/SLAM-Hive/slam_hive_results/mapping_results/3234/2439_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-9.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720563798.959368482]: init begins[0m
[31m[ERROR] [1720563798.960603499]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720563798.965313389]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/d80c01ae-3e41-11ef-ba33-0242ac110005/roslaunch-379105ed12f8-117.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://379105ed12f8:33067/[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 [154][0m
[0m[ INFO] [1720563800.120632647]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720563800.122871084]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[1mROS_MASTER_URI=http://379105ed12f8:11311/[0m
]2;roscore http://379105ed12f8:11311/
result path /home/output/vio.csv
[33m[ WARN] [1720563800.126213112]:  fix extrinsic param [0m
camera number 2
[1msetting /run_id to d80c01ae-3e41-11ef-ba33-0242ac110005[0m
[0m[ INFO] [1720563800.126417458]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720563800.126445537]: 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] [1720563800.126675560]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720563800.126883704]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720563800.127029906]: 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 [240][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720563809.102946858]: 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: 316925291.17 
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] [1720563811.526091684]: gyroscope bias initial calibration -0.0019994  0.0201975  0.0779441[0m
[0m[ INFO] [1720563811.580868504]: Initialization finish![0m
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optimize pose graph 
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time: 1403638630.977829, t: 0.527078 -0.062024 0.085442 q: 0.098327 0.826546 -0.140279 0.536168 
time: 1403638631.177830, t: 0.511654 -0.073139 0.083420 q: 0.098484 0.826685 -0.139863 0.536032 
time: 1403638631.377830, t: 0.567213 -0.070381 0.112031 q: 0.099526 0.827487 -0.140271 0.534494 
time: 1403638631.577830, t: 0.567081 -0.071064 0.111316 q: 0.099157 0.827346 -0.140455 0.534733 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720563924.806161590]: Shutdown request received.[0m
[33m[ WARN] [1720563924.806203808]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720563924.807185567]: Shutdown request received.[0m
[33m[ WARN] [1720563924.807212960]: Reason given for shutdown: [user request][0m
killed
