/SLAM-Hive/slam_hive_results/mapping_results/3248/2453_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-23.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720565908.381589581]: init begins[0m
[31m[ERROR] [1720565908.382708423]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720565908.389559704]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c15ae65a-3e46-11ef-80d6-0242ac110005/roslaunch-0144fb608f9a-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://0144fb608f9a:42757/[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] [1720565909.495192166]: Connected to master at [localhost:11311][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://0144fb608f9a:11311/[0m
]2;roscore http://0144fb608f9a:11311/
[1msetting /run_id to c15ae65a-3e46-11ef-80d6-0242ac110005[0m
[0m[ INFO] [1720565909.538349741]: 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] [1720565909.543429695]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720565909.543656690]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720565909.543685102]: 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] [1720565909.543861783]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720565909.544087654]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720565909.544265079]: waiting for image and imu...[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 [236][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720565918.554925651]: 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: 316927400.62 
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
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720565929.370050413]: gyroscope bias initial calibration -0.110288 0.0481378 0.0671783[0m
[0m[ INFO] [1720565929.421605995]: Initialization finish![0m
time: 1403638528.577830, t: -0.986538 -0.210208 -0.062752 q: -0.014783 0.816811 -0.018932 0.576405 
time: 1403638529.577830, t: -1.211878 -0.324491 -0.014601 q: 0.006038 0.844274 -0.022960 0.535385 
time: 1403638530.577830, t: -1.073854 -0.549886 -0.078697 q: 0.012796 0.834284 -0.046448 0.549227 
time: 1403638531.577830, t: -1.272897 -0.736101 -0.151641 q: 0.016009 0.830423 -0.045202 0.555066 
time: 1403638532.577830, t: 0.146661 -0.050769 0.044543 q: 0.031551 0.832826 -0.057395 0.549646 
time: 1403638533.577830, t: 0.294802 -0.106893 -0.137970 q: 0.053192 0.831138 -0.072340 0.548769 
time: 1403638534.577830, t: 0.517900 -0.001874 0.009018 q: 0.063239 0.828299 -0.080247 0.550892 
time: 1403638535.577830, t: 0.504478 -0.001838 0.001668 q: 0.065059 0.828471 -0.081307 0.550266 
time: 1403638536.577830, t: 0.513797 -0.009289 0.002431 q: 0.066137 0.828017 -0.082329 0.550668 
time: 1403638537.577830, t: 0.519921 -0.007531 -0.003301 q: 0.066395 0.828150 -0.082145 0.550464 
time: 1403638538.577830, t: 0.518099 -0.021589 -0.009398 q: 0.067042 0.828709 -0.082104 0.549550 
time: 1403638539.577830, t: 0.542606 -0.018983 0.122410 q: 0.067356 0.811371 -0.078077 0.575364 
time: 1403638541.577830, t: 1.203257 0.205282 0.354078 q: -0.017321 0.815711 0.088162 0.571440 
time: 1403638542.577830, t: 1.738831 0.565254 0.603392 q: -0.118224 0.775182 0.241009 0.571866 
time: 1403638543.577830, t: 2.037758 1.837273 0.761996 q: -0.149181 0.786064 0.251667 0.544529 
time: 1403638544.577830, t: 2.552267 2.739044 0.685903 q: -0.235418 0.745882 0.358129 0.509884 
time: 1403638545.577830, t: 2.458600 4.024439 0.882231 q: -0.248050 0.734232 0.372346 0.510621 
