/SLAM-Hive/slam_hive_results/mapping_results/3246/2451_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-21.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720565608.027494078]: init begins[0m
[31m[ERROR] [1720565608.027698653]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720565608.028496960]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/0e52fae8-3e46-11ef-8b43-0242ac110005/roslaunch-461aaa225c8d-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://461aaa225c8d:42783/[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] [1720565609.134257026]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720565609.134811594]: 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] [1720565609.140624066]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720565609.140814301]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720565609.140841530]: ROW: 240 COL: 376 [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] [1720565609.141069315]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720565609.141265581]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720565609.141454870]: 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://461aaa225c8d:11311/[0m
]2;roscore http://461aaa225c8d:11311/
[1msetting /run_id to 0e52fae8-3e46-11ef-8b43-0242ac110005[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] [1720565618.174854647]: 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: 316927100.24 
init first imu pose
averge acc 9.018495 -0.034290 -3.793590
init R0 
[33m[ WARN] [1720565629.000344952]: gyroscope bias initial calibration -0.00261633   0.0203319    0.076856[0m
[0m[ INFO] [1720565629.059099473]: Initialization finish![0m
time: 1403638528.577830, t: 0.092140 -0.197210 0.128028 q: -0.000445 0.813677 -0.031084 0.580485 
time: 1403638529.577830, t: 0.042007 -0.114187 0.176950 q: 0.028628 0.844108 -0.040304 0.533890 
time: 1403638530.577830, t: 0.092049 -0.089797 0.041889 q: 0.025133 0.839014 -0.054544 0.540785 
time: 1403638531.577830, t: 0.131842 -0.072873 -0.001246 q: 0.035925 0.833432 -0.057964 0.548399 
time: 1403638532.577830, t: 0.090232 -0.070027 -0.048573 q: 0.040135 0.832324 -0.061159 0.549441 
time: 1403638533.577830, t: 0.148137 -0.117431 -0.045197 q: 0.042274 0.833409 -0.063298 0.547390 
time: 1403638534.577830, t: 0.162058 -0.111046 -0.044399 q: 0.042867 0.832945 -0.064143 0.547951 
time: 1403638535.577830, t: 0.155452 -0.107819 -0.046282 q: 0.043301 0.833093 -0.064172 0.547688 
time: 1403638536.577830, t: 0.151454 -0.102654 -0.049505 q: 0.042913 0.833138 -0.064093 0.547661 
time: 1403638537.577830, t: 0.148037 -0.101622 -0.050473 q: 0.041909 0.832924 -0.063049 0.548184 
time: 1403638538.577830, t: 0.119661 -0.086095 -0.070642 q: 0.038086 0.833321 -0.060076 0.548194 
time: 1403638540.577830, t: 0.395280 -0.088168 0.214185 q: 0.021954 0.822124 -0.030685 0.568056 
time: 1403638541.577830, t: 0.823408 0.136015 0.262518 q: -0.050869 0.812540 0.111405 0.569895 
time: 1403638542.577830, t: 1.165051 0.805013 0.438627 q: -0.148893 0.762121 0.264521 0.571867 
time: 1403638543.577830, t: 1.634579 1.419285 0.640587 q: -0.175779 0.779424 0.268086 0.538266 
time: 1403638544.577830, t: 1.757851 2.373104 0.777602 q: -0.250151 0.736409 0.370113 0.508078 
time: 1403638545.577830, t: 1.896210 3.229918 0.775338 q: -0.264917 0.726552 0.382880 0.505316 
time: 1403638546.577830, t: 2.021460 4.201322 0.845293 q: -0.333303 0.660865 0.497878 0.451978 
time: 1403638547.577830, t: 2.046994 5.174441 0.886420 q: -0.345248 0.645549 0.518559 0.441777 
time: 1403638548.577830, t: 1.866222 6.397909 0.815027 q: -0.375835 0.606595 0.565811 0.413096 
time: 1403638549.577830, t: 1.594183 7.623882 1.066208 q: -0.394191 0.597501 0.571475 0.401276 
time: 1403638550.577830, t: 1.414435 8.923052 1.551592 q: -0.400611 0.599517 0.568095 0.396684 
time: 1403638551.577830, t: 1.483788 10.163430 1.936318 q: -0.410542 0.623806 0.518410 0.416620 
time: 1403638552.577830, t: 2.158311 10.934406 2.309059 q: -0.365890 0.673919 0.434681 0.472240 
