/SLAM-Hive/slam_hive_results/mapping_results/3229/2434_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-4.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720563038.494388165]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720563038.495748331]: init begins[0m
[31m[ERROR] [1720563038.496881274]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/12c3c608-3e40-11ef-881b-0242ac110005/roslaunch-80a24db15891-116.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://80a24db15891:40265/[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] [1720563039.600491789]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720563039.602279474]: 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] [1720563039.607735323]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720563039.607949368]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720563039.607972118]: 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] [1720563039.608165105]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720563039.608391869]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720563039.608569777]: 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
[1mROS_MASTER_URI=http://80a24db15891:11311/[0m
]2;roscore http://80a24db15891:11311/
[1msetting /run_id to 12c3c608-3e40-11ef-881b-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_05_difficult.bag  --clock 
[0m[ INFO] [1720563048.658182236]: 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: 316924530.73 
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] [1720563050.024882478]: gyroscope bias initial calibration -0.00193683   0.0200575   0.0779384[0m
[0m[ INFO] [1720563050.054296050]: Initialization finish![0m
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optimize pose graph 
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time: 1403638631.127830, t: 0.179431 -0.042768 -0.013396 q: 0.107990 0.825062 -0.156615 0.532056 
time: 1403638631.227829, t: 0.163917 -0.043629 -0.031238 q: 0.107705 0.824801 -0.156267 0.532620 
time: 1403638631.327830, t: 0.153278 -0.044879 -0.050328 q: 0.107503 0.824340 -0.156296 0.533364 
time: 1403638631.427830, t: 0.150905 -0.045826 -0.052046 q: 0.107787 0.824270 -0.156300 0.533416 
time: 1403638631.527829, t: 0.150836 -0.046229 -0.053507 q: 0.107958 0.824309 -0.156520 0.533255 
time: 1403638631.627830, t: 0.161236 -0.046864 -0.051654 q: 0.108600 0.824395 -0.156648 0.532955 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720563164.214027267]: Shutdown request received.[0m
[33m[ WARN] [1720563164.214058554]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720563164.214862032]: Shutdown request received.[0m
[33m[ WARN] [1720563164.214891431]: Reason given for shutdown: [user request][0m
killed
