558404 0.456398 -0.373873 0.583185 
time: 1403636891.651666, t: -574.031655 2034.911827 -911.871992 q: 0.540128 0.443343 -0.378799 0.606811 
time: 1403636893.651666, t: -1780.722964 1652.006848 -1068.869600 q: 0.316121 0.596812 -0.215443 0.705314 
time: 1403636895.651666, t: -2062.641816 1833.947305 -1215.327616 q: 0.307935 0.599712 -0.211066 0.707794 
time: 1403636897.651666, t: -866.399795 2936.189345 -1397.956799 q: 0.469607 0.656639 -0.356592 0.470252 
time: 1403636899.651666, t: -882.171629 3280.242942 -1548.235644 q: 0.507449 0.608784 -0.391836 0.467270 
time: 1403636901.651666, t: -1486.692547 3454.656854 -1698.240422 q: 0.476051 0.634801 -0.398539 0.459968 
time: 1403636903.651666, t: 3024.762443 1119.857590 -1866.181147 q: 0.684493 -0.081050 -0.716477 -0.107524 
time: 1403636905.651666, t: 3087.794753 2241.466773 -2045.156964 q: 0.721699 0.353521 -0.592433 0.056550 
time: 1403636907.651666, t: 3396.152303 2523.270366 -2224.941924 q: 0.718861 0.354473 -0.583546 0.130619 
time: 1403636909.651666, t: 3833.563939 2564.450671 -2409.634674 q: 0.722795 0.288276 -0.600549 0.183860 
time: 1403636911.651666, t: 4148.540257 2916.327601 -2598.958509 q: 0.736542 0.481818 -0.433469 0.193551 
time: 1403636913.651666, t: 4918.171948 2004.505776 -2821.107344 q: 0.780912 0.209168 -0.581903 0.088401 
time: 1403636915.651666, t: 5297.638966 2696.485207 -3069.518435 q: 0.776531 0.278575 -0.539701 0.167685 
time: 1403636917.651666, t: 5928.052791 2389.911912 -3331.443151 q: 0.812859 -0.018796 -0.581343 0.030786 
time: 1403636919.651666, t: 6073.453417 3719.601440 -3607.310841 q: 0.764977 0.065196 -0.557443 0.315938 
time: 1403636921.651666, t: 6786.621657 3562.569071 -3898.270809 q: 0.771157 -0.059657 -0.581449 0.252341 
time: 1403636923.651666, t: 7712.682747 1851.076117 -4197.084743 q: 0.811117 0.123749 -0.569822 -0.045588 
time: 1403636925.651666, t: 8307.714652 2823.044915 -4514.016075 q: 0.764667 0.273152 -0.583655 -0.004415 
time: 1403636927.651666, t: 8891.108792 3331.793143 -4832.689684 q: 0.776536 -0.070668 -0.625783 -0.019843 
time: 1403636929.651666, t: 9494.064648 3765.494765 -5157.650738 q: 0.803835 -0.138749 -0.577641 -0.030480 
time: 1403636931.651666, t: 10163.253142 4032.639121 -5496.016352 q: 0.792265 -0.237360 -0.554942 -0.089533 
time: 1403636933.651666, t: 11005.655319 3656.918525 -5840.578041 q: 0.807334 -0.157836 -0.564955 -0.064223 
time: 1403636935.651666, t: 11821.991975 3371.210147 -6212.281579 q: 0.831078 -0.110532 -0.493269 -0.231901 
time: 1403636937.651666, t: 12599.544045 3526.479610 -6602.497398 q: 0.813678 -0.168501 -0.497500 -0.249058 
time: 1403636939.651666, t: 13411.705766 1970.774669 -7025.849354 q: 0.844755 -0.060590 -0.340577 -0.408320 
time: 1403636941.651666, t: 14244.915272 1695.445972 -7492.315064 q: 0.814989 -0.141312 -0.341962 -0.445966 
time: 1403636943.651666, t: 15167.193007 1806.574448 -7984.927079 q: 0.803520 -0.271754 -0.320466 -0.421671 
time: 1403636945.651666, t: 16121.343313 1984.427402 -8498.947085 q: 0.763870 -0.413126 -0.332000 -0.368245 
time: 1403636947.651666, t: 17108.336652 3175.191038 -9017.734571 q: 0.744618 -0.226336 -0.571341 -0.260550 
time: 1403636949.651666, t: 18019.091551 1915.360191 -9523.821788 q: 0.746992 -0.204322 -0.520462 -0.359686 
time: 1403636951.651666, t: 17871.507824 -1566.558239 -10067.974406 q: 0.827566 -0.384439 -0.382604 -0.144760 
time: 1403636953.651666, t: 19672.176160 4964.691726 -10646.943073 q: 0.832618 -0.019077 -0.516701 0.198503 