time: 1403638553.577830, t: 3.186603 11.131754 2.405928 q: -0.363652 0.641395 0.456419 0.498049 
time: 1403638554.577830, t: 3.979459 10.497691 2.654290 q: -0.335460 0.664329 0.478393 0.466126 
time: 1403638555.577830, t: 4.681703 9.683949 2.732029 q: -0.319950 0.690360 0.436329 0.480262 
time: 1403638556.577830, t: 5.336282 8.847910 2.855592 q: -0.307733 0.707973 0.442421 0.456441 
time: 1403638557.577830, t: 6.271333 8.338547 3.031805 q: -0.314209 0.693388 0.439677 0.476624 
time: 1403638558.577830, t: 7.308908 8.049674 3.156762 q: -0.288177 0.714797 0.453342 0.447772 
time: 1403638559.577830, t: 8.548815 8.246203 3.293820 q: -0.300667 0.691772 0.446982 0.480892 
time: 1403638560.577830, t: 9.615703 8.569028 3.098171 q: -0.238371 0.746541 0.311775 0.537264 
time: 1403638561.577830, t: 10.468619 8.210192 2.978717 q: -0.136537 0.792885 0.164639 0.570601 
time: 1403638562.577830, t: 11.047494 7.704272 2.832981 q: -0.079192 0.804631 0.092216 0.581201 
time: 1403638563.577830, t: 11.055087 6.949053 2.758560 q: 0.010749 0.792407 -0.078338 0.604847 
time: 1403638564.577830, t: 10.715280 5.865240 2.740536 q: -0.006086 0.795297 -0.052599 0.603903 
time: 1403638565.577830, t: 9.689301 4.284397 2.364655 q: -0.005977 0.796881 -0.058075 0.601308 
time: 1403638566.577830, t: 8.334872 2.596128 1.870046 q: 0.020995 0.808110 -0.044053 0.587006 
time: 1403638567.577830, t: 7.164731 1.226987 0.969188 q: 0.028471 0.813896 -0.032411 0.579406 
time: 1403638568.577830, t: 6.293216 0.285468 0.436372 q: 0.041415 0.826092 -0.034414 0.560957 
time: 1403638569.577830, t: 4.995796 -0.393559 0.138024 q: 0.049798 0.825644 -0.031845 0.561086 
time: 1403638570.577830, t: 5.885599 -0.143958 0.294365 q: 0.016295 0.817130 -0.089668 0.569203 
time: 1403638571.577830, t: 5.525722 -0.548748 0.024595 q: 0.135550 0.774718 -0.243995 0.567366 
time: 1403638572.577830, t: 4.862445 -1.401768 -0.081005 q: 0.241109 0.731797 -0.394458 0.500742 
time: 1403638573.577830, t: 4.296571 -2.556356 -0.000907 q: 0.259439 0.741412 -0.393324 0.477803 
time: 1403638574.577830, t: 4.114412 -3.863390 0.133276 q: 0.351427 0.613510 -0.535024 0.462443 
time: 1403638575.577830, t: 3.747923 -4.994267 0.209017 q: 0.351028 0.620124 -0.556940 0.426666 
time: 1403638576.577830, t: 3.384315 -6.210269 0.491834 q: 0.374397 0.645129 -0.533468 0.398807 
time: 1403638577.577830, t: 3.539410 -7.777445 0.650543 q: 0.384440 0.633582 -0.526794 0.416255 
time: 1403638578.577830, t: 4.099244 -9.319304 0.739807 q: 0.362213 0.620871 -0.539382 0.438620 
time: 1403638579.577830, t: 4.725956 -10.712613 0.858528 q: 0.363330 0.618173 -0.532834 0.449379 
time: 1403638580.577830, t: 5.326545 -11.451547 0.726078 q: 0.203439 0.753316 -0.296322 0.550746 
time: 1403638581.577830, t: 5.715792 -12.019097 0.727237 q: 0.180925 0.779958 -0.253328 0.542915 
time: 1403638582.577830, t: 6.059857 -12.355419 0.923886 q: 0.195969 0.768858 -0.253107 0.553525 
time: 1403638583.577830, t: 6.136928 -11.649984 1.543666 q: 0.193017 0.778641 -0.261561 0.536701 
time: 1403638584.577830, t: 6.492781 -11.392387 1.811559 q: 0.207208 0.754063 -0.249352 0.571206 
time: 1403638585.577830, t: 6.402130 -10.586341 1.711654 q: 0.190157 0.772554 -0.260582 0.546898 
time: 1403638586.577830, t: 6.410154 -9.937679 1.704087 q: 0.204808 0.768969 -0.254733 0.549410 
time: 1403638587.577830, t: 6.466125 -8.922740 1.624243 q: 0.191105 0.772062 -0.264736 0.545265 
time: 1403638588.577830, t: 6.510250 -7.990410 1.422657 q: 0.197014 0.771225 -0.261208 0.546048 
time: 1403638589.577830, t: 6.523334 -6.895048 1.373925 q: 0.191797 0.767913 -0.266645 0.549931 
time: 1403638590.577830, t: 6.455221 -5.950007 1.310434 q: 0.190535 0.770689 -0.272215 0.543722 
time: 1403638591.577830, t: 6.477089 -5.123699 1.324344 q: 0.173054 0.794992 -0.286908 0.505691 
time: 1403638592.577830, t: 6.855912 -4.651036 1.427086 q: 0.140863 0.785457 -0.240472 0.552619 
time: 1403638593.577830, t: 7.298417 -5.243279 1.811801 q: 0.151417 0.793408 -0.197465 0.555504 
