/SLAM-Hive/slam_hive_results/mapping_results/3244/2449_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-19.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720565307.405230100]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720565307.406448156]: init begins[0m
[31m[ERROR] [1720565307.407569118]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/5b235404-3e45-11ef-8858-0242ac110005/roslaunch-bfa55bda41c1-118.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://bfa55bda41c1:36383/[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] [1720565308.511600727]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720565308.512261756]: 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] [1720565308.518302345]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720565308.518532858]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720565308.518558865]: ROW: 384 COL: 601 [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] [1720565308.518821864]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720565308.519019671]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720565308.519183840]: 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://bfa55bda41c1:11311/[0m
]2;roscore http://bfa55bda41c1:11311/
[1msetting /run_id to 5b235404-3e45-11ef-8858-0242ac110005[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] [1720565317.564855672]: 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: 316926799.63 
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] [1720565328.402314442]: gyroscope bias initial calibration 0.0178554  0.018993 0.0695879[0m
[0m[ INFO] [1720565328.500915425]: Initialization finish![0m
time: 1403638528.577830, t: -0.600133 0.400170 -0.674318 q: 0.200956 0.749228 -0.180876 0.604614 
time: 1403638529.577830, t: -0.058194 -0.059867 0.146720 q: 0.111597 0.826353 -0.103048 0.542281 
time: 1403638530.577830, t: 0.012933 -0.006051 0.062418 q: 0.098875 0.823796 -0.107767 0.547695 
time: 1403638531.577830, t: 0.164424 0.073380 0.073837 q: 0.082492 0.825549 -0.090731 0.550846 
time: 1403638532.577830, t: 0.212411 0.078327 0.046241 q: 0.078827 0.825473 -0.088958 0.551785 
time: 1403638533.577830, t: 0.247888 0.029520 -0.010069 q: 0.074161 0.825131 -0.084369 0.553662 
time: 1403638534.577830, t: 0.255539 0.045215 -0.000595 q: 0.075769 0.825275 -0.086197 0.552947 
time: 1403638535.577830, t: 0.252299 0.051351 0.000847 q: 0.075793 0.825362 -0.086303 0.552797 
time: 1403638536.577830, t: 0.249218 0.054108 0.002661 q: 0.075664 0.825249 -0.086142 0.553009 
time: 1403638537.577830, t: 0.245778 0.051437 0.002214 q: 0.075463 0.825227 -0.085759 0.553129 
time: 1403638538.577830, t: 0.241665 0.047938 0.002756 q: 0.075630 0.825238 -0.085458 0.553137 
time: 1403638539.577830, t: 0.291800 0.051994 0.133746 q: 0.076320 0.807551 -0.081899 0.579076 
time: 1403638540.577830, t: 0.481322 0.050637 0.290885 q: 0.062602 0.815587 -0.057789 0.572328 
time: 1403638542.577830, t: 1.566903 1.026339 0.621008 q: -0.104424 0.771635 0.240996 0.579306 
time: 1403638543.577830, t: 2.584940 1.834472 0.770665 q: -0.138548 0.787257 0.247423 0.547551 
time: 1403638544.577830, t: 2.067712 2.812763 0.896135 q: -0.230276 0.742447 0.358301 0.517074 
time: 1403638545.577830, t: 2.026796 3.337206 0.791828 q: -0.254297 0.730146 0.372605 0.513210 
time: 1403638546.577830, t: 2.215419 4.223062 0.810429 q: -0.324521 0.666561 0.488480 0.460185 
time: 1403638547.577830, t: 2.336071 5.403340 0.856492 q: -0.335402 0.652161 0.508969 0.450714 
time: 1403638548.577830, t: 2.179108 6.675584 0.804167 q: -0.367428 0.612966 0.557786 0.422071 
time: 1403638549.577830, t: 1.889343 7.867649 1.052570 q: -0.387286 0.603323 0.563417 0.410576 
time: 1403638550.577830, t: 1.766412 9.287132 1.549528 q: -0.394321 0.605670 0.559403 0.405886 
time: 1403638551.577830, t: 1.872608 10.413995 1.939099 q: -0.404291 0.629029 0.509321 0.425985 
time: 1403638552.577830, t: 2.585534 11.139033 2.248172 q: -0.360479 0.677172 0.426547 0.479115 
