/SLAM-Hive/slam_hive_results/mapping_results/3233/2438_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-8.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720563648.227106609]: init begins[0m
[31m[ERROR] [1720563648.228178486]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720563648.228250919]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/7e31414e-3e41-11ef-aad2-0242ac110005/roslaunch-3c2186ea69f4-118.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://3c2186ea69f4:36533/[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] [1720563649.334600588]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720563649.335200480]: 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] [1720563649.340981303]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720563649.341186183]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720563649.341207007]: ROW: 288 COL: 451 [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] [1720563649.341419971]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720563649.341654183]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720563649.341826953]: 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://3c2186ea69f4:11311/[0m
]2;roscore http://3c2186ea69f4:11311/
[1msetting /run_id to 7e31414e-3e41-11ef-aad2-0242ac110005[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] [1720563658.371169827]: 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: 316925140.44 
init first imu pose
averge acc 9.020195 -0.033170 -3.796231
init R0 
  0.387918 0.00805299   0.921659
         0  -0.999962 0.00873716
  0.921694 -0.0033893  -0.387903
[33m[ WARN] [1720563660.793290602]: gyroscope bias initial calibration -0.0019797   0.020203  0.0779456[0m
[0m[ INFO] [1720563660.829103195]: Initialization finish![0m
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time: 1403638520.377830, t: -0.000799 -0.000132 -0.000123 q: -0.003776 0.833018 0.002468 0.553227 
time: 1403638520.577830, t: 0.000142 -0.000528 0.000910 q: -0.003736 0.833023 0.002379 0.553220 
time: 1403638520.777829, t: -0.000071 -0.001591 0.000733 q: -0.003709 0.833032 0.002414 0.553207 
time: 1403638520.977829, t: 0.000248 -0.002656 0.002436 q: -0.003930 0.833014 0.002659 0.553232 
time: 1403638521.177830, t: 0.000180 -0.002826 0.001154 q: -0.004053 0.832992 0.002440 0.553265 
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time: 1403638601.177830, t: 9.149554 6.159953 2.438813 q: -0.005734 0.843828 0.018889 0.536250 
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time: 1403638601.777829, t: 9.583640 7.030754 2.495277 q: -0.047635 0.815795 0.094085 0.568645 
time: 1403638601.977829, t: 9.721500 7.317579 2.556068 q: -0.076705 0.806194 0.146360 0.568108 
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time: 1403638602.577830, t: 10.033990 8.192688 2.679145 q: -0.196557 0.735779 0.218228 0.610222 
time: 1403638602.777829, t: 10.055857 8.430728 2.754322 q: -0.228086 0.720255 0.250967 0.605165 
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time: 1403638603.177830, t: 9.943732 8.718478 2.921323 q: -0.288464 0.702887 0.314439 0.569093 
time: 1403638603.377830, t: 9.855280 8.787544 2.971184 q: -0.278671 0.722354 0.346258 0.529766 
time: 1403638603.577830, t: 9.762242 8.834772 2.997692 q: -0.275766 0.728335 0.357727 0.515279 
time: 1403638603.777829, t: 9.663449 8.860935 3.005152 q: -0.271874 0.711652 0.366157 0.534382 
time: 1403638603.977829, t: 9.549334 8.864078 2.984354 q: -0.260788 0.696893 0.374301 0.553379 
time: 1403638604.177830, t: 9.398261 8.845868 2.950621 q: -0.253808 0.692607 0.378670 0.559005 
time: 1403638604.377830, t: 9.202200 8.812867 2.943321 q: -0.264958 0.704501 0.372306 0.543014 
time: 1403638604.577830, t: 8.979359 8.763843 2.953993 q: -0.260264 0.716824 0.375567 0.526664 
time: 1403638604.777829, t: 8.754438 8.708700 2.958837 q: -0.266945 0.722206 0.371659 0.518679 
