/SLAM-Hive/slam_hive_results/mapping_results/3199/2404_vins-fusion-stereo-imu+MH_04_difficult+Image_comb_test-4.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720558811.744435113]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720558811.744854402]: init begins[0m
[31m[ERROR] [1720558811.745813809]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/3b6d4c5a-3e36-11ef-bed5-0242ac110005/roslaunch-06a82900d8d2-118.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://06a82900d8d2:38641/[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://06a82900d8d2:11311/[0m
]2;roscore http://06a82900d8d2:11311/
[1msetting /run_id to 3b6d4c5a-3e36-11ef-bed5-0242ac110005[0m
[0m[ INFO] [1720558812.899802208]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720558812.900683275]: 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] [1720558812.907262573]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720558812.907485621]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720558812.907513482]: 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] [1720558812.907760340]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720558812.907962201]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720558812.908120366]: 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 [222][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_04_difficult.bag  --clock 
[0m[ INFO] [1720558821.900629883]: Opening /slamhive/dataset/MH_04_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403638127.329873   Duration: 0.000000 / 102.582288   Delay: 316920694.79 
init first imu pose
averge acc 8.949590 -0.194601 -3.927257
init R0 
  0.402246  0.0453102    0.91441
         0  -0.998775  0.0494906
  0.915532 -0.0199074  -0.401753
[33m[ WARN] [1720558823.298630076]: gyroscope bias initial calibration -0.00244252   0.0206111   0.0772345[0m
[0m[ INFO] [1720558823.334866054]: Initialization finish![0m
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time: 1403638128.545097, t: 0.000121 0.000352 -0.000156 q: -0.009231 0.837808 0.005346 0.545861 
time: 1403638128.645097, t: 0.000163 0.000325 -0.000148 q: -0.009147 0.837851 0.005312 0.545796 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403638228.645097, t: 0.060994 0.008027 0.104651 q: 0.062009 0.829900 -0.086947 0.547595 
time: 1403638228.745097, t: 0.063655 0.009337 0.106696 q: 0.061970 0.829941 -0.086988 0.547531 
time: 1403638228.845097, t: 0.066652 0.010849 0.108610 q: 0.061974 0.829970 -0.087018 0.547482 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720558925.353449160]: Shutdown request received.[0m
[33m[ WARN] [1720558925.353491100]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720558925.354297584]: Shutdown request received.[0m
[33m[ WARN] [1720558925.354322432]: Reason given for shutdown: [user request][0m
killed