time: 1403636955.651666, t: 15807.359457 -5725.923159 -11214.519949 q: 0.600795 -0.566124 -0.360937 -0.433905 
time: 1403636957.651666, t: 19407.709688 8159.349697 -11809.603308 q: 0.658258 0.491734 -0.453605 0.345162 
time: 1403636959.651666, t: 20903.590234 7977.577919 -12418.153228 q: 0.505894 0.786502 -0.221865 0.276155 
time: 1403636961.651666, t: 22279.521652 7852.639856 -13044.584637 q: 0.304854 0.930214 -0.023857 0.202969 
time: 1403636963.651666, t: 24299.529773 5695.152228 -13688.086702 q: 0.170649 0.970357 -0.009607 0.170863 
time: 1403636965.651666, t: 25607.253952 4854.438537 -14349.416263 q: 0.101970 0.980998 -0.029062 0.162481 
time: 1403636967.651666, t: 26772.315878 2510.203649 -15022.115458 q: 0.228442 0.931871 -0.186242 0.211529 
time: 1403636969.651666, t: 27160.189582 -569.989330 -15726.749037 q: -0.003439 0.894316 -0.205073 0.397659 
time: 1403636971.651666, t: 27745.880862 -1878.995789 -16401.425838 q: -0.265302 0.803013 -0.212502 0.489519 
time: 1403636973.651666, t: 27765.944837 -3900.768823 -17049.827708 q: -0.197366 0.818009 -0.269831 0.468080 
time: 1403636975.651666, t: 28940.809136 -4206.143573 -17728.109357 q: -0.074930 0.762758 -0.477715 0.429387 
time: 1403636977.651666, t: 30505.302132 -3769.847193 -18410.363317 q: 0.002188 0.711597 -0.609212 0.349981 
time: 1403636979.651666, t: 32230.101701 -2579.171072 -19100.469577 q: -0.015356 0.731666 -0.613368 0.297000 
time: 1403636981.651666, t: 18721.346565 -9772.839629 -19786.965990 q: -0.221168 -0.258240 0.868221 -0.361372 
time: 1403636983.651666, t: 28707.307634 -9531.227579 -20474.437697 q: 0.097275 -0.475732 0.771105 -0.411842 
time: 1403636985.651666, t: 33940.116232 92.420765 -21249.657106 q: -0.438739 0.659910 -0.580235 0.188028 
time: 1403636987.651666, t: 35137.903067 -1219.231812 -22038.959518 q: -0.339547 0.733706 -0.522449 0.270982 
time: 1403636989.651666, t: 36114.755701 -2964.441464 -22826.745050 q: -0.295530 0.762680 -0.472389 0.328374 
time: 1403636991.651666, t: 36619.972500 -5346.528074 -23616.551456 q: -0.255746 0.754458 -0.492269 0.350796 
time: 1403636993.651666, t: 35092.239839 -9598.751335 -24374.754337 q: 0.028629 0.793491 -0.519519 0.315678 
time: 1403636995.651666, t: 37524.209720 -8505.796282 -25171.898887 q: -0.180024 0.723067 -0.452603 0.489812 
time: 1403636997.651666, t: 38499.740178 -9141.002915 -25970.990802 q: -0.243236 0.787125 -0.213638 0.525005 
time: 1403636999.651666, t: 35538.454658 -13440.858837 -26781.856834 q: -0.105469 0.601059 -0.431000 0.664713 
time: 1403637001.651666, t: 41470.108323 -7653.399076 -27604.861185 q: -0.350909 0.577482 -0.453317 0.581276 
time: 1403637003.651666, t: 41093.210477 -11160.788240 -28459.033106 q: -0.224698 0.682404 -0.393502 0.573578 
time: 1403637005.651666, t: 39256.950912 -14765.516909 -29321.764736 q: -0.213232 0.738447 -0.488460 0.413080 
time: 1403637007.651666, t: 41045.121387 -14930.583681 -30193.465292 q: -0.261099 0.745247 -0.394486 0.469910 
time: 1403637009.651666, t: 44260.922172 -12922.164879 -31075.885599 q: -0.238925 0.749600 -0.396870 0.472767 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720552074.285107004]: Shutdown request received.[0m
[33m[ WARN] [1720552074.285139485]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720552074.285997074]: Shutdown request received.[0m
[33m[ WARN] [1720552074.286036032]: Reason given for shutdown: [user request][0m
killed