time: 1403638604.977829, t: 8.527572 8.642136 2.964289 q: -0.265291 0.731440 0.373105 0.505380 
optimize pose graph 
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time: 1403638605.377830, t: 8.109715 8.531824 3.032917 q: -0.249769 0.737634 0.384701 0.495497 
time: 1403638605.577830, t: 7.921927 8.503508 3.052876 q: -0.237855 0.718743 0.394406 0.520843 
time: 1403638605.777829, t: 7.714570 8.493954 3.059281 q: -0.231818 0.711864 0.398894 0.529523 
time: 1403638605.977829, t: 7.482614 8.503438 3.095696 q: -0.225085 0.710949 0.402600 0.530850 
time: 1403638606.177830, t: 7.223896 8.537087 3.125541 q: -0.219026 0.710767 0.404988 0.531811 
time: 1403638606.377830, t: 6.936326 8.591455 3.125322 q: -0.222201 0.720667 0.400681 0.520308 
time: 1403638606.577830, t: 6.631831 8.666371 3.097673 q: -0.236538 0.739887 0.389836 0.494616 
time: 1403638606.777829, t: 6.335364 8.764319 3.051476 q: -0.246373 0.742723 0.401166 0.476160 
time: 1403638606.977829, t: 6.060362 8.894707 3.001970 q: -0.265488 0.730914 0.429052 0.459560 
optimize pose graph 
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time: 1403638607.377830, t: 5.594438 9.242591 2.968541 q: -0.322589 0.689869 0.453415 0.463069 
time: 1403638607.577830, t: 5.394143 9.424245 2.916926 q: -0.330361 0.685566 0.455820 0.461615 
time: 1403638607.777829, t: 5.218491 9.600647 2.845539 q: -0.330609 0.682309 0.456192 0.465876 
time: 1403638607.977829, t: 5.064072 9.769472 2.763623 q: -0.333658 0.689078 0.451126 0.458618 
time: 1403638608.177830, t: 4.929366 9.932953 2.664321 q: -0.330843 0.685032 0.448874 0.468815 
time: 1403638608.377830, t: 4.809561 10.076659 2.547233 q: -0.330614 0.674768 0.446721 0.485616 
time: 1403638608.577830, t: 4.686620 10.200144 2.412000 q: -0.329097 0.676176 0.446957 0.484469 
time: 1403638608.777829, t: 4.568649 10.297410 2.282883 q: -0.335408 0.673747 0.442535 0.487575 
time: 1403638608.977829, t: 4.453965 10.370053 2.176916 q: -0.333053 0.681066 0.445054 0.476604 
optimize pose graph 
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time: 1403638609.377830, t: 4.249576 10.476148 2.009239 q: -0.341099 0.684870 0.439048 0.471001 
time: 1403638609.577830, t: 4.167587 10.506386 1.896903 q: -0.333910 0.684759 0.443049 0.472564 
time: 1403638609.777829, t: 4.100463 10.529853 1.766009 q: -0.330816 0.683738 0.445290 0.474110 
time: 1403638609.977829, t: 4.043979 10.546185 1.654581 q: -0.332352 0.683511 0.444032 0.474542 
time: 1403638610.177830, t: 3.999533 10.553279 1.573188 q: -0.337040 0.678336 0.440335 0.482048 
time: 1403638610.377830, t: 3.956747 10.537565 1.480016 q: -0.340210 0.676918 0.437198 0.484661 
time: 1403638610.577830, t: 3.920191 10.498054 1.368914 q: -0.343483 0.670259 0.434248 0.494167 
time: 1403638610.777829, t: 3.884836 10.436383 1.256003 q: -0.345458 0.670622 0.433780 0.492707 
time: 1403638610.977829, t: 3.845260 10.351162 1.168045 q: -0.341779 0.677417 0.437784 0.482326 
optimize pose graph 
time: 1403638611.177830, t: 3.815316 10.240880 1.079176 q: -0.346469 0.673885 0.435429 0.486045 
time: 1403638611.377830, t: 3.785363 10.107325 0.988395 q: -0.339628 0.671157 0.440314 0.490230 
time: 1403638611.577830, t: 3.758587 9.950482 0.929415 q: -0.318903 0.666050 0.453522 0.498995 
time: 1403638611.777829, t: 3.712372 9.786925 0.884532 q: -0.322695 0.674428 0.449672 0.488682 
time: 1403638611.977829, t: 3.660837 9.620835 0.824897 q: -0.330174 0.683749 0.442833 0.476834 
time: 1403638612.177830, t: 3.612772 9.452146 0.772486 q: -0.330737 0.687190 0.440981 0.473200 
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time: 1403638612.577830, t: 3.541732 9.118996 0.720826 q: -0.325532 0.683891 0.440578 0.481886 
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time: 1403638619.577830, t: 4.290781 1.775357 0.656306 q: 0.083271 0.806707 -0.129465 0.570552 
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time: 1403638621.977829, t: 5.367290 0.148990 0.441389 q: 0.098800 0.792186 -0.127339 0.588613 
