/SLAM-Hive/slam_hive_results/mapping_results/3228/2433_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-3.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720562887.822876726]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720562887.824772773]: init begins[0m
[31m[ERROR] [1720562887.825907859]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b8f6209e-3e3f-11ef-89f6-0242ac110005/roslaunch-a232acbc2005-120.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://a232acbc2005:36153/[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 [157][0m
[0m[ INFO] [1720562888.987062475]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://a232acbc2005:11311/[0m
]2;roscore http://a232acbc2005:11311/
[0m[ INFO] [1720562888.990282171]: Connected to master at [localhost:11311][0m
[1msetting /run_id to b8f6209e-3e3f-11ef-89f6-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720562889.022658025]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720562889.023152548]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720562889.023235672]: ROW: 240 COL: 376 [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] [1720562889.023814149]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720562889.024405204]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720562889.024952537]: 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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720562897.951051247]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316924380.02 
init first imu pose
averge acc 9.015113 -0.047866 -3.797742
init R0 
 0.388249 0.0116141  0.921482
        0 -0.999921 0.0126027
 0.921555 -0.004893 -0.388218
[33m[ WARN] [1720562899.301197126]: gyroscope bias initial calibration -0.00194459   0.0200974   0.0779173[0m
[0m[ INFO] [1720562899.327888381]: Initialization finish![0m
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time: 1403638540.027829, t: 0.171294 -0.073682 0.203778 q: 0.040247 0.830561 -0.058429 0.552390 
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time: 1403638540.327830, t: 0.252173 -0.076833 0.227634 q: 0.041050 0.830277 -0.055979 0.553011 
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time: 1403638540.627830, t: 0.383292 -0.076050 0.254653 q: 0.026327 0.825896 -0.029442 0.562438 
time: 1403638540.727829, t: 0.430192 -0.072283 0.262950 q: 0.019450 0.825321 -0.008141 0.564270 
time: 1403638540.827830, t: 0.480122 -0.065596 0.270812 q: 0.010769 0.825025 0.018034 0.564705 
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time: 1403638541.127830, t: 0.634334 -0.018761 0.281685 q: -0.027888 0.820855 0.084638 0.564142 
optimize pose graph 
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time: 1403638543.127830, t: 1.473250 1.108118 0.602512 q: -0.171502 0.781068 0.257821 0.542262 
optimize pose graph 
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time: 1403638604.227829, t: 8.924350 8.456258 3.020771 q: -0.249837 0.697367 0.367582 0.562267 
time: 1403638604.327830, t: 8.831875 8.448812 3.013383 q: -0.256170 0.703996 0.363708 0.553609 
time: 1403638604.427830, t: 8.729943 8.435709 3.010544 q: -0.258092 0.712244 0.362504 0.542851 
time: 1403638604.527829, t: 8.624355 8.421424 3.015097 q: -0.254693 0.719660 0.364442 0.533294 
time: 1403638604.627830, t: 8.516093 8.401303 3.018813 q: -0.253607 0.722754 0.365414 0.528945 
time: 1403638604.727829, t: 8.403480 8.379621 3.017003 q: -0.257622 0.725412 0.362760 0.525179 
time: 1403638604.827830, t: 8.290767 8.356550 3.013736 q: -0.260764 0.727804 0.360427 0.521916 
