/SLAM-Hive/slam_hive_results/mapping_results/3235/2440_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-10.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720563949.482315330]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720563949.483912123]: init begins[0m
[31m[ERROR] [1720563949.484997285]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/31c1a14a-3e42-11ef-a826-0242ac110005/roslaunch-73d3304475ed-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://73d3304475ed:41105/[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] [1720563950.588498444]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720563950.589920157]: 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] [1720563950.596458338]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720563950.596682086]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720563950.596704090]: 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] [1720563950.596904821]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720563950.597137376]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720563950.597306374]: 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://73d3304475ed:11311/[0m
]2;roscore http://73d3304475ed:11311/
[1msetting /run_id to 31c1a14a-3e42-11ef-a826-0242ac110005[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] [1720563959.624980017]: 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: 316925441.69 
init first imu pose
averge acc 9.020195 -0.033170 -3.796231
init R0 
[0m[ INFO] [1720563962.059912920]: Initialization finish![0m
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time: 1403638520.577830, t: -0.000673 0.001077 0.000848 q: -0.003898 0.833033 0.002426 0.553205 
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time: 1403638614.977829, t: 2.870126 6.968601 0.225580 q: -0.211586 0.785436 0.242521 0.528682 
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time: 1403638617.577830, t: 2.648627 3.767102 0.239483 q: 0.020804 0.838851 -0.039700 0.542512 
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time: 1403638618.577830, t: 3.216653 2.707903 0.495426 q: 0.019216 0.833285 -0.023772 0.551998 
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time: 1403638626.977829, t: 1.138606 0.124976 0.286782 q: 0.103828 0.817943 -0.153090 0.544750 
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time: 1403638628.177830, t: 0.690159 0.072828 0.134505 q: 0.112892 0.815078 -0.145940 0.549186 
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time: 1403638628.577830, t: 0.635113 0.104305 0.103368 q: 0.097540 0.805615 -0.158188 0.562536 
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time: 1403638628.977829, t: 0.574750 0.134828 0.078688 q: 0.103255 0.803785 -0.155844 0.564784 
time: 1403638629.177830, t: 0.552158 0.141678 0.062664 q: 0.110403 0.806076 -0.150475 0.561614 
time: 1403638629.377830, t: 0.529732 0.154056 0.058776 q: 0.111797 0.809423 -0.149701 0.556710 
time: 1403638629.577830, t: 0.514420 0.174847 0.057476 q: 0.107033 0.816789 -0.154176 0.545554 
time: 1403638629.777829, t: 0.523556 0.187507 0.063707 q: 0.089308 0.809288 -0.167601 0.555865 
time: 1403638629.977829, t: 0.537515 0.185661 0.056129 q: 0.098845 0.797462 -0.162353 0.572648 
time: 1403638630.177830, t: 0.536584 0.178119 0.010195 q: 0.112076 0.796673 -0.152704 0.573962 
time: 1403638630.377830, t: 0.531754 0.180234 -0.049933 q: 0.108951 0.820590 -0.153125 0.539736 
time: 1403638630.577830, t: 0.549729 0.183004 -0.040051 q: 0.108076 0.801881 -0.152569 0.567476 
time: 1403638630.777829, t: 0.550704 0.179926 -0.068390 q: 0.108034 0.827472 -0.143884 0.531899 
time: 1403638630.977829, t: 0.550255 0.172601 -0.054036 q: 0.103215 0.826338 -0.145272 0.534236 
time: 1403638631.177830, t: 0.584557 0.170018 -0.052037 q: 0.104312 0.826912 -0.145100 0.533181 
time: 1403638631.377830, t: 0.580878 0.170533 -0.052316 q: 0.104028 0.826964 -0.145196 0.533130 
time: 1403638631.577830, t: 0.583067 0.171130 -0.052641 q: 0.103622 0.826747 -0.145504 0.533461 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720564075.313173022]: Shutdown request received.[0m
[33m[ WARN] [1720564075.313223333]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720564075.314153359]: Shutdown request received.[0m
[33m[ WARN] [1720564075.314187588]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/31c1a14a-3e42-11ef-a826-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
