/SLAM-Hive/slam_hive_results/mapping_results/3245/2450_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-20.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720565457.637260700]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720565457.638737438]: init begins[0m
[31m[ERROR] [1720565457.639777384]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b4afef28-3e45-11ef-a1d3-0242ac110005/roslaunch-d5e54dd1e58b-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://d5e54dd1e58b:39373/[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://d5e54dd1e58b:11311/[0m
]2;roscore http://d5e54dd1e58b:11311/
[1msetting /run_id to b4afef28-3e45-11ef-a1d3-0242ac110005[0m
[0m[ INFO] [1720565458.792986355]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720565458.794564698]: 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] [1720565458.801292448]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720565458.801494355]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720565458.801541801]: ROW: 288 COL: 451 [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] [1720565458.801777429]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720565458.801979708]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720565458.802164819]: 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 [217][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720565467.774365473]: 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: 316926949.84 
init first imu pose
averge acc 9.018495 -0.034290 -3.793590
init R0 
[33m[ WARN] [1720565478.608594488]: gyroscope bias initial calibration -0.000697652    0.0224578    0.0795972[0m
[0m[ INFO] [1720565478.676493689]: Initialization finish![0m
time: 1403638528.577830, t: 0.123077 -0.283856 0.205892 q: 0.015798 0.809308 -0.041677 0.585691 
time: 1403638529.577830, t: -0.039840 -0.212789 0.211631 q: 0.037455 0.843101 -0.044932 0.534565 
time: 1403638530.577830, t: 0.005248 -0.190364 0.064516 q: 0.036442 0.836990 -0.060914 0.542594 
time: 1403638531.577830, t: 0.038849 -0.183043 0.027415 q: 0.042543 0.832995 -0.061079 0.548251 
time: 1403638532.577830, t: 0.040015 -0.182687 0.000588 q: 0.046407 0.832748 -0.064288 0.547945 
time: 1403638533.577830, t: 0.076305 -0.181869 0.022656 q: 0.054401 0.831531 -0.070089 0.548346 
time: 1403638534.577830, t: 0.064337 -0.195213 -0.017180 q: 0.045049 0.833497 -0.063496 0.547011 
time: 1403638535.577830, t: 0.052238 -0.195351 -0.018116 q: 0.045498 0.833515 -0.063667 0.546927 
time: 1403638536.577830, t: 0.051399 -0.184687 -0.016535 q: 0.044215 0.833831 -0.063019 0.546626 
time: 1403638537.577830, t: 0.058115 -0.172441 -0.018963 q: 0.042393 0.834380 -0.061758 0.546077 
time: 1403638538.577830, t: 0.056662 -0.175248 -0.014063 q: 0.042827 0.834578 -0.061807 0.545734 
time: 1403638539.577830, t: 0.092675 -0.201232 0.106292 q: 0.041817 0.817019 -0.058261 0.572134 
time: 1403638540.577830, t: 0.304741 -0.219698 0.237121 q: 0.027528 0.823547 -0.032780 0.565630 
time: 1403638541.577830, t: 0.782932 -0.003338 0.289947 q: -0.047650 0.814583 0.110652 0.567397 
time: 1403638542.577830, t: 1.203447 0.610662 0.465675 q: -0.146039 0.765159 0.263223 0.569138 
time: 1403638543.577830, t: 1.634123 1.329481 0.629898 q: -0.177527 0.779417 0.270608 0.536436 
time: 1403638544.577830, t: 1.682580 2.311880 0.799786 q: -0.252444 0.734935 0.373792 0.506381 
time: 1403638545.577830, t: 1.805558 3.198479 0.810094 q: -0.267246 0.723946 0.386272 0.505249 
time: 1403638546.577830, t: 1.958305 4.109965 0.845471 q: -0.336672 0.658382 0.500778 0.449896 
time: 1403638547.577830, t: 1.973815 5.109654 0.887575 q: -0.347038 0.643420 0.520561 0.441125 
time: 1403638548.577830, t: 1.776277 6.353240 0.834457 q: -0.377858 0.603426 0.568280 0.412503 
time: 1403638549.577830, t: 1.457904 7.580533 1.100771 q: -0.395622 0.594941 0.573165 0.401260 
time: 1403638550.577830, t: 1.256644 8.925371 1.604468 q: -0.401127 0.597718 0.569701 0.396574 