time: 1403638604.927830, t: 8.178267 8.329363 3.013307 q: -0.259150 0.731926 0.361478 0.516196 
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time: 1403638605.127830, t: 7.962858 8.271820 3.030583 q: -0.253537 0.744411 0.365599 0.497904 
optimize pose graph 
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time: 1403638605.427830, t: 7.673896 8.211377 3.078833 q: -0.239097 0.737436 0.376299 0.507365 
time: 1403638605.527829, t: 7.579741 8.202582 3.086416 q: -0.232928 0.727205 0.380647 0.521561 
time: 1403638605.627830, t: 7.483674 8.197224 3.088372 q: -0.226710 0.719696 0.385008 0.531422 
time: 1403638605.727829, t: 7.383801 8.196338 3.091961 q: -0.223791 0.716465 0.387156 0.535449 
time: 1403638605.827830, t: 7.277663 8.201310 3.102592 q: -0.222125 0.717102 0.388101 0.534606 
time: 1403638605.927830, t: 7.164992 8.210534 3.119744 q: -0.219330 0.716512 0.389640 0.535430 
time: 1403638606.027829, t: 7.046262 8.231449 3.140728 q: -0.214961 0.715983 0.391313 0.536687 
time: 1403638606.127830, t: 6.918429 8.256788 3.154628 q: -0.211822 0.716143 0.392170 0.537097 
time: 1403638606.227829, t: 6.783572 8.282311 3.162990 q: -0.208740 0.716246 0.393686 0.537057 
time: 1403638606.327830, t: 6.640668 8.315894 3.160403 q: -0.209896 0.720159 0.391806 0.532731 
time: 1403638606.427830, t: 6.492173 8.354129 3.149618 q: -0.216846 0.730404 0.386145 0.519981 
time: 1403638606.527829, t: 6.340912 8.396558 3.132073 q: -0.225512 0.740897 0.379456 0.506191 
time: 1403638606.627830, t: 6.191659 8.445176 3.110291 q: -0.231094 0.746885 0.378274 0.495648 
time: 1403638606.727829, t: 6.046752 8.498838 3.084455 q: -0.235272 0.748176 0.385049 0.486432 
time: 1403638606.827830, t: 5.908599 8.559180 3.053952 q: -0.241948 0.745450 0.396539 0.478040 
time: 1403638606.927830, t: 5.775514 8.628740 3.027398 q: -0.251778 0.739264 0.411026 0.470270 
time: 1403638607.027829, t: 5.648234 8.706187 3.010642 q: -0.265000 0.730981 0.426082 0.462489 
time: 1403638607.127830, t: 5.528008 8.791776 3.003122 q: -0.281697 0.723474 0.435618 0.455488 
time: 1403638607.227829, t: 5.415497 8.883554 3.000084 q: -0.296164 0.710769 0.441822 0.460312 
optimize pose graph 
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time: 1403638607.627830, t: 5.016785 9.256560 2.915841 q: -0.324002 0.690002 0.446021 0.469026 
time: 1403638607.727829, t: 4.929954 9.344820 2.883389 q: -0.323811 0.687629 0.446276 0.472387 
time: 1403638607.827830, t: 4.848897 9.432383 2.847863 q: -0.323104 0.688312 0.445913 0.472220 
time: 1403638607.927830, t: 4.770897 9.516139 2.809772 q: -0.325462 0.692625 0.442553 0.467431 
time: 1403638608.027829, t: 4.698530 9.598321 2.766176 q: -0.327674 0.694413 0.438993 0.466589 
time: 1403638608.127830, t: 4.631211 9.678384 2.718638 q: -0.326133 0.691767 0.438092 0.472409 
time: 1403638608.227829, t: 4.567343 9.755330 2.666455 q: -0.322611 0.687792 0.438661 0.480042 
time: 1403638608.427830, t: 4.443406 9.900912 2.547662 q: -0.323117 0.679429 0.436190 0.493669 
time: 1403638608.527829, t: 4.385937 9.964616 2.479992 q: -0.321644 0.681286 0.436908 0.491432 
time: 1403638608.627830, t: 4.329100 10.018919 2.408780 q: -0.324134 0.680516 0.434551 0.492951 
time: 1403638608.727829, t: 4.272039 10.073214 2.345501 q: -0.328043 0.677873 0.432366 0.495919 
time: 1403638608.827830, t: 4.213627 10.126755 2.287081 q: -0.326022 0.680702 0.433901 0.492020 
time: 1403638608.927830, t: 4.154095 10.171808 2.235202 q: -0.324066 0.684649 0.435491 0.486399 
time: 1403638609.027829, t: 4.097743 10.208638 2.190360 q: -0.324147 0.688298 0.435872 0.480822 
