/SLAM-Hive/slam_hive_results/mapping_results/3161/2366_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-26.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720552287.872677045]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720552287.873662834]: init begins[0m
[31m[ERROR] [1720552287.874664033]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/0ae48d8c-3e27-11ef-82f3-0242ac110005/roslaunch-0ead1460a934-118.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://0ead1460a934:46203/[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] [1720552288.978998482]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720552288.984397904]: 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] [1720552288.990181493]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720552288.990372605]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720552288.990402175]: 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] [1720552288.990628752]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
config_file: /slamhive/mappingtask.yaml
[0m[ INFO] [1720552288.990851864]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720552288.991013481]: waiting for image and imu...[0m
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1mROS_MASTER_URI=http://0ead1460a934:11311/[0m
]2;roscore http://0ead1460a934:11311/
[1msetting /run_id to 0ae48d8c-3e27-11ef-82f3-0242ac110005[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] [1720552298.039109134]: 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: 316915441.40 
init first imu pose
averge acc 9.674898 -0.483755 -3.234680
init R0 
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] [1720552321.248057109]: gyroscope bias initial calibration -0.00538476   0.0010684    0.016721[0m
[0m[ INFO] [1720552321.325801887]: Initialization finish![0m
time: 1403636879.651666, t: 116.315047 639.693422 -96.971131 q: 0.452872 0.364030 -0.411669 0.702081 
time: 1403636881.651666, t: 816.659092 -177.587436 -144.439447 q: 0.514883 0.293248 -0.805543 0.001034 
time: 1403636883.651666, t: 1016.778193 -213.751831 -203.468190 q: 0.540038 0.389930 -0.739119 0.100086 
time: 1403636885.651666, t: 1222.578590 -262.142804 -263.983365 q: 0.503389 0.408882 -0.755286 0.094649 
time: 1403636887.651666, t: 1430.270403 -326.947713 -326.945574 q: -0.456194 -0.410737 0.786515 -0.067652 
time: 1403636889.651666, t: -1492.042066 885.989792 -460.129348 q: -0.085459 0.649126 0.008509 0.755818 
time: 1403636891.651666, t: -1581.300209 1183.968667 -536.492207 q: -0.077181 0.664069 0.041415 0.742523 
time: 1403636893.651666, t: -1758.598137 1416.594326 -608.305711 q: 0.162584 0.625971 -0.093383 0.756972 
time: 1403636895.651666, t: 238.734353 2459.565465 -698.984528 q: 0.421357 0.632390 -0.216416 0.612949 
time: 1403636897.651666, t: 658.583768 2712.777624 -799.124524 q: 0.463303 0.646949 -0.257542 0.548159 
time: 1403636899.651666, t: -1129.810864 2963.909677 -954.281612 q: 0.238804 0.644531 -0.350435 0.636198 
time: 1403636901.651666, t: -707.021512 3428.157411 -1031.718814 q: 0.300351 0.630923 -0.373674 0.609994 
time: 1403636903.651666, t: -567.022940 3799.878927 -1111.632221 q: 0.324423 0.630432 -0.376628 0.596201 
time: 1403636905.651666, t: 361.104536 4146.781714 -1193.339487 q: 0.377665 0.612297 -0.436411 0.540377 
time: 1403636907.651666, t: 2530.379130 -1424.320132 -1241.411363 q: 0.695847 -0.097505 -0.708252 -0.068336 
time: 1403636909.651666, t: 2843.607758 -1653.342125 -1318.262882 q: 0.703703 -0.089094 -0.701128 -0.072693 
time: 1403636911.651666, t: 3853.484992 1411.639538 -1430.019344 q: 0.659036 0.298883 -0.652655 0.224457 
time: 1403636913.651666, t: 4192.591096 -586.631304 -1490.648941 q: 0.718715 -0.077618 -0.687758 -0.066429 
time: 1403636915.651666, t: 4386.902103 2158.859286 -1569.898477 q: 0.650136 0.259540 -0.672161 0.241167 
time: 1403636917.651666, t: 5234.671775 426.691354 -1611.341523 q: 0.749378 -0.052850 -0.659024 -0.036429 
time: 1403636919.651666, t: 4207.594311 3639.393662 -1740.558060 q: 0.614395 0.419455 -0.605765 0.282179 
time: 1403636921.651666, t: 5896.292410 1999.702371 -1759.672085 q: 0.737163 0.011562 -0.671367 0.075657 
time: 1403636923.651666, t: 6480.005185 1686.990094 -1851.102218 q: 0.729841 0.100916 -0.676028 0.011601 
time: 1403636925.651666, t: 6901.613214 2181.175709 -1964.367908 q: 0.698824 0.043928 -0.713106 -0.034572 
time: 1403636927.651666, t: 7518.023951 1147.595043 -2059.356897 q: 0.734008 0.046904 -0.675768 -0.048673 
time: 1403636929.651666, t: 7938.753255 776.760716 -2194.557153 q: 0.739930 0.109607 -0.658973 0.079024 
