/SLAM-Hive/slam_hive_results/mapping_results/3236/2441_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-11.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720564099.878384789]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720564099.880077033]: init begins[0m
[31m[ERROR] [1720564099.881209223]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/8b66392c-3e42-11ef-af5f-0242ac110005/roslaunch-93572060816f-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://93572060816f:40245/[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] [1720564100.985531198]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720564100.986577862]: 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] [1720564100.992134237]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720564100.992346489]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720564100.992382527]: 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] [1720564100.992636919]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720564100.992839679]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720564100.993012249]: 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://93572060816f:11311/[0m
]2;roscore http://93572060816f:11311/
[1msetting /run_id to 8b66392c-3e42-11ef-af5f-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] [1720564110.044798903]: 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: 316925592.11 
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
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720564112.446307033]: gyroscope bias initial calibration -0.00197256   0.0201908   0.0778963[0m
[0m[ INFO] [1720564112.485436001]: Initialization finish![0m
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time: 1403638629.977829, t: 3.585186 1.284631 -0.214820 q: 0.102223 0.794285 -0.170668 0.574051 
time: 1403638630.177830, t: 3.623120 1.291265 -0.289712 q: 0.116437 0.792934 -0.161798 0.575778 
time: 1403638630.377830, t: 3.629290 1.291566 -0.353151 q: 0.113109 0.816921 -0.162340 0.541750 
time: 1403638630.577830, t: 3.680232 1.276355 -0.343640 q: 0.112696 0.798316 -0.161868 0.569025 
time: 1403638630.777829, t: 3.696656 1.265640 -0.375506 q: 0.112397 0.824283 -0.153424 0.533278 
time: 1403638630.977829, t: 3.793404 1.309715 -0.342493 q: 0.110239 0.823257 -0.156737 0.534349 
time: 1403638631.177830, t: 3.484509 1.194888 -0.360694 q: 0.105010 0.822451 -0.151829 0.538048 
time: 1403638631.377830, t: 3.702842 1.234959 -0.344120 q: 0.108293 0.823550 -0.154814 0.534855 
time: 1403638631.577830, t: 3.680307 1.198728 -0.369482 q: 0.107335 0.823348 -0.154958 0.535318 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720564225.708729107]: Shutdown request received.[0m
[33m[ WARN] [1720564225.708769014]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720564225.709679416]: Shutdown request received.[0m
[33m[ WARN] [1720564225.709705549]: Reason given for shutdown: [user request][0m
killed