time: 1403638552.577830, t: 1.956328 10.912032 2.322882 q: -0.368091 0.671573 0.438831 0.470028 
time: 1403638553.577830, t: 2.995464 10.958900 2.414336 q: -0.366255 0.638946 0.460333 0.495680 
time: 1403638554.577830, t: 3.748460 10.240110 2.665497 q: -0.337507 0.661715 0.483310 0.463286 
time: 1403638555.577830, t: 4.403039 9.407699 2.750834 q: -0.322295 0.687428 0.442042 0.477669 
time: 1403638556.577830, t: 5.099217 8.606146 2.887945 q: -0.310911 0.704482 0.448610 0.453639 
time: 1403638557.577830, t: 6.078099 8.102416 3.042550 q: -0.318654 0.689664 0.445509 0.473650 
time: 1403638558.577830, t: 7.160355 7.817118 3.194472 q: -0.292794 0.710506 0.459924 0.444885 
time: 1403638559.577830, t: 8.400458 7.979048 3.339940 q: -0.305879 0.687305 0.453301 0.478088 
time: 1403638560.577830, t: 9.375795 8.113914 3.178197 q: -0.243951 0.742532 0.318233 0.536528 
time: 1403638561.577830, t: 10.141199 7.981630 3.000187 q: -0.142012 0.791002 0.172592 0.569527 
time: 1403638562.577830, t: 10.799187 7.795765 2.866887 q: -0.084328 0.803714 0.102930 0.579946 
time: 1403638563.577830, t: 10.830440 7.019357 2.799821 q: 0.003692 0.793644 -0.067261 0.604642 
time: 1403638564.577830, t: 10.491492 6.003948 2.813897 q: -0.013114 0.796720 -0.041839 0.602756 
time: 1403638565.577830, t: 9.448863 4.416050 2.444785 q: -0.013823 0.797932 -0.047852 0.600686 
time: 1403638566.577830, t: 8.101837 2.685792 1.974223 q: 0.012915 0.808908 -0.033873 0.586816 
time: 1403638567.577830, t: 6.963645 1.318020 1.094324 q: 0.020336 0.814570 -0.021986 0.579292 
time: 1403638568.577830, t: 6.119946 0.384964 0.583268 q: 0.033409 0.826816 -0.023676 0.560980 
time: 1403638569.577830, t: 5.448208 -0.176071 0.386327 q: 0.041132 0.827459 -0.020464 0.559643 
time: 1403638570.577830, t: 5.482512 0.111416 0.398445 q: 0.008525 0.818931 -0.080561 0.568146 
time: 1403638571.577830, t: 5.266468 -0.372854 0.085171 q: 0.128568 0.778013 -0.234831 0.568349 
time: 1403638572.577830, t: 4.649365 -1.218382 -0.007669 q: 0.234739 0.736523 -0.385835 0.503551 
time: 1403638573.577830, t: 4.137116 -2.430938 0.069281 q: 0.253150 0.746401 -0.384239 0.480791 
time: 1403638574.577830, t: 4.008013 -3.758842 0.209078 q: 0.345350 0.620523 -0.527354 0.466458 
time: 1403638575.577830, t: 3.630324 -4.893207 0.303266 q: 0.345333 0.627140 -0.549773 0.430337 
time: 1403638576.577830, t: 3.277612 -6.273393 0.548115 q: 0.368292 0.652151 -0.525677 0.403390 
time: 1403638577.577830, t: 3.470678 -7.839441 0.662290 q: 0.378330 0.640519 -0.518556 0.421547 
time: 1403638578.577830, t: 4.073887 -9.201190 0.767762 q: 0.356825 0.627975 -0.531126 0.442977 
time: 1403638579.577830, t: 4.664107 -10.305829 0.807352 q: 0.358320 0.623953 -0.524913 0.454704 
time: 1403638580.577830, t: 5.214864 -10.993634 0.623947 q: 0.196993 0.756234 -0.285696 0.554691 
time: 1403638581.577830, t: 5.509824 -11.413227 0.589568 q: 0.174452 0.782431 -0.242102 0.546585 
time: 1403638582.577830, t: 5.727525 -11.571647 0.747236 q: 0.188978 0.771360 -0.241712 0.557554 
time: 1403638583.577830, t: 5.944167 -11.457208 1.364399 q: 0.185206 0.782325 -0.250149 0.539529 
time: 1403638584.577830, t: 6.378612 -11.342526 1.564501 q: 0.198939 0.757618 -0.238283 0.574160 
time: 1403638586.577830, t: 6.383660 -9.853845 1.622707 q: 0.196825 0.773020 -0.243992 0.551514 
time: 1403638587.577830, t: 6.474284 -9.009664 1.504444 q: 0.182496 0.776307 -0.253629 0.547462 
time: 1403638588.577830, t: 6.507432 -8.106994 1.317884 q: 0.188239 0.775149 -0.250041 0.548807 
time: 1403638589.577830, t: 6.480800 -7.055734 1.259746 q: 0.183175 0.771699 -0.255252 0.552968 
time: 1403638590.577830, t: 6.358747 -6.005282 1.212667 q: 0.182374 0.774431 -0.260140 0.547105 
time: 1403638591.577830, t: 6.359901 -5.238420 1.237301 q: 0.165086 0.799299 -0.274341 0.508532 
time: 1403638592.577830, t: 6.792253 -5.146491 1.327833 q: 0.132062 0.789359 -0.228451 0.554330 
time: 1403638593.577830, t: 7.262259 -5.374566 1.697297 q: 0.142853 0.796573 -0.185007 0.557528 
