/SLAM-Hive/slam_hive_results/mapping_results/3243/2448_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-18.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720565157.051806444]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720565157.053581974]: init begins[0m
[31m[ERROR] [1720565157.054659078]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/01870da0-3e45-11ef-8068-0242ac110005/roslaunch-653476f5b344-117.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://653476f5b344:33785/[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
[1mROS_MASTER_URI=http://653476f5b344:11311/[0m
]2;roscore http://653476f5b344:11311/
[1msetting /run_id to 01870da0-3e45-11ef-8068-0242ac110005[0m
[0m[ INFO] [1720565158.207130373]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720565158.210079897]: 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] [1720565158.216516642]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720565158.216711423]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720565158.216734203]: ROW: 480 COL: 752 [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] [1720565158.216964543]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720565158.217159641]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720565158.217350931]: 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 [218][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720565167.203837817]: 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: 316926649.27 
init first imu pose
averge acc 9.018495 -0.034290 -3.793590
init R0 
    0.387752   0.00833132     0.921726
-1.54074e-33    -0.999959   0.00903845
    0.921764  -0.00350467    -0.387736
[33m[ WARN] [1720565178.017085844]: gyroscope bias initial calibration -0.00252005   0.0198479   0.0774421[0m
[0m[ INFO] [1720565178.121795177]: Initialization finish![0m
time: 1403638528.577830, t: 0.099152 -0.233693 0.200096 q: 0.026313 0.809026 -0.048958 0.585138 
time: 1403638529.577830, t: -0.039324 -0.152072 0.197543 q: 0.048304 0.842647 -0.053104 0.533660 
time: 1403638530.577830, t: 0.024329 -0.121362 0.076760 q: 0.043080 0.837072 -0.065151 0.541489 
time: 1403638531.577830, t: 0.065050 -0.107648 0.055082 q: 0.049898 0.832644 -0.065750 0.547624 
time: 1403638532.577830, t: 0.014435 -0.216263 0.017662 q: 0.045478 0.832508 -0.061919 0.548661 
time: 1403638533.577830, t: 0.085384 -0.156839 0.025696 q: 0.053460 0.831512 -0.069103 0.548593 
time: 1403638534.577830, t: 0.043487 -0.147795 -0.000997 q: 0.047718 0.832928 -0.065141 0.547458 
time: 1403638535.577830, t: 0.042817 -0.138953 0.002405 q: 0.048148 0.833172 -0.065590 0.546996 
time: 1403638536.577830, t: 0.042789 -0.137539 0.001074 q: 0.047742 0.833153 -0.065423 0.547080 
time: 1403638537.577830, t: 0.042545 -0.137427 0.000004 q: 0.047662 0.833178 -0.065218 0.547073 
time: 1403638538.577830, t: 0.041860 -0.138508 0.001244 q: 0.048259 0.833243 -0.065311 0.546911 
time: 1403638539.577830, t: 0.090057 -0.174526 0.124896 q: 0.047853 0.815905 -0.061963 0.572860 