time: 1403638609.127830, t: 4.044119 10.241147 2.149584 q: -0.323032 0.689717 0.436665 0.478815 
time: 1403638609.227829, t: 3.992176 10.269775 2.111223 q: -0.329852 0.689793 0.431801 0.478468 
time: 1403638609.327830, t: 3.944246 10.291978 2.069797 q: -0.333755 0.690270 0.428701 0.477859 
optimize pose graph 
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time: 1403638609.927830, t: 3.725826 10.377841 1.724812 q: -0.322630 0.689684 0.435183 0.480480 
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time: 1403638610.227829, t: 3.657419 10.382010 1.604071 q: -0.329760 0.682909 0.430242 0.489679 
time: 1403638610.327830, t: 3.637371 10.373121 1.559549 q: -0.331106 0.681983 0.429014 0.491136 
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time: 1403638611.227829, t: 3.466298 10.067999 1.108888 q: -0.338124 0.678823 0.426823 0.492640 
time: 1403638611.327830, t: 3.452354 10.003462 1.065435 q: -0.335438 0.678152 0.429131 0.493395 
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time: 1403638613.127830, t: 3.015283 8.537633 0.581342 q: -0.309836 0.688758 0.427581 0.496778 
time: 1403638613.227829, t: 2.979893 8.449919 0.570846 q: -0.309590 0.690510 0.427055 0.494949 
time: 1403638613.327830, t: 2.946216 8.369551 0.571588 q: -0.308157 0.691231 0.427711 0.494270 
time: 1403638613.427830, t: 2.912889 8.284979 0.569340 q: -0.307407 0.690604 0.428115 0.495262 
time: 1403638613.527829, t: 2.872302 8.202328 0.566408 q: -0.308043 0.690855 0.424317 0.497779 
time: 1403638613.627830, t: 2.839590 8.116995 0.553637 q: -0.309927 0.692323 0.418239 0.499710 
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time: 1403638629.927830, t: 0.057033 -0.163108 0.140778 q: 0.089651 0.800097 -0.164355 0.569908 
time: 1403638630.027829, t: 0.062091 -0.168125 0.127778 q: 0.100622 0.794324 -0.157208 0.578110 
time: 1403638630.127830, t: 0.064913 -0.170846 0.102328 q: 0.107246 0.794747 -0.152726 0.577538 
time: 1403638630.227829, t: 0.063194 -0.172760 0.071319 q: 0.109705 0.798923 -0.150652 0.571831 
time: 1403638630.327830, t: 0.060260 -0.173332 0.033863 q: 0.111975 0.805578 -0.150308 0.562062 
time: 1403638630.427830, t: 0.069819 -0.170811 0.031624 q: 0.097185 0.811707 -0.156817 0.554162 
time: 1403638630.527829, t: 0.081216 -0.171449 0.039785 q: 0.106315 0.802151 -0.149492 0.568245 
time: 1403638630.627830, t: 0.091129 -0.171640 0.027755 q: 0.107050 0.801307 -0.149788 0.569219 
time: 1403638630.727829, t: 0.106636 -0.170320 0.022624 q: 0.097942 0.827721 -0.143518 0.533561 
time: 1403638630.827830, t: 0.090702 -0.177630 0.010321 q: 0.101779 0.824998 -0.145075 0.536631 
time: 1403638630.927830, t: 0.087006 -0.182499 0.000020 q: 0.100628 0.825819 -0.143259 0.536072 
time: 1403638631.127830, t: 0.092334 -0.185389 0.031853 q: 0.100131 0.826561 -0.144207 0.534767 
time: 1403638631.227829, t: 0.060450 -0.187383 -0.007501 q: 0.099824 0.825843 -0.143587 0.536098 
time: 1403638631.327830, t: 0.053890 -0.180603 -0.012860 q: 0.100299 0.825509 -0.143943 0.536429 
time: 1403638631.427830, t: 0.047145 -0.179306 -0.019172 q: 0.100795 0.825399 -0.143629 0.536588 
time: 1403638631.527829, t: 0.059896 -0.171315 -0.007491 q: 0.101728 0.825667 -0.144265 0.535829 
time: 1403638631.627830, t: 0.035245 -0.181920 -0.022133 q: 0.101113 0.825520 -0.143576 0.536357 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720563013.426843712]: Shutdown request received.[0m
[33m[ WARN] [1720563013.426902167]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720563013.427836137]: Shutdown request received.[0m
[33m[ WARN] [1720563013.427876414]: Reason given for shutdown: [user request][0m
killed
