/SLAM-Hive/slam_hive_results/mapping_results/3160/2365_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-25.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720552098.750198401]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720552098.751809207]: init begins[0m
[31m[ERROR] [1720552098.752807942]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/9a2bfdfa-3e26-11ef-83f3-0242ac110005/roslaunch-fd784deaeb9f-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://fd784deaeb9f:42259/[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
[1mROS_MASTER_URI=http://fd784deaeb9f:11311/[0m
]2;roscore http://fd784deaeb9f:11311/
[1msetting /run_id to 9a2bfdfa-3e26-11ef-83f3-0242ac110005[0m
[0m[ INFO] [1720552099.905628491]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720552099.908514924]: 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] [1720552099.914474945]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720552099.914708241]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720552099.914734618]: 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] [1720552099.914964473]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720552099.915159343]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720552099.915327489]: 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 [232][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720552108.883479992]: 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: 316915252.24 
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! 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720552132.096109896]: gyroscope bias initial calibration  0.0365645 0.00790809  0.0194572[0m
[0m[ INFO] [1720552132.169350468]: Initialization finish![0m
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time: 1403636881.651666, t: -150.843358 -143.138074 -97.721228 q: -0.207560 -0.559831 0.762753 -0.248429 
time: 1403636883.651666, t: -64.510115 -294.449368 -121.119486 q: 0.185779 0.698504 -0.615280 0.314659 
time: 1403636885.651666, t: 16.104955 -422.751697 -174.270871 q: 0.271861 0.702269 -0.607958 0.251590 
time: 1403636887.651666, t: 98.775475 -553.075482 -233.370719 q: 0.342486 0.680317 -0.626313 0.166146 
time: 1403636889.651666, t: 154.609290 -493.104370 -96.287568 q: 0.240561 0.757596 -0.461274 0.394215 
time: 1403636891.651666, t: 422.484001 -481.504977 -107.297717 q: 0.280528 0.816629 -0.354503 0.358816 
time: 1403636893.651666, t: 195.102795 -337.576937 -30.954951 q: 0.352438 0.756956 -0.423746 0.351063 
time: 1403636895.651666, t: 111.681924 -285.458648 38.468450 q: 0.347022 0.732243 -0.423077 0.405465 
time: 1403636897.651666, t: 32.738216 -349.010247 53.358986 q: 0.342273 0.738269 -0.437588 0.382525 
time: 1403636899.651666, t: -23.505345 -703.833846 36.081687 q: 0.378744 0.719816 -0.480597 0.327787 
time: 1403636901.651666, t: 0.192306 -782.730870 97.523353 q: 0.350346 0.724114 -0.485366 0.342544 
time: 1403636903.651666, t: 297.309450 -810.643575 55.883521 q: 0.361765 0.729656 -0.458091 0.356204 
time: 1403636905.651666, t: -120.123630 -1042.875986 31.116307 q: 0.424772 0.721144 -0.426791 0.342591 
time: 1403636907.651666, t: -1288.657751 -920.260610 -270.878032 q: -0.455380 -0.431032 0.748207 -0.216856 
time: 1403636909.651666, t: -1159.954227 44.968115 -410.694426 q: -0.481574 -0.008226 0.872964 -0.077156 
time: 1403636911.651666, t: -1191.237604 22.877766 -405.525676 q: 0.501178 -0.018798 -0.864950 0.018148 
time: 1403636913.651666, t: -1105.279153 416.449444 -488.936891 q: 0.555439 0.036775 -0.830740 0.002438 
time: 1403636915.651666, t: -1255.064735 491.281827 -556.104318 q: 0.525312 0.044839 -0.849666 0.010167 
time: 1403636917.651666, t: -472.089768 893.476465 -832.515985 q: -0.418315 0.598946 0.557900 0.393730 
time: 1403636919.651666, t: 441.560591 834.849346 -721.582791 q: -0.278046 0.762340 0.323474 0.486716 
time: 1403636921.651666, t: 697.430891 887.750327 -524.589682 q: -0.214775 0.671285 0.433513 0.561529 
time: 1403636923.651666, t: 984.183264 1065.300326 -456.698168 q: -0.173303 0.625618 0.465652 0.601445 
time: 1403636925.651666, t: 1066.433213 -988.662664 -427.457171 q: 0.140880 0.745515 -0.167212 0.629603 
time: 1403636927.651666, t: 1365.863159 -1317.534117 -27.823135 q: 0.266365 0.547336 -0.365590 0.704143 
time: 1403636931.651666, t: 1868.061731 -1300.807035 333.428467 q: 0.260099 0.552571 -0.335426 0.717289 
time: 1403636933.651666, t: 2161.197112 -1520.654486 54.098825 q: -0.339068 -0.485484 0.597494 -0.540684 
