/SLAM-Hive/slam_hive_results/mapping_results/3230/2435_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-5.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720563190.013630753]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720563190.015497274]: init begins[0m
[31m[ERROR] [1720563190.016544632]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/6d13b1c2-3e40-11ef-9d91-0242ac110005/roslaunch-78a0cc326a47-118.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://78a0cc326a47:37009/[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] [1720563191.120020379]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720563191.121564183]: 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] [1720563191.127401041]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720563191.127618962]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720563191.127653776]: 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] [1720563191.127873767]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720563191.128098198]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720563191.128258630]: 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://78a0cc326a47:11311/[0m
]2;roscore http://78a0cc326a47:11311/
[1msetting /run_id to 6d13b1c2-3e40-11ef-9d91-0242ac110005[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_05_difficult.bag  --clock 
[0m[ INFO] [1720563200.183587181]: 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: 316924682.25 
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
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720563201.531967057]: gyroscope bias initial calibration -0.00187458   0.0200897   0.0779623[0m
[0m[ INFO] [1720563201.564207637]: Initialization finish![0m
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time: 1403638630.527829, t: 1.996911 0.773122 0.564780 q: 0.074990 0.808116 -0.105996 0.574535 
time: 1403638630.627830, t: 2.010381 0.805897 0.539892 q: 0.078415 0.807055 -0.107833 0.575226 
time: 1403638630.727829, t: 2.040817 0.822477 0.555489 q: 0.071695 0.833479 -0.100756 0.538536 
time: 1403638630.827830, t: 1.991011 0.769165 0.525091 q: 0.072184 0.830749 -0.099618 0.542883 
time: 1403638630.927830, t: 1.990792 0.790047 0.518347 q: 0.072816 0.831361 -0.098829 0.542006 
time: 1403638631.027829, t: 1.967046 0.771119 0.511728 q: 0.071027 0.831649 -0.097681 0.542009 
time: 1403638631.127830, t: 1.964671 0.773891 0.510807 q: 0.070961 0.831861 -0.098090 0.541618 
time: 1403638631.227829, t: 1.940091 0.782213 0.499522 q: 0.071553 0.831552 -0.097883 0.542052 
time: 1403638631.327830, t: 1.925184 0.789779 0.493063 q: 0.071994 0.831347 -0.098009 0.542286 
time: 1403638631.427830, t: 1.910524 0.791510 0.490490 q: 0.072276 0.831281 -0.097824 0.542383 
time: 1403638631.527829, t: 1.915923 0.806470 0.495187 q: 0.073505 0.831415 -0.098610 0.541870 
time: 1403638631.627830, t: 1.883586 0.799230 0.482958 q: 0.072991 0.831267 -0.097860 0.542302 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720563315.814564279]: Shutdown request received.[0m
[33m[ WARN] [1720563315.814620666]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720563315.815534859]: Shutdown request received.[0m
[33m[ WARN] [1720563315.815564740]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/6d13b1c2-3e40-11ef-9d91-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