time: 1403638594.577830, t: 7.646864 -5.420778 2.026138 q: 0.126898 0.790439 -0.161834 0.576987 
time: 1403638595.577830, t: 7.707845 -5.182036 2.260515 q: 0.118216 0.796638 -0.172489 0.567133 
time: 1403638596.577830, t: 7.707864 -4.730404 2.263269 q: 0.180695 0.802629 -0.125719 0.554375 
time: 1403638597.577830, t: 8.004410 -3.109053 2.477585 q: 0.174573 0.785943 -0.135008 0.577573 
time: 1403638598.577830, t: 8.334860 -0.344407 2.391427 q: 0.113613 0.799722 -0.133376 0.574236 
time: 1403638599.577830, t: 8.435855 2.526238 2.396789 q: 0.020210 0.820878 0.009195 0.570672 
time: 1403638601.577830, t: 9.192225 6.770376 2.413480 q: -0.005390 0.821496 0.025361 0.569624 
time: 1403638602.577830, t: 9.823150 8.415929 2.632455 q: -0.174862 0.740842 0.197432 0.617735 
time: 1403638603.577830, t: 9.462466 9.319321 2.951668 q: -0.257882 0.738119 0.337358 0.524278 
time: 1403638604.577830, t: 8.534179 9.615089 2.868256 q: -0.243216 0.726994 0.354450 0.535435 
time: 1403638605.577830, t: 6.881833 8.194802 3.147491 q: -0.221710 0.728854 0.370695 0.531227 
time: 1403638606.577830, t: 6.225028 8.420244 3.204390 q: -0.220570 0.750387 0.365329 0.504779 
time: 1403638607.577830, t: 5.047722 9.423230 2.970863 q: -0.315876 0.698102 0.432346 0.475346 
time: 1403638608.577830, t: 4.667840 10.249487 2.523372 q: -0.313357 0.688965 0.423486 0.497789 
time: 1403638609.577830, t: 4.117724 10.553454 2.057175 q: -0.318361 0.697371 0.419402 0.486232 
time: 1403638610.577830, t: 4.070597 10.633942 1.455617 q: -0.326756 0.683143 0.412294 0.506518 
time: 1403638611.577830, t: 3.845063 10.149938 0.993251 q: -0.302147 0.678619 0.433711 0.509979 
time: 1403638612.577830, t: 3.578215 9.358307 0.744375 q: -0.310007 0.694842 0.421036 0.493781 
time: 1403638613.577830, t: 3.258012 8.525629 0.531820 q: -0.300870 0.697507 0.412217 0.503029 
time: 1403638614.577830, t: 2.867010 7.560567 0.264028 q: -0.244133 0.748139 0.314227 0.530988 
time: 1403638615.577830, t: 2.607461 6.392185 0.419293 q: -0.095438 0.806278 0.108738 0.573570 
time: 1403638616.577830, t: 2.373863 5.195854 0.391235 q: 0.000440 0.817527 -0.038995 0.574568 
time: 1403638617.577830, t: 2.317183 3.936675 0.148032 q: 0.017431 0.838000 -0.037581 0.544096 
time: 1403638618.577830, t: 2.771112 2.806222 0.334819 q: 0.015739 0.832486 -0.021680 0.553399 
time: 1403638619.577830, t: 3.512721 1.931093 0.303681 q: 0.103583 0.801563 -0.158522 0.567132 
time: 1403638620.577830, t: 4.429852 1.643119 0.257298 q: 0.110744 0.791945 -0.188533 0.570101 
time: 1403638621.577830, t: 4.188978 0.121710 -0.099305 q: 0.115908 0.794296 -0.163385 0.573554 
time: 1403638622.577830, t: 4.527640 0.293634 0.332609 q: 0.119790 0.787371 -0.158896 0.583481 
time: 1403638623.577830, t: 3.937019 0.194825 0.392448 q: 0.113793 0.789642 -0.168021 0.579039 
time: 1403638624.577830, t: 3.049702 0.257012 0.445079 q: 0.110465 0.784638 -0.182788 0.582004 
time: 1403638625.577830, t: 2.007633 0.416161 0.447822 q: 0.093469 0.799008 -0.156613 0.572993 
time: 1403638626.577830, t: 1.055455 0.399250 0.428613 q: 0.106321 0.807622 -0.150511 0.560169 
time: 1403638627.577830, t: 0.436986 0.358672 0.351133 q: 0.104669 0.815690 -0.148083 0.549332 
time: 1403638628.577830, t: 0.198089 0.385720 0.242084 q: 0.096861 0.804423 -0.159669 0.563940 
time: 1403638629.577830, t: 0.152248 0.431317 0.179858 q: 0.105830 0.816155 -0.155708 0.546303 
time: 1403638630.577830, t: 0.243237 0.403970 0.066856 q: 0.107077 0.801141 -0.153897 0.568351 
time: 1403638631.577830, t: 0.077216 0.450335 0.016178 q: 0.102552 0.825261 -0.145742 0.535899 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720565583.501794866]: Shutdown request received.[0m
[33m[ WARN] [1720565583.501826944]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720565583.502775539]: Shutdown request received.[0m
[33m[ WARN] [1720565583.502801783]: Reason given for shutdown: [user request][0m
killed