time: 1403638553.577830, t: 3.609351 11.114308 2.378166 q: -0.357957 0.644109 0.449833 0.504618 
time: 1403638554.577830, t: 4.380361 10.436511 2.609318 q: -0.330519 0.666599 0.473897 0.470982 
time: 1403638555.577830, t: 4.971260 9.595301 2.692478 q: -0.314895 0.692106 0.432375 0.484646 
time: 1403638556.577830, t: 5.675326 8.871658 2.849107 q: -0.304300 0.709260 0.439027 0.460008 
time: 1403638557.577830, t: 6.670791 8.315640 3.030600 q: -0.311791 0.694509 0.435842 0.480088 
time: 1403638558.577830, t: 7.743378 8.003547 3.182642 q: -0.286162 0.715823 0.450456 0.450330 
time: 1403638559.577830, t: 9.024903 8.019472 3.346236 q: -0.298977 0.691913 0.444195 0.484313 
time: 1403638560.577830, t: 10.074008 8.265249 3.183145 q: -0.236157 0.745704 0.309381 0.540776 
time: 1403638561.577830, t: 10.916136 8.014212 3.052143 q: -0.133939 0.791769 0.162437 0.573390 
time: 1403638562.577830, t: 11.324286 7.355708 2.930057 q: -0.076484 0.802574 0.088829 0.584923 
time: 1403638563.577830, t: 11.258034 6.600187 2.795141 q: 0.012308 0.789858 -0.080143 0.607907 
time: 1403638564.577830, t: 11.015979 5.407739 2.783678 q: -0.005056 0.794274 -0.054115 0.605124 
time: 1403638565.577830, t: 9.929342 3.948789 2.441465 q: -0.004483 0.795604 -0.058683 0.602951 
time: 1403638566.577830, t: 8.427799 2.199446 1.948700 q: 0.022440 0.807026 -0.045005 0.588371 
time: 1403638567.577830, t: 7.252477 0.774556 1.062918 q: 0.029630 0.813254 -0.033049 0.580214 
time: 1403638568.577830, t: 6.220338 -0.373215 0.517294 q: 0.042205 0.825338 -0.034870 0.561979 
time: 1403638569.577830, t: 6.196089 -0.380316 0.348892 q: 0.049732 0.827322 -0.029322 0.558753 
time: 1403638570.577830, t: 6.171193 -0.160968 0.370067 q: 0.016391 0.817477 -0.089751 0.568689 
time: 1403638571.577830, t: 5.903459 -0.677676 0.052219 q: 0.136034 0.774920 -0.243331 0.567260 
time: 1403638572.577830, t: 5.204777 -1.534930 -0.062976 q: 0.242116 0.731480 -0.393587 0.501404 
time: 1403638573.577830, t: 4.627534 -2.745225 0.010008 q: 0.259849 0.741304 -0.392471 0.478449 
time: 1403638574.577830, t: 4.394633 -4.047066 0.143522 q: 0.351754 0.613451 -0.534455 0.462931 
time: 1403638575.577830, t: 4.128321 -5.160186 0.248181 q: 0.351682 0.620452 -0.556210 0.426602 
time: 1403638576.577830, t: 3.790972 -6.547397 0.441385 q: 0.374167 0.645767 -0.532493 0.399294 
time: 1403638577.577830, t: 3.923640 -8.017154 0.550435 q: 0.385016 0.633322 -0.525845 0.417316 
time: 1403638578.577830, t: 4.439273 -9.382135 0.679333 q: 0.363102 0.620675 -0.538491 0.439256 
time: 1403638579.577830, t: 4.974620 -10.609539 0.761147 q: 0.363907 0.617453 -0.532127 0.450738 
time: 1403638580.577830, t: 5.499596 -11.395625 0.623814 q: 0.203274 0.753059 -0.294262 0.552260 
time: 1403638581.577830, t: 5.729167 -11.873542 0.615062 q: 0.181031 0.779509 -0.251446 0.544397 
time: 1403638582.577830, t: 5.902139 -12.092459 0.800955 q: 0.195943 0.768362 -0.251168 0.555104 
time: 1403638583.577830, t: 6.247609 -12.085397 1.405901 q: 0.191998 0.779679 -0.258892 0.536854 
time: 1403638584.577830, t: 6.614331 -11.849140 1.528415 q: 0.205956 0.755185 -0.246565 0.571388 
time: 1403638585.577830, t: 6.597840 -11.059563 1.543057 q: 0.189053 0.773829 -0.258938 0.546259 
time: 1403638586.577830, t: 6.675543 -10.315345 1.716590 q: 0.202944 0.770459 -0.253042 0.548796 
time: 1403638587.577830, t: 6.833015 -9.512904 1.615162 q: 0.188433 0.773438 -0.262520 0.545316 
time: 1403638588.577830, t: 6.849985 -8.632395 1.375844 q: 0.194844 0.772413 -0.258763 0.546310 
time: 1403638589.577830, t: 6.878662 -7.678516 1.326428 q: 0.189731 0.769216 -0.264514 0.549855 
time: 1403638590.577830, t: 6.803569 -6.650684 1.273030 q: 0.188798 0.771899 -0.269128 0.544148 
time: 1403638591.577830, t: 6.772884 -5.826268 1.258848 q: 0.170529 0.796482 -0.282871 0.506478 
time: 1403638592.577830, t: 7.175760 -5.485845 1.323665 q: 0.139057 0.786703 -0.237294 0.552679 
time: 1403638593.577830, t: 7.633326 -5.676022 1.724574 q: 0.149403 0.794569 -0.193367 0.555831 