time: 1403638546.577830, t: 2.607472 4.694979 0.654517 q: -0.323170 0.668976 0.490041 0.455952 
time: 1403638547.577830, t: 2.584333 5.722999 0.888024 q: -0.336805 0.652503 0.510845 0.447035 
time: 1403638548.577830, t: 2.577732 6.812212 0.626832 q: -0.367470 0.614229 0.559066 0.418489 
time: 1403638549.577830, t: 2.049274 7.384677 1.082212 q: -0.388821 0.602220 0.566285 0.406780 
time: 1403638550.577830, t: 1.763659 8.375090 1.634531 q: -0.393174 0.604233 0.563748 0.403119 
time: 1403638551.577830, t: 1.843842 9.634724 2.053582 q: -0.403110 0.627820 0.514197 0.423019 
time: 1403638552.577830, t: 2.562173 10.026132 2.447710 q: -0.360465 0.675228 0.432883 0.476177 
time: 1403638553.577830, t: 3.692076 10.394838 2.505955 q: -0.356959 0.642411 0.455291 0.502592 
time: 1403638554.577830, t: 4.471698 9.858473 2.787741 q: -0.328155 0.665277 0.476498 0.471881 
time: 1403638555.577830, t: 5.110968 9.116968 2.866201 q: -0.313288 0.690341 0.434278 0.486500 
time: 1403638556.577830, t: 5.764533 8.297392 2.962803 q: -0.302425 0.707687 0.440068 0.462664 
time: 1403638557.577830, t: 6.697964 7.714953 3.099248 q: -0.310068 0.692713 0.436960 0.482776 
time: 1403638558.577830, t: 7.568422 7.902264 3.205300 q: -0.283358 0.714212 0.453789 0.451315 
time: 1403638559.577830, t: 8.818291 8.066167 3.323275 q: -0.296847 0.691035 0.446884 0.484404 
time: 1403638560.577830, t: 9.696054 8.228635 3.058503 q: -0.235446 0.744542 0.311536 0.541449 
time: 1403638561.577830, t: 10.737439 7.694474 3.019938 q: -0.135326 0.791246 0.165350 0.572954 
time: 1403638562.577830, t: 10.896732 7.186204 2.879304 q: -0.077139 0.802099 0.091997 0.584999 
time: 1403638563.577830, t: 11.099733 6.452694 2.838785 q: 0.010490 0.790826 -0.075492 0.607277 
time: 1403638564.577830, t: 10.672710 5.100060 2.809955 q: -0.007320 0.794147 -0.050530 0.605578 
time: 1403638565.577830, t: 9.532340 3.300951 2.403221 q: -0.007730 0.795775 -0.055832 0.602964 
time: 1403638566.577830, t: 8.117968 1.280178 1.844655 q: 0.019124 0.806982 -0.041740 0.588789 
time: 1403638567.577830, t: 6.772216 -0.452544 0.910241 q: 0.026358 0.812764 -0.029820 0.581233 
time: 1403638568.577830, t: 5.669107 -1.816658 0.345477 q: 0.039141 0.825001 -0.031586 0.562888 
time: 1403638569.577830, t: 4.207186 -1.441436 0.124070 q: 0.048631 0.825604 -0.026697 0.561516 
time: 1403638570.577830, t: 6.005579 -0.592425 0.367271 q: 0.013731 0.818296 -0.081744 0.568790 
time: 1403638571.577830, t: 5.766613 -1.138863 0.051187 q: 0.132948 0.776641 -0.235454 0.568959 
time: 1403638572.577830, t: 5.154853 -1.994050 -0.075325 q: 0.239136 0.734972 -0.386490 0.503245 
time: 1403638573.577830, t: 4.615744 -3.049925 0.010595 q: 0.257282 0.744668 -0.385048 0.480638 
time: 1403638574.577830, t: 4.278161 -4.131128 0.195709 q: 0.348696 0.617383 -0.528355 0.467002 
time: 1403638575.577830, t: 3.748521 -5.090576 0.284228 q: 0.348132 0.624339 -0.550540 0.431175 
time: 1403638576.577830, t: 3.580484 -6.261289 0.380570 q: 0.371997 0.649896 -0.525880 0.403365 
time: 1403638577.577830, t: 3.963317 -7.664921 0.554762 q: 0.381711 0.638824 -0.518414 0.421245 
time: 1403638578.577830, t: 4.482589 -8.953728 0.758166 q: 0.359232 0.626602 -0.530968 0.443165 
time: 1403638579.577830, t: 4.989908 -10.143698 0.926675 q: 0.359823 0.623438 -0.524694 0.454477 
time: 1403638580.577830, t: 5.523534 -10.830630 0.831202 q: 0.197923 0.756719 -0.285640 0.553726 