time: 1403638540.577830, t: 0.303205 -0.200214 0.254416 q: 0.033928 0.822999 -0.037310 0.565800 
time: 1403638541.577830, t: 0.796954 0.006676 0.309682 q: -0.038878 0.814717 0.105288 0.568892 
time: 1403638542.577830, t: 1.198001 0.686648 0.487633 q: -0.138901 0.765542 0.260927 0.571463 
time: 1403638543.577830, t: 1.661210 1.465274 0.630232 q: -0.174846 0.779317 0.270241 0.537646 
time: 1403638544.577830, t: 1.668740 2.363182 0.788095 q: -0.251298 0.735590 0.373127 0.506491 
time: 1403638545.577830, t: 1.798240 3.208100 0.778786 q: -0.267644 0.724505 0.387084 0.503613 
time: 1403638546.577830, t: 1.949346 4.102900 0.814251 q: -0.337087 0.657889 0.502051 0.448886 
time: 1403638547.577830, t: 1.984255 5.200746 0.898223 q: -0.348555 0.642612 0.522689 0.438583 
time: 1403638548.577830, t: 1.818538 6.439825 0.845999 q: -0.378799 0.602866 0.570289 0.409676 
time: 1403638549.577830, t: 1.480354 7.656962 1.078120 q: -0.397366 0.593222 0.575748 0.398375 
time: 1403638550.577830, t: 1.298461 9.019796 1.586309 q: -0.403036 0.595564 0.572831 0.393357 
time: 1403638551.577830, t: 1.361509 10.343739 1.992797 q: -0.413510 0.619965 0.523488 0.413054 
time: 1403638552.577830, t: 2.021928 11.042339 2.292876 q: -0.371049 0.669708 0.442927 0.466508 
time: 1403638553.577830, t: 3.052686 11.114738 2.352700 q: -0.368510 0.636813 0.464865 0.492514 
time: 1403638554.577830, t: 3.843847 10.442354 2.616048 q: -0.340280 0.658790 0.488063 0.460435 
time: 1403638555.577830, t: 4.507211 9.637660 2.709492 q: -0.325299 0.684682 0.446654 0.475280 
time: 1403638556.577830, t: 5.216513 8.890090 2.842550 q: -0.313645 0.702025 0.453073 0.451124 
time: 1403638557.577830, t: 6.230985 8.391507 3.004094 q: -0.321371 0.687440 0.449212 0.471546 
time: 1403638558.577830, t: 7.333432 8.103003 3.143175 q: -0.295003 0.708731 0.463275 0.442776 
time: 1403638559.577830, t: 8.555679 8.256156 3.275276 q: -0.307844 0.685443 0.456300 0.476644 
time: 1403638560.577830, t: 9.575574 8.612259 3.094868 q: -0.245906 0.741862 0.322836 0.533805 
time: 1403638561.577830, t: 10.322559 8.401611 2.957832 q: -0.143413 0.790434 0.176929 0.568633 
time: 1403638562.577830, t: 10.680678 7.945198 2.767980 q: -0.086088 0.802658 0.103703 0.581012 
time: 1403638563.577830, t: 11.088348 7.294652 2.692027 q: 0.001543 0.794342 -0.064181 0.604069 
time: 1403638564.577830, t: 10.677206 6.080638 2.685843 q: -0.015155 0.796550 -0.039876 0.603065 
time: 1403638565.577830, t: 9.713247 4.465778 2.298323 q: -0.015440 0.798234 -0.045381 0.600436 
time: 1403638566.577830, t: 8.425874 2.719965 1.793418 q: 0.011601 0.809239 -0.030890 0.586552 
time: 1403638567.577830, t: 7.295618 1.322061 0.887161 q: 0.019045 0.814855 -0.018918 0.579042 
time: 1403638568.577830, t: 6.458344 0.358478 0.346935 q: 0.032140 0.827090 -0.020458 0.560777 
time: 1403638569.577830, t: 5.198344 -0.710920 0.166317 q: 0.039538 0.826697 -0.018654 0.560946 
time: 1403638570.577830, t: 5.817126 0.136525 0.296499 q: 0.006752 0.819242 -0.077681 0.568122 
time: 1403638571.577830, t: 5.544193 -0.345690 -0.003112 q: 0.126825 0.779092 -0.231897 0.568468 
