/SLAM-Hive/slam_hive_results/mapping_results/3164/2369_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-29.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720552855.289016951]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720552855.290665310]: init begins[0m
[31m[ERROR] [1720552855.291692548]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/5d1afaa4-3e28-11ef-be0b-0242ac110005/roslaunch-4e22c1fc2d9f-116.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://4e22c1fc2d9f:41965/[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 [153][0m
[0m[ INFO] [1720552856.445569835]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720552856.447031706]: 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] [1720552856.453321775]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720552856.453526669]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720552856.453555196]: ROW: 96 COL: 150 [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] [1720552856.453778492]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720552856.453968425]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720552856.454135121]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://4e22c1fc2d9f:11311/[0m
]2;roscore http://4e22c1fc2d9f:11311/
vocabulary_file/home/catkin_ws/src/VINS-Fusion/loop_fusion/../support_files/brief_k10L6.bin
[1msetting /run_id to 5d1afaa4-3e28-11ef-be0b-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 [246][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720552865.420746518]: 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: 316916008.78 
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! 
wait for imu ... 
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] [1720552888.585323712]: gyroscope bias initial calibration -7.90129e-09  6.93874e-08 -6.13496e-08[0m
[0m[ INFO] [1720552888.656177455]: Initialization finish![0m
time: 1403636879.651666, t: -340.828579 -809.102105 -326.302678 q: 0.301353 -0.561679 0.669224 -0.381893 
time: 1403636881.651666, t: -461.762935 -1025.677582 -445.874371 q: 0.312056 -0.521314 0.662354 -0.438339 
time: 1403636883.651666, t: -609.963566 -1267.230688 -593.598221 q: 0.262981 -0.384806 0.660436 -0.588718 
time: 1403636885.651666, t: -788.591678 -1532.216932 -772.780936 q: 0.284093 -0.306785 0.683845 -0.597938 
time: 1403636887.651666, t: -999.339699 -1819.315881 -989.130225 q: 0.315318 -0.240786 0.712919 -0.578224 
time: 1403636889.651666, t: -1043.138027 -2198.599621 -1195.660880 q: 0.057209 -0.140420 0.913943 -0.376453 
time: 1403636891.651666, t: -1688.034820 -2229.691889 -1459.237068 q: -0.088096 0.202627 0.889425 -0.400130 
time: 1403636893.651666, t: -2075.003820 -2397.911543 -1749.895639 q: -0.073588 0.320988 0.852548 -0.405850 
time: 1403636895.651666, t: -2448.007598 -2567.675697 -2072.083139 q: -0.073619 0.432280 0.811533 -0.386171 
time: 1403636897.651666, t: -1501.883761 -3698.389362 -2428.122214 q: 0.038393 0.176048 0.944748 -0.273831 
time: 1403636899.651666, t: -1708.315176 -4038.129630 -2794.334120 q: 0.037533 0.305676 0.943116 -0.125244 
time: 1403636901.651666, t: -2057.316053 -4311.159413 -3200.217278 q: 0.030889 0.374741 0.922774 -0.084280 
time: 1403636903.651666, t: -2442.065345 -4547.450056 -3638.510618 q: 0.021989 0.445351 0.893309 -0.056377 
time: 1403636905.651666, t: -1788.875106 -5413.196109 -4121.014181 q: 0.018780 0.104827 0.863748 -0.492542 
time: 1403636907.651666, t: -2616.881133 -5430.931163 -4619.996869 q: -0.242557 0.264769 0.842173 -0.402253 
time: 1403636909.651666, t: -3521.853943 -5137.761500 -5145.997726 q: -0.341504 0.445856 0.742708 -0.364653 
time: 1403636911.651666, t: -3949.781341 -5237.411505 -5691.946396 q: -0.380171 0.502169 0.715636 -0.301930 
time: 1403636913.651666, t: -4368.531021 -5308.860063 -6263.487465 q: -0.399668 0.575496 0.668896 -0.248290 
time: 1403636915.651666, t: -4226.420548 -6219.611042 -6866.488803 q: -0.273104 0.432872 0.767068 -0.386838 
time: 1403636917.651666, t: -5056.948885 -5606.002306 -7522.827324 q: -0.285610 0.672491 0.617435 -0.291473 
time: 1403636919.651666, t: -5449.986868 -5640.482716 -8209.961486 q: -0.253588 0.745126 0.579380 -0.211659 
time: 1403636921.651666, t: -5379.741682 -6698.301200 -8916.903515 q: -0.220087 0.509968 0.734253 -0.390343 
time: 1403636923.651666, t: -5538.850681 -7191.869856 -9656.382988 q: -0.245698 0.390250 0.844190 -0.273278 
time: 1403636925.651666, t: -6162.668211 -6859.798005 -10424.116072 q: -0.208009 0.558017 0.802954 0.024782 
time: 1403636927.651666, t: -6713.355987 -6365.923323 -11208.410978 q: -0.085002 0.795089 0.571900 0.183136 