time: 1403638594.577830, t: 8.061014 -5.725212 2.024593 q: 0.133450 0.788685 -0.170126 0.575521 
time: 1403638595.577830, t: 8.141462 -5.483276 2.235839 q: 0.124915 0.794364 -0.181047 0.566220 
time: 1403638596.577830, t: 8.145567 -5.063412 2.224433 q: 0.187235 0.800730 -0.134667 0.552847 
time: 1403638597.577830, t: 8.492608 -3.463129 2.448779 q: 0.180899 0.783943 -0.144917 0.575941 
time: 1403638598.577830, t: 8.822111 -0.762402 2.374037 q: 0.119950 0.797483 -0.143169 0.573703 
time: 1403638599.577830, t: 8.961335 2.035950 2.385493 q: 0.027019 0.820326 -0.000979 0.571256 
time: 1403638600.577830, t: 9.061156 4.528924 2.345602 q: -0.024614 0.830845 -0.048685 0.553824 
time: 1403638601.577830, t: 9.540129 6.049063 2.450904 q: 0.000886 0.820995 0.015667 0.570720 
time: 1403638602.577830, t: 10.046256 7.679715 2.695530 q: -0.167307 0.742157 0.188668 0.620979 
time: 1403638603.577830, t: 9.623104 8.565074 3.032306 q: -0.251164 0.741296 0.328730 0.528520 
time: 1403638604.577830, t: 8.903864 8.838790 2.960728 q: -0.236288 0.730745 0.345412 0.539324 
time: 1403638605.577830, t: 8.579442 8.055949 3.198974 q: -0.214334 0.735171 0.360386 0.532642 
time: 1403638606.577830, t: 7.053699 8.358791 3.101309 q: -0.214443 0.755894 0.355077 0.506516 
time: 1403638607.577830, t: 4.850773 9.301810 2.988841 q: -0.310237 0.703157 0.424264 0.478876 
time: 1403638608.577830, t: 5.061105 10.195616 2.539643 q: -0.307241 0.694025 0.415350 0.501414 
time: 1403638609.577830, t: 4.504809 10.517020 2.096076 q: -0.312293 0.702490 0.411004 0.489955 
time: 1403638610.577830, t: 4.507726 10.541002 1.357563 q: -0.320311 0.687841 0.403506 0.511330 
time: 1403638611.577830, t: 4.343248 10.015321 0.894486 q: -0.296066 0.683250 0.424829 0.514815 
time: 1403638612.577830, t: 4.031144 9.210680 0.653161 q: -0.304031 0.699447 0.411800 0.498758 
time: 1403638613.577830, t: 3.698568 8.355816 0.454432 q: -0.294744 0.701913 0.403724 0.507396 
time: 1403638614.577830, t: 3.238249 7.372713 0.169525 q: -0.237524 0.751468 0.304877 0.534723 
time: 1403638615.577830, t: 2.864777 6.127206 0.310621 q: -0.088478 0.806475 0.098459 0.576260 
time: 1403638616.577830, t: 2.681900 4.864497 0.288786 q: 0.006641 0.816528 -0.048881 0.575195 
time: 1403638617.577830, t: 2.574990 3.474226 0.039586 q: 0.023152 0.837025 -0.047681 0.544591 
time: 1403638618.577830, t: 3.225014 2.397048 0.412193 q: 0.021354 0.832184 -0.029284 0.553314 
time: 1403638619.577830, t: 3.987691 1.871287 0.441274 q: 0.111057 0.799839 -0.164931 0.566324 
time: 1403638620.577830, t: 4.448350 1.286670 0.359877 q: 0.118135 0.789099 -0.196565 0.569850 
time: 1403638621.577830, t: 4.747976 0.425956 0.376883 q: 0.123974 0.792297 -0.170522 0.572554 
time: 1403638622.577830, t: 4.827125 -0.089504 0.306508 q: 0.126905 0.785364 -0.167879 0.582164 
time: 1403638623.577830, t: 4.279354 -0.167370 0.362337 q: 0.120999 0.787444 -0.176589 0.578021 
time: 1403638624.577830, t: 3.407838 -0.075927 0.415539 q: 0.118152 0.782369 -0.191686 0.580686 
time: 1403638625.577830, t: 2.380472 0.104062 0.412773 q: 0.101574 0.796874 -0.166009 0.571940 
time: 1403638626.577830, t: 1.442469 0.149865 0.402730 q: 0.114505 0.805705 -0.160465 0.558551 
time: 1403638627.577830, t: 0.832674 0.100880 0.312991 q: 0.112403 0.813699 -0.157965 0.548003 
time: 1403638628.577830, t: 0.626147 0.162055 0.206403 q: 0.105200 0.802271 -0.169602 0.562610 
time: 1403638629.577830, t: 0.583296 0.226088 0.134883 q: 0.114310 0.813721 -0.165827 0.545245 
time: 1403638630.577830, t: 0.585023 0.216711 0.009967 q: 0.116656 0.798397 -0.164697 0.567299 
time: 1403638631.577830, t: 0.504031 0.268088 -0.018884 q: 0.111625 0.822719 -0.157557 0.534649 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720565433.245816632]: Shutdown request received.[0m
[33m[ WARN] [1720565433.245869027]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720565433.246773822]: Shutdown request received.[0m
[33m[ WARN] [1720565433.246793450]: Reason given for shutdown: [user request][0m
killed