time: 1403638572.577830, t: 4.915878 -1.231876 -0.139593 q: 0.233963 0.738194 -0.382669 0.503881 
time: 1403638573.577830, t: 4.439976 -2.424687 -0.092093 q: 0.252239 0.748103 -0.380984 0.481216 
time: 1403638574.577830, t: 4.369027 -3.678876 0.043725 q: 0.344724 0.622732 -0.524241 0.467484 
time: 1403638575.577830, t: 3.967840 -4.760276 0.146898 q: 0.344782 0.629229 -0.546756 0.431571 
time: 1403638576.577830, t: 3.628393 -6.076556 0.373430 q: 0.367943 0.653854 -0.522948 0.404497 
time: 1403638577.577830, t: 3.801723 -7.638023 0.491650 q: 0.378592 0.641119 -0.517312 0.421928 
time: 1403638578.577830, t: 4.336803 -9.093463 0.584810 q: 0.356205 0.628472 -0.529746 0.444421 
time: 1403638579.577830, t: 4.918926 -10.175489 0.671372 q: 0.357605 0.624727 -0.523567 0.455754 
time: 1403638580.577830, t: 5.480814 -10.970370 0.539505 q: 0.195625 0.757086 -0.284101 0.554831 
time: 1403638581.577830, t: 5.768628 -11.390517 0.522726 q: 0.173129 0.783170 -0.240477 0.546664 
time: 1403638582.577830, t: 5.972242 -11.535125 0.698839 q: 0.187874 0.772087 -0.240275 0.557543 
time: 1403638583.577830, t: 6.236699 -11.707882 1.315423 q: 0.183255 0.783397 -0.247920 0.539669 
time: 1403638584.577830, t: 6.734294 -11.433226 1.522471 q: 0.197861 0.759079 -0.236160 0.573479 
time: 1403638585.577830, t: 6.712485 -10.603024 1.513877 q: 0.181201 0.778049 -0.247506 0.548222 
time: 1403638586.577830, t: 6.806161 -9.823262 1.682383 q: 0.195226 0.774131 -0.242201 0.551314 
time: 1403638587.577830, t: 6.772276 -8.960342 1.473253 q: 0.180932 0.777494 -0.251113 0.547457 
time: 1403638588.577830, t: 6.785733 -8.033785 1.281122 q: 0.186863 0.776152 -0.247191 0.549152 
time: 1403638589.577830, t: 6.749237 -7.013543 1.228655 q: 0.181469 0.772912 -0.252434 0.553130 
time: 1403638590.577830, t: 6.627335 -6.016825 1.166743 q: 0.180654 0.775684 -0.257173 0.547303 
time: 1403638591.577830, t: 6.626118 -5.184381 1.179270 q: 0.163732 0.800202 -0.272258 0.508669 
time: 1403638592.577830, t: 7.023236 -4.888040 1.278916 q: 0.131448 0.790072 -0.226903 0.554096 
time: 1403638593.577830, t: 7.514240 -5.166514 1.668290 q: 0.142307 0.797330 -0.183342 0.557135 
time: 1403638594.577830, t: 7.899238 -5.232330 2.000923 q: 0.125798 0.791190 -0.159927 0.576730 
time: 1403638595.577830, t: 7.952495 -5.027485 2.209295 q: 0.116355 0.797411 -0.169858 0.567226 
time: 1403638596.577830, t: 7.915847 -4.608342 2.202895 q: 0.178538 0.802975 -0.122906 0.555202 
time: 1403638597.577830, t: 8.219924 -3.004498 2.404619 q: 0.172189 0.786631 -0.132157 0.578011 
time: 1403638598.577830, t: 8.513124 -0.292086 2.335008 q: 0.111186 0.800213 -0.130601 0.574665 
time: 1403638599.577830, t: 8.584871 2.507173 2.354026 q: 0.017785 0.820835 0.011984 0.570762 
time: 1403638600.577830, t: 8.663324 4.998675 2.303754 q: -0.033489 0.832136 -0.035555 0.552416 
time: 1403638601.577830, t: 9.211181 6.582577 2.401807 q: -0.007949 0.821371 0.028280 0.569637 
time: 1403638602.577830, t: 9.834560 8.145050 2.632071 q: -0.177617 0.740030 0.200167 0.617043 
time: 1403638603.577830, t: 9.524034 8.903350 2.958180 q: -0.260368 0.736750 0.340084 0.523212 