time: 1403636929.651666, t: -7136.773417 -5993.994558 -12011.548886 q: -0.204092 0.750605 0.626180 0.053264 
time: 1403636931.651666, t: -7524.402135 -5889.659095 -12865.707270 q: -0.131844 0.823589 0.536784 0.127207 
time: 1403636933.651666, t: -7887.955241 -5718.442094 -13742.759249 q: -0.054474 0.821231 0.567008 0.033387 
time: 1403636935.651666, t: -8316.093017 -6035.663822 -14654.888743 q: -0.135020 0.678416 0.715388 0.098702 
time: 1403636937.651666, t: -8633.507033 -5371.779250 -15595.898500 q: -0.058769 0.786572 0.593979 0.158240 
time: 1403636939.651666, t: -8981.568339 -5076.443193 -16550.965946 q: -0.001362 0.850885 0.467535 0.239591 
time: 1403636941.651666, t: -9371.001314 -4949.327746 -17522.723539 q: 0.070599 0.878009 0.374565 0.289512 
time: 1403636943.651666, t: -9708.775424 -4717.787736 -18512.267848 q: 0.072957 0.878998 0.332376 0.334014 
time: 1403636945.651666, t: -10037.467217 -4476.260814 -19515.796441 q: 0.020809 0.878571 0.342025 0.332715 
time: 1403636947.651666, t: -10356.028964 -4223.405827 -20531.906514 q: 0.022374 0.893436 0.285354 0.346186 
time: 1403636949.651666, t: -10075.347554 -3220.784905 -21569.354344 q: 0.007817 0.886588 0.410819 0.212433 
time: 1403636951.651666, t: -9946.646763 -2574.645977 -22650.334284 q: -0.292802 0.821500 0.480098 0.094399 
time: 1403636953.651666, t: -9944.765806 -2066.570021 -23751.908351 q: -0.354972 0.798257 0.475827 0.101831 
time: 1403636955.651666, t: -9917.774655 -1553.441579 -24871.534339 q: -0.381626 0.794763 0.453153 0.131783 
time: 1403636957.651666, t: -9816.909819 -1024.552085 -26009.094195 q: 0.594280 -0.621837 -0.505588 -0.067303 
time: 1403636959.651666, t: -9705.266894 -501.404842 -27164.310028 q: 0.741291 -0.407434 -0.532709 -0.026584 
time: 1403636961.651666, t: -9552.546958 25.577069 -28335.507597 q: 0.834168 -0.169501 -0.524555 0.016581 
time: 1403636963.651666, t: -9322.872800 551.375042 -29521.912184 q: 0.867579 0.156434 -0.468624 0.056801 
time: 1403636965.651666, t: -9116.304729 1071.955677 -30723.062572 q: 0.834653 0.332825 -0.432903 0.071953 
time: 1403636967.651666, t: -8973.145257 1600.112634 -31940.964178 q: 0.883513 0.285421 -0.362452 0.081042 
time: 1403636969.651666, t: -8815.520943 2150.521151 -33174.212693 q: 0.884979 0.270481 -0.369809 0.083030 
time: 1403636971.651666, t: -9043.082074 2781.747075 -34419.076108 q: 0.859285 0.391016 -0.199127 0.262839 
time: 1403636973.651666, t: -8887.319238 3421.873226 -35730.568333 q: 0.919150 0.138803 -0.258959 0.262370 
time: 1403636975.651666, t: -8714.441949 4087.398384 -37072.010164 q: 0.839354 -0.341320 -0.339369 0.252617 
time: 1403636977.651666, t: -8414.856685 4755.220950 -38445.044073 q: 0.732794 -0.564979 -0.302897 0.228179 
time: 1403636979.651666, t: -8018.865383 5420.051964 -39857.052350 q: 0.698824 -0.612122 -0.299511 0.217359 
time: 1403636981.651666, t: -5764.724791 5082.901105 -41293.524892 q: -0.486592 0.839654 0.047219 0.236600 
time: 1403636983.651666, t: -5573.774725 5793.033764 -42731.963175 q: -0.249955 0.963189 -0.068074 0.071802 
time: 1403636985.651666, t: -5290.238742 6521.745675 -44234.855702 q: -0.344538 0.932617 -0.050833 0.094527 
time: 1403636987.651666, t: -4924.069617 7200.878449 -45770.458963 q: -0.418844 0.896595 -0.075975 0.122128 
time: 1403636989.651666, t: -3569.147741 7072.957138 -47336.143067 q: -0.356927 0.913330 -0.194679 0.023050 
time: 1403636991.651666, t: -3299.336045 7934.084355 -48939.310075 q: -0.038908 0.942254 -0.331629 -0.025807 
time: 1403636995.651666, t: -1876.794866 8747.606530 -52265.865010 q: -0.409601 0.860436 -0.226511 0.201422 
time: 1403636997.651666, t: -859.138369 8747.753027 -53987.580490 q: 0.598685 -0.735715 0.173104 -0.265205 
time: 1403636999.651666, t: -619.168261 9821.324636 -55753.142606 q: -0.332519 0.885412 -0.306465 0.107494 
time: 1403637001.651666, t: 201.858591 10094.294129 -57515.293940 q: -0.420906 0.796121 -0.212925 0.379068 
time: 1403637003.651666, t: 1287.159215 9930.004856 -59317.024494 q: -0.445676 0.799727 -0.327685 0.233305 
time: 1403637005.651666, t: 2128.307143 10175.584935 -61181.958892 q: 0.526800 -0.735278 0.337622 -0.260497 
time: 1403637007.651666, t: 3005.766662 10357.141899 -63096.069218 q: 0.594760 -0.667380 0.303250 -0.330006 
time: 1403637009.651666, t: 3899.683924 10506.642308 -65057.322312 q: 0.602618 -0.603556 0.387891 -0.349447 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720553020.082190142]: Shutdown request received.[0m
[33m[ WARN] [1720553020.082226041]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720553020.083231963]: Shutdown request received.[0m
[33m[ WARN] [1720553020.083258679]: Reason given for shutdown: [user request][0m
killed
