/SLAM-Hive/slam_hive_results/mapping_results/3242/2447_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-17.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720565005.512705594]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720565005.514623585]: init begins[0m
[31m[ERROR] [1720565005.515770013]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/a733fb2e-3e44-11ef-8a15-0242ac110005/roslaunch-973960d9af74-118.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://973960d9af74:33003/[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
[1mROS_MASTER_URI=http://973960d9af74:11311/[0m
]2;roscore http://973960d9af74:11311/
[1msetting /run_id to a733fb2e-3e44-11ef-8a15-0242ac110005[0m
[0m[ INFO] [1720565006.668683530]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720565006.670974052]: 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] [1720565006.676807575]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720565006.677021852]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720565006.677055520]: 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] [1720565006.677303877]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720565006.677509312]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720565006.677673936]: 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 [208][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720565015.675795002]: 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: 316926497.74 
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
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720565020.195073651]: Initialization finish![0m
time: 1403638522.277829, t: 0.003785 0.004881 0.033511 q: -0.010222 0.831600 0.006344 0.555245 
time: 1403638522.677830, t: 0.021558 0.005797 0.197373 q: -0.042070 0.828688 0.012116 0.557996 
time: 1403638523.077830, t: 0.041536 -0.001083 0.370775 q: -0.067990 0.809620 0.012723 0.582865 
time: 1403638523.477829, t: 0.034066 -0.030834 0.290280 q: -0.049180 0.808586 0.015137 0.586123 
time: 1403638523.877830, t: -0.010379 -0.050243 0.111112 q: -0.051957 0.825228 0.044741 0.560622 
time: 1403638524.277829, t: -0.061187 -0.068565 0.120470 q: -0.055611 0.834494 0.074539 0.543112 
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time: 1403638630.277829, t: 1.716477 2.292020 -0.568596 q: 0.099115 0.802158 -0.135507 0.573024 
time: 1403638630.677830, t: 1.661766 2.313210 -0.606791 q: 0.092388 0.821684 -0.132463 0.546583 
time: 1403638631.077830, t: 1.544843 2.325556 -0.629468 q: 0.091421 0.826905 -0.127360 0.540047 
time: 1403638631.477829, t: 1.476696 2.508081 -0.664916 q: 0.093220 0.826973 -0.128306 0.539410 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720565131.367126255]: Shutdown request received.[0m
[33m[ WARN] [1720565131.367184150]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720565131.368021802]: Shutdown request received.[0m
[33m[ WARN] [1720565131.368053736]: Reason given for shutdown: [user request][0m
killed