time: 1403638594.577830, t: 7.679482 -5.348439 2.101476 q: 0.135081 0.787927 -0.173507 0.575169 
time: 1403638595.577830, t: 7.719453 -5.085067 2.357157 q: 0.125313 0.794000 -0.183660 0.565799 
time: 1403638596.577830, t: 7.718661 -4.699147 2.319559 q: 0.187395 0.800796 -0.136170 0.552329 
time: 1403638597.577830, t: 8.081486 -3.101388 2.546154 q: 0.181134 0.784328 -0.145591 0.575172 
time: 1403638598.577830, t: 8.367991 -0.354189 2.424903 q: 0.120304 0.797341 -0.144281 0.573548 
time: 1403638599.577830, t: 8.458274 2.451556 2.414074 q: 0.027090 0.820253 -0.002097 0.571356 
time: 1403638600.577830, t: 8.533083 4.979212 2.341955 q: -0.024466 0.830722 -0.049819 0.553914 
time: 1403638601.577830, t: 9.029208 6.540973 2.426490 q: 0.001128 0.821030 0.014550 0.570698 
time: 1403638602.577830, t: 9.564998 8.072069 2.642639 q: -0.167659 0.742294 0.188099 0.620894 
time: 1403638603.577830, t: 9.157656 8.911092 2.968961 q: -0.251688 0.741398 0.328200 0.528457 
time: 1403638604.577830, t: 8.157963 9.181717 2.869976 q: -0.236801 0.730585 0.345345 0.539359 
time: 1403638605.577830, t: 7.940424 8.281650 3.232963 q: -0.214877 0.735005 0.360413 0.532633 
time: 1403638606.577830, t: 6.720816 8.741150 3.235733 q: -0.214229 0.755842 0.354671 0.506969 
time: 1403638607.577830, t: 5.462186 9.478642 3.155283 q: -0.310470 0.704209 0.422822 0.478456 
time: 1403638608.577830, t: 5.692126 10.411802 2.723420 q: -0.307002 0.696800 0.413875 0.498926 
time: 1403638609.577830, t: 4.335502 10.657841 2.271440 q: -0.312330 0.702513 0.410528 0.490298 
time: 1403638610.577830, t: 4.216253 10.704931 1.633399 q: -0.319771 0.688283 0.403928 0.510740 
time: 1403638611.577830, t: 3.989431 10.149158 1.227808 q: -0.295058 0.684168 0.424779 0.514216 
time: 1403638612.577830, t: 3.646717 9.423961 0.939973 q: -0.303082 0.700634 0.411492 0.497923 
time: 1403638613.577830, t: 3.340041 8.594765 0.738645 q: -0.293999 0.702934 0.403032 0.506964 
time: 1403638614.577830, t: 2.923815 7.663120 0.474346 q: -0.236912 0.752454 0.304015 0.534097 
time: 1403638615.577830, t: 2.678794 6.502349 0.661508 q: -0.087731 0.807865 0.098069 0.574491 
time: 1403638616.577830, t: 2.448923 5.336742 0.646994 q: 0.008222 0.817138 -0.049794 0.574229 
time: 1403638617.577830, t: 2.405104 4.106201 0.417590 q: 0.024851 0.837614 -0.048716 0.543518 
time: 1403638618.577830, t: 2.840037 2.981921 0.618262 q: 0.023049 0.832245 -0.032338 0.552984 
time: 1403638619.577830, t: 3.779306 2.323313 0.793815 q: 0.111123 0.799657 -0.168339 0.565564 
time: 1403638620.577830, t: 4.239043 1.500346 0.730500 q: 0.118066 0.788911 -0.199673 0.569043 
time: 1403638621.577830, t: 4.516031 0.684650 0.663777 q: 0.124234 0.792196 -0.172922 0.571917 
time: 1403638622.577830, t: 4.460931 0.253534 0.529030 q: 0.127988 0.785037 -0.169915 0.581777 
time: 1403638623.577830, t: 3.886671 0.230291 0.603708 q: 0.121509 0.787193 -0.178320 0.577724 
time: 1403638624.577830, t: 3.018671 0.344221 0.653730 q: 0.118312 0.782121 -0.193313 0.580448 
time: 1403638625.577830, t: 2.006691 0.506979 0.650263 q: 0.101519 0.796787 -0.167227 0.571716 
time: 1403638626.577830, t: 1.084642 0.535886 0.633882 q: 0.114506 0.805520 -0.161449 0.558533 
time: 1403638627.577830, t: 0.500365 0.535371 0.563222 q: 0.112983 0.813503 -0.159749 0.547657 
time: 1403638628.577830, t: 0.307654 0.583605 0.470261 q: 0.105611 0.801949 -0.172034 0.562253 
time: 1403638629.577830, t: 0.293817 0.595048 0.416705 q: 0.114307 0.813610 -0.168616 0.544556 
time: 1403638630.577830, t: 0.340259 0.554501 0.303218 q: 0.115985 0.798403 -0.166163 0.567000 
time: 1403638631.577830, t: 0.145414 0.673702 0.254655 q: 0.111065 0.822675 -0.158171 0.534653 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720565733.879517597]: Shutdown request received.[0m
[33m[ WARN] [1720565733.879558955]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720565733.880498533]: Shutdown request received.[0m
[33m[ WARN] [1720565733.880524813]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/0e52fae8-3e46-11ef-8b43-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