time: 1403638622.177830, t: 5.379750 0.052049 0.384041 q: 0.093918 0.792850 -0.130500 0.587825 
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time: 1403638623.577830, t: 4.788643 -0.218312 0.393970 q: 0.092765 0.796140 -0.139765 0.581396 
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time: 1403638624.777829, t: 3.675833 -0.174534 0.412648 q: 0.096181 0.792597 -0.143012 0.584882 
time: 1403638624.977829, t: 3.474483 -0.166257 0.413494 q: 0.090530 0.801700 -0.132413 0.575802 
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time: 1403638625.577830, t: 2.852986 -0.138271 0.407890 q: 0.073249 0.804512 -0.127811 0.575378 
time: 1403638625.777829, t: 2.640459 -0.139823 0.434133 q: 0.072408 0.810676 -0.128450 0.566624 
time: 1403638625.977829, t: 2.440959 -0.155516 0.447144 q: 0.073656 0.813755 -0.128592 0.561998 
time: 1403638626.177830, t: 2.242525 -0.167035 0.448942 q: 0.072525 0.815504 -0.130796 0.559093 
time: 1403638626.377830, t: 2.055056 -0.191924 0.430818 q: 0.083050 0.812043 -0.124124 0.564165 
time: 1403638626.577830, t: 1.875664 -0.211150 0.401975 q: 0.086089 0.813124 -0.120929 0.562844 
time: 1403638626.777829, t: 1.715047 -0.222741 0.376786 q: 0.082577 0.818992 -0.123032 0.554343 
time: 1403638626.977829, t: 1.575042 -0.235955 0.374466 q: 0.081432 0.822605 -0.122831 0.549184 
time: 1403638627.177830, t: 1.455150 -0.254272 0.369765 q: 0.079823 0.822641 -0.122315 0.549481 
optimize pose graph 
time: 1403638627.377830, t: 1.342338 -0.269056 0.341485 q: 0.083039 0.821753 -0.119345 0.550984 
time: 1403638627.577830, t: 1.260092 -0.279021 0.319593 q: 0.084477 0.821023 -0.118764 0.551979 
time: 1403638627.777829, t: 1.193095 -0.287099 0.292859 q: 0.088065 0.816145 -0.117227 0.558936 
time: 1403638627.977829, t: 1.138805 -0.290506 0.250590 q: 0.089548 0.817319 -0.117533 0.556918 
time: 1403638628.177830, t: 1.101095 -0.285509 0.214002 q: 0.091697 0.818992 -0.118216 0.553957 
time: 1403638628.377830, t: 1.070687 -0.272303 0.193538 q: 0.090541 0.819840 -0.120509 0.552397 
time: 1403638628.577830, t: 1.057115 -0.256424 0.184772 q: 0.076180 0.810262 -0.131346 0.566057 
time: 1403638628.777829, t: 1.048784 -0.234411 0.185731 q: 0.072758 0.807525 -0.135044 0.569538 
time: 1403638628.977829, t: 1.014292 -0.226833 0.167966 q: 0.082269 0.808533 -0.129243 0.568157 
time: 1403638629.177830, t: 0.994115 -0.224453 0.155914 q: 0.089409 0.810735 -0.123640 0.565180 
time: 1403638629.377830, t: 0.975055 -0.215799 0.152605 q: 0.091009 0.814151 -0.122774 0.560180 
time: 1403638629.577830, t: 0.966437 -0.197059 0.145881 q: 0.086607 0.821632 -0.127335 0.548823 
time: 1403638629.777829, t: 0.976430 -0.187376 0.153407 q: 0.068679 0.814351 -0.141247 0.558717 
time: 1403638629.977829, t: 0.988324 -0.187310 0.143682 q: 0.077663 0.802309 -0.136493 0.575881 
time: 1403638630.177830, t: 0.988659 -0.193027 0.098006 q: 0.090999 0.801296 -0.127109 0.577483 
time: 1403638630.377830, t: 0.985461 -0.190890 0.038490 q: 0.088862 0.825207 -0.126594 0.543242 
time: 1403638630.577830, t: 1.006020 -0.187784 0.049014 q: 0.087063 0.806557 -0.126820 0.570792 
time: 1403638630.777829, t: 1.010022 -0.192520 0.021661 q: 0.088131 0.831924 -0.117178 0.535167 
time: 1403638630.977829, t: 0.993006 -0.193968 0.012915 q: 0.083565 0.830387 -0.118727 0.537939 
time: 1403638631.177830, t: 0.989599 -0.217755 0.012251 q: 0.083612 0.830561 -0.118383 0.537738 
time: 1403638631.377830, t: 1.025533 -0.208374 0.032252 q: 0.084505 0.831059 -0.118836 0.536729 
time: 1403638631.577830, t: 1.035555 -0.200900 0.035407 q: 0.084559 0.830993 -0.119164 0.536750 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720563774.039835901]: Shutdown request received.[0m
[33m[ WARN] [1720563774.039884549]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720563774.040829056]: Shutdown request received.[0m
[33m[ WARN] [1720563774.040857359]: Reason given for shutdown: [user request][0m
killed