time: 1403636935.651666, t: 1597.627698 -2040.599315 -113.995931 q: -0.430828 -0.205321 0.786221 -0.392539 
time: 1403636937.651666, t: 1861.132922 -1963.481653 -205.995360 q: -0.425465 -0.290899 0.805559 -0.292286 
time: 1403636939.651666, t: 1515.824366 -2229.043748 -372.626456 q: -0.457458 -0.101662 0.857988 -0.210366 
time: 1403636941.651666, t: 1372.499402 -2399.494188 -822.965178 q: -0.391963 -0.027326 0.916426 -0.076031 
time: 1403636943.651666, t: 1101.057232 -2500.702292 -880.245087 q: -0.391616 -0.016651 0.919357 -0.033792 
time: 1403636945.651666, t: 895.806094 -2555.896264 -935.378785 q: -0.387927 -0.178778 0.885759 -0.181611 
time: 1403636947.651666, t: 1011.488531 -2687.137943 -1177.300831 q: -0.378619 -0.037158 0.924660 0.016457 
time: 1403636949.651666, t: 1099.366793 -3151.350494 -1209.155907 q: -0.353395 -0.099273 0.927807 0.066573 
time: 1403636951.651666, t: 1441.908173 -3098.914772 -1534.764730 q: -0.411295 -0.190898 0.890608 0.034814 
time: 1403636953.651666, t: 1354.194997 -3429.976773 -1549.884187 q: -0.376680 -0.204201 0.893035 0.137485 
time: 1403636955.651666, t: 1569.556987 -3585.533504 -1715.660115 q: -0.474974 -0.318784 0.817933 0.061337 
time: 1403636957.651666, t: 1586.589298 -3690.651559 -1791.232968 q: -0.332051 -0.409938 0.843559 0.100509 
time: 1403636959.651666, t: 1646.029063 -3861.780989 -1862.082628 q: -0.228516 -0.483533 0.838414 0.105065 
time: 1403636961.651666, t: 1898.847550 -4038.502110 -1922.989155 q: -0.142616 -0.381659 0.882628 0.234448 
time: 1403636963.651666, t: 2280.321505 -4179.315809 -1994.166761 q: -0.108550 -0.468206 0.865824 0.139100 
time: 1403636965.651666, t: 2647.357444 -4334.988383 -2098.533660 q: -0.069513 -0.591417 0.800782 0.064357 
time: 1403636967.651666, t: 2955.902642 -4551.474634 -2220.022648 q: -0.194859 -0.646388 0.733318 0.080359 
time: 1403636969.651666, t: 2862.123365 -4905.710194 -2428.729083 q: 0.287010 0.708949 -0.642195 -0.051013 
time: 1403636971.651666, t: 2177.451590 -5359.111173 -2623.442898 q: 0.310481 0.792321 -0.519683 0.075886 
time: 1403636973.651666, t: 1347.881415 -5479.193585 -2917.137919 q: 0.224473 0.872232 -0.409390 0.145679 
time: 1403636975.651666, t: 1864.064494 -5919.395561 -3066.423502 q: 0.557263 0.522063 -0.592554 -0.256492 
time: 1403636977.651666, t: 895.899365 -6079.142037 -3054.582272 q: 0.747230 0.105034 -0.597803 -0.270641 
time: 1403636979.651666, t: 883.764092 -6486.618711 -3114.546536 q: 0.767647 -0.002030 -0.596634 -0.233968 
time: 1403636981.651666, t: 1099.350415 -6914.858155 -3283.016135 q: 0.783342 -0.058624 -0.550657 -0.282340 
time: 1403636983.651666, t: 2244.140017 -7174.466821 -3425.422262 q: 0.681006 -0.313312 -0.566503 -0.342260 
time: 1403636985.651666, t: 2788.422448 -7316.232452 -3645.523171 q: 0.622086 -0.396114 -0.535107 -0.412024 
time: 1403636987.651666, t: 63.584997 -7554.853614 -3950.138386 q: 0.539718 -0.622498 -0.317514 -0.469452 
time: 1403636989.651666, t: 3467.127172 -7426.850477 -4056.030890 q: 0.555015 -0.376171 -0.572675 -0.471696 
time: 1403636991.651666, t: 1885.207660 -8536.000479 -4354.645039 q: 0.562381 -0.446077 -0.438142 -0.541087 
time: 1403636993.651666, t: 1314.798426 -9030.599676 -4512.080154 q: 0.519099 -0.499908 -0.459954 -0.518720 
time: 1403636995.651666, t: 157.177457 -9357.480769 -4644.840675 q: 0.551756 -0.419969 -0.498837 -0.519954 
time: 1403636997.651666, t: 3263.918442 -9743.532347 -4772.235018 q: 0.571802 -0.218617 -0.640933 -0.463091 
time: 1403636999.651666, t: -1243.213275 -9652.372354 -5035.811070 q: -0.421619 0.508388 0.404859 0.632352 
time: 1403637001.651666, t: 3854.578042 -10522.312515 -5178.575210 q: 0.561143 -0.179240 -0.645699 -0.485863 
time: 1403637003.651666, t: 1305.427226 -11691.362209 -5528.803211 q: -0.481443 0.320174 0.566848 0.586843 
time: 1403637005.651666, t: -2496.843880 -10098.552870 -5731.694335 q: -0.278168 0.683575 0.337996 0.584043 
time: 1403637007.651666, t: 4802.655839 -3347.381328 -5659.874417 q: 0.404107 0.640975 -0.563126 0.329754 
time: 1403637009.651666, t: 6549.578646 -5143.468272 -5667.655248 q: -0.171986 0.753099 -0.418797 0.477360 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720552263.568567612]: Shutdown request received.[0m
[33m[ WARN] [1720552263.568606233]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720552263.569657762]: Shutdown request received.[0m
[33m[ WARN] [1720552263.569685485]: Reason given for shutdown: [user request][0m
killed
