/SLAM-Hive/slam_hive_results/mapping_results/3241/2446_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-16.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720564855.451057225]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720564855.452381986]: init begins[0m
[31m[ERROR] [1720564855.453316626]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/4dc1d46c-3e44-11ef-8e37-0242ac110005/roslaunch-dfeb84173eda-116.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://dfeb84173eda: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 [153][0m
[0m[ INFO] [1720564856.557288528]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720564856.558179165]: 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] [1720564856.564150202]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720564856.564356678]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720564856.564386155]: 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] [1720564856.564641075]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720564856.564846542]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720564856.565013465]: 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://dfeb84173eda:11311/[0m
]2;roscore http://dfeb84173eda:11311/
[1msetting /run_id to 4dc1d46c-3e44-11ef-8e37-0242ac110005[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 [246][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720564865.615526875]: 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: 316926347.68 
init first imu pose
averge acc 9.017038 -0.028934 -3.796764
init R0 
   0.388077  0.00702325      0.9216
          0   -0.999971  0.00762049
   0.921627 -0.00295733   -0.388065
[33m[ WARN] [1720564870.131189624]: gyroscope bias initial calibration -0.00313324  0.00327196   0.0873879[0m
[0m[ INFO] [1720564870.187615270]: Initialization finish![0m
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time: 1403638522.677830, t: 0.020991 0.006262 0.197375 q: -0.044825 0.828838 0.013635 0.557524 
time: 1403638523.077830, t: 0.042990 -0.004463 0.371931 q: -0.077751 0.812814 0.017621 0.577042 
time: 1403638523.477829, t: 0.015785 -0.045167 0.312603 q: -0.094981 0.807205 0.041700 0.581085 
time: 1403638523.877830, t: -0.017295 -0.064026 0.114660 q: -0.058761 0.828243 0.047912 0.555216 
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time: 1403638629.877830, t: 0.294394 0.744583 0.432620 q: 0.089145 0.802670 -0.171360 0.564278 
time: 1403638630.277829, t: 0.303484 0.717700 0.342485 q: 0.114191 0.801008 -0.154063 0.567108 
time: 1403638630.677830, t: 0.310331 0.736444 0.303844 q: 0.107236 0.820404 -0.151616 0.540786 
time: 1403638631.077830, t: 0.283566 0.741018 0.288600 q: 0.106128 0.825762 -0.146588 0.534197 
time: 1403638631.477829, t: 0.276100 0.708107 0.281464 q: 0.104728 0.826097 -0.146963 0.533852 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720564981.167834520]: Shutdown request received.[0m
[33m[ WARN] [1720564981.167873750]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720564981.168789988]: Shutdown request received.[0m
[33m[ WARN] [1720564981.168829060]: Reason given for shutdown: [user request][0m
killed