time: 1403636931.651666, t: 8500.011950 1121.565139 -2313.451407 q: 0.737451 0.025970 -0.673866 0.037362 
time: 1403636933.651666, t: 8958.498932 519.253236 -2397.637192 q: 0.677426 -0.299186 -0.665812 -0.090967 
time: 1403636935.651666, t: 8715.216156 -1434.459414 -2444.067014 q: 0.686093 -0.486905 -0.488518 -0.231411 
time: 1403636937.651666, t: 10012.845394 1293.662470 -2548.433480 q: 0.628145 -0.316489 -0.707796 -0.065524 
time: 1403636939.651666, t: 3997.115006 -3544.331364 -2667.485476 q: -0.366061 0.768575 0.182297 0.491996 
time: 1403636941.651666, t: 9277.304886 3715.074390 -2648.862651 q: 0.761474 -0.033173 -0.630183 0.148076 
time: 1403636943.651666, t: 9483.455165 4208.588016 -2726.053830 q: 0.710233 -0.048055 -0.687432 0.143861 
time: 1403636945.651666, t: 9317.690068 5023.302589 -2799.016073 q: 0.648153 0.007427 -0.738422 0.185943 
time: 1403636947.651666, t: 10623.372624 3998.514456 -2812.146286 q: 0.654141 -0.028958 -0.746842 0.116137 
time: 1403636949.651666, t: 5029.186988 6289.865612 -2889.521464 q: 0.482641 0.444319 -0.513931 0.552733 
time: 1403636951.651666, t: 5530.948053 6940.984923 -2902.020227 q: 0.571145 0.474258 -0.490133 0.456774 
time: 1403636953.651666, t: 3234.062629 6085.041832 -2890.521074 q: 0.453061 0.513910 -0.284617 0.670541 
time: 1403636955.651666, t: 1961.891375 4722.552629 -2886.823781 q: 0.387461 0.606065 -0.140011 0.680409 
time: 1403636957.651666, t: 1256.766177 3010.730592 -2936.328365 q: 0.250919 0.709235 0.048016 0.657054 
time: 1403636959.651666, t: 2261.816238 -182.435676 -2986.489632 q: 0.038026 0.709324 0.363530 0.602710 
time: 1403636961.651666, t: 7311.050486 -1577.696768 -3042.866265 q: -0.207161 0.484462 0.739841 0.418350 
time: 1403636963.651666, t: 9063.447986 -1069.927900 -3117.827734 q: -0.248926 0.336843 0.884825 0.204101 
time: 1403636965.651666, t: 9903.280800 -893.908410 -3228.076317 q: -0.208024 0.311629 0.924719 0.067144 
time: 1403636967.651666, t: 10478.611744 -906.539855 -3384.808367 q: -0.194395 0.355773 0.907934 0.106258 
time: 1403636969.651666, t: 10927.435888 -1018.746689 -3587.760891 q: -0.167115 0.349742 0.918852 0.073924 
time: 1403636971.651666, t: 9630.446620 -2716.245753 -3753.772849 q: -0.104064 0.550772 0.814592 0.149199 
time: 1403636973.651666, t: 9821.423091 -2890.656742 -3922.954664 q: 0.062409 0.675834 0.689748 0.252193 
time: 1403636975.651666, t: 11628.343407 -1204.427327 -4227.902994 q: 0.250486 0.647320 0.578002 0.429123 
time: 1403636977.651666, t: 12424.503493 373.111818 -4627.868448 q: 0.313255 0.609634 0.527568 0.501886 
time: 1403636979.651666, t: 12731.036449 1945.166016 -5095.267755 q: 0.376754 0.585470 0.570597 0.435546 
time: 1403636981.651666, t: 13281.924190 2557.735543 -5651.761038 q: 0.156940 0.613594 0.694703 0.340969 
time: 1403636983.651666, t: 13337.003331 3704.901768 -6285.957575 q: 0.126815 0.598322 0.723049 0.321137 
time: 1403636985.651666, t: 13162.989034 4845.930139 -6939.138117 q: 0.038873 0.578070 0.719330 0.383261 
time: 1403636987.651666, t: 11885.327611 6325.779907 -7604.991237 q: -0.013084 0.558376 0.736707 0.381191 
time: 1403636989.651666, t: 11578.425712 7172.235469 -8294.179466 q: -0.102001 0.523362 0.801874 0.269604 
time: 1403636991.651666, t: 11320.650174 7861.824931 -8985.438720 q: -0.191534 0.456637 0.847533 0.191011 
time: 1403636993.651666, t: 11762.040270 8444.287935 -9671.668115 q: -0.293585 0.370433 0.865066 0.168072 
time: 1403636995.651666, t: 10138.469598 9229.200903 -10368.084042 q: -0.287883 0.344127 0.885056 0.123998 
time: 1403636997.651666, t: 7043.049879 8948.382269 -11091.091542 q: -0.331450 0.177191 0.918831 -0.120393 
time: 1403636999.651666, t: 4953.186014 7872.866436 -11749.786840 q: -0.425521 0.026546 0.897409 -0.113505 
time: 1403637001.651666, t: 3814.951272 7160.320458 -12379.668455 q: -0.453905 -0.142226 0.867976 -0.142686 
time: 1403637003.651666, t: 5384.500605 10202.515980 -12991.436356 q: -0.346668 -0.022456 0.936856 -0.040232 
time: 1403637005.651666, t: 5377.122371 11433.038220 -13592.988532 q: -0.259891 0.036153 0.960692 -0.090661 
time: 1403637007.651666, t: 4833.088428 12107.540283 -14251.098005 q: -0.261495 0.005554 0.963769 -0.052332 
time: 1403637009.651666, t: 2505.414549 10787.739753 -14941.690079 q: -0.453373 -0.121519 0.881465 -0.052010 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720552452.679177790]: Shutdown request received.[0m
[33m[ WARN] [1720552452.679229997]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720552452.680133636]: Shutdown request received.[0m
[33m[ WARN] [1720552452.680155800]: Reason given for shutdown: [user request][0m
killed