time: 1403638604.577830, t: 8.705865 9.065476 2.881345 q: -0.245685 0.725694 0.357026 0.534360 
time: 1403638605.577830, t: 7.920320 8.480940 2.991768 q: -0.223182 0.728851 0.373373 0.528733 
time: 1403638606.577830, t: 6.609048 8.764724 3.039520 q: -0.223654 0.749565 0.367201 0.503283 
time: 1403638607.577830, t: 5.438511 9.551629 2.877057 q: -0.317909 0.696449 0.435809 0.473247 
time: 1403638608.577830, t: 4.782957 10.330085 2.431836 q: -0.315804 0.686860 0.426750 0.496362 
time: 1403638609.577830, t: 5.689465 10.994181 2.072621 q: -0.319986 0.698193 0.422790 0.481025 
time: 1403638610.577830, t: 3.981819 10.693390 1.384355 q: -0.328395 0.680965 0.416174 0.505216 
time: 1403638611.577830, t: 3.811010 10.159229 0.955400 q: -0.304568 0.675767 0.437538 0.509055 
time: 1403638612.577830, t: 3.517145 9.393937 0.712250 q: -0.311947 0.692756 0.424627 0.492412 
time: 1403638613.577830, t: 3.217557 8.569754 0.516922 q: -0.302968 0.695282 0.416542 0.501284 
time: 1403638614.577830, t: 2.830361 7.616804 0.228425 q: -0.246530 0.746483 0.318745 0.529517 
time: 1403638615.577830, t: 2.594460 6.457246 0.384938 q: -0.098082 0.805640 0.113642 0.573070 
time: 1403638616.577830, t: 2.380726 5.272711 0.357037 q: -0.002258 0.817649 -0.033965 0.574710 
time: 1403638617.577830, t: 2.338462 4.031318 0.114049 q: 0.014901 0.838106 -0.032405 0.544340 
time: 1403638618.577830, t: 2.805047 2.927703 0.306857 q: 0.013100 0.832517 -0.016293 0.553605 
time: 1403638619.577830, t: 3.787754 2.422710 0.291350 q: 0.101113 0.802942 -0.152061 0.567395 
time: 1403638620.577830, t: 4.524472 1.689555 0.124952 q: 0.107167 0.793234 -0.183149 0.570746 
time: 1403638621.577830, t: 4.759434 0.852826 -0.172536 q: 0.113386 0.795840 -0.155574 0.574090 
time: 1403638622.577830, t: 4.666581 0.386063 0.357951 q: 0.115434 0.788951 -0.152904 0.583825 
time: 1403638623.577830, t: 4.148257 0.254046 0.423834 q: 0.109401 0.791288 -0.161305 0.579547 
time: 1403638624.577830, t: 3.275269 0.336850 0.485510 q: 0.106414 0.786472 -0.176710 0.582161 
time: 1403638625.577830, t: 2.253988 0.476191 0.479714 q: 0.090003 0.800493 -0.150903 0.573009 
time: 1403638626.577830, t: 1.328933 0.452076 0.459278 q: 0.103321 0.808995 -0.144875 0.560235 
time: 1403638627.577830, t: 0.726036 0.383809 0.365992 q: 0.101491 0.816830 -0.142191 0.549791 
time: 1403638628.577830, t: 0.506199 0.410602 0.252187 q: 0.093780 0.805641 -0.154039 0.564287 
time: 1403638629.577830, t: 0.423071 0.451375 0.205372 q: 0.103459 0.817131 -0.149937 0.546912 
time: 1403638630.577830, t: 0.468653 0.446060 0.110427 q: 0.104731 0.801958 -0.148450 0.569085 
time: 1403638631.577830, t: 0.391034 0.484722 0.056157 q: 0.100378 0.826011 -0.140716 0.536497 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720565282.878775675]: Shutdown request received.[0m
[33m[ WARN] [1720565282.878834659]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720565282.879867547]: Shutdown request received.[0m
[33m[ WARN] [1720565282.879898777]: Reason given for shutdown: [user request][0m
killed