time: 1403638581.577830, t: 5.798910 -11.150436 0.850792 q: 0.175246 0.783001 -0.241952 0.545580 
time: 1403638582.577830, t: 6.004747 -11.205980 1.064325 q: 0.189915 0.771976 -0.241575 0.556440 
time: 1403638583.577830, t: 6.135627 -11.115641 1.590350 q: 0.185562 0.783249 -0.248940 0.538624 
time: 1403638584.577830, t: 6.221861 -10.300943 1.965490 q: 0.199301 0.758481 -0.236591 0.573594 
time: 1403638585.577830, t: 6.429594 -10.603920 1.778759 q: 0.182349 0.777597 -0.247069 0.548678 
time: 1403638586.577830, t: 6.244498 -8.569644 2.298916 q: 0.197529 0.774113 -0.241989 0.550611 
time: 1403638587.577830, t: 4.961410 -5.060377 2.313148 q: 0.183591 0.777135 -0.249867 0.547652 
time: 1403638588.577830, t: 4.728933 -3.855596 2.063076 q: 0.188938 0.776207 -0.245823 0.548977 
time: 1403638589.577830, t: 6.157950 -6.228664 1.573875 q: 0.182826 0.773769 -0.254944 0.550327 
time: 1403638590.577830, t: 4.292995 -0.422122 1.916990 q: 0.185707 0.774922 -0.259235 0.545717 
time: 1403638592.577830, t: 4.898705 1.344241 1.961614 q: 0.135003 0.790099 -0.227117 0.553114 
time: 1403638593.577830, t: 6.356498 -2.704485 2.123996 q: 0.140358 0.798955 -0.182657 0.555524 
time: 1403638594.577830, t: 5.982698 2.430857 2.744619 q: 0.130862 0.791053 -0.162754 0.574998 
time: 1403638595.577830, t: 6.372136 -2.070109 2.628464 q: 0.114537 0.797529 -0.170410 0.567265 
time: 1403638596.577830, t: 6.420587 -1.737886 2.687855 q: 0.177691 0.803353 -0.123284 0.554844 
time: 1403638597.577830, t: 6.656938 5.320128 2.827119 q: 0.176057 0.786824 -0.136917 0.575469 
time: 1403638598.577830, t: 6.953338 9.087632 2.680626 q: 0.115144 0.800339 -0.135630 0.572541 
time: 1403638599.577830, t: 7.121262 12.477027 2.595411 q: 0.021274 0.821829 0.006801 0.569296 
time: 1403638600.577830, t: 7.350090 15.629672 2.449189 q: -0.030191 0.832822 -0.040688 0.551218 
time: 1403638601.577830, t: 8.067982 17.737348 2.436145 q: -0.005094 0.822460 0.023732 0.568305 
time: 1403638602.577830, t: 8.870232 19.822946 2.550223 q: -0.174917 0.741996 0.195911 0.616818 
time: 1403638603.577830, t: 8.755102 21.153558 2.755846 q: -0.258402 0.739195 0.335892 0.523446 
time: 1403638604.577830, t: 8.149414 21.802053 2.561769 q: -0.243905 0.728126 0.353033 0.534519 
time: 1403638605.577830, t: 9.394486 18.524119 2.780816 q: -0.223973 0.730831 0.370501 0.527685 
time: 1403638606.577830, t: 8.277182 18.743365 2.871534 q: -0.224294 0.751151 0.365429 0.501921 
time: 1403638607.577830, t: 7.364593 19.404658 2.713388 q: -0.319731 0.697216 0.434082 0.472477 
time: 1403638608.577830, t: 7.802601 20.373795 2.140661 q: -0.316967 0.688871 0.424356 0.494884 
time: 1403638609.577830, t: 8.100237 20.639976 1.599277 q: -0.322062 0.697165 0.420489 0.483142 
time: 1403638610.577830, t: 3.722363 19.234311 1.692443 q: -0.330642 0.678612 0.416090 0.506983 
time: 1403638611.577830, t: 3.678620 19.354136 1.289182 q: -0.302824 0.676445 0.437449 0.509272 
time: 1403638612.577830, t: 3.588452 18.952896 1.070824 q: -0.310449 0.693063 0.425004 0.492602 
time: 1403638613.577830, t: 3.328989 18.354111 0.895635 q: -0.301540 0.695940 0.417034 0.500824 
time: 1403638614.577830, t: 3.036317 17.704640 0.657285 q: -0.244666 0.747136 0.319599 0.528945 
time: 1403638615.577830, t: 2.895504 16.811734 0.864006 q: -0.096246 0.805901 0.114759 0.572792 
time: 1403638616.577830, t: 2.803190 15.966939 0.887728 q: -0.000510 0.817716 -0.032681 0.574693 
time: 1403638617.577830, t: 2.896146 15.095233 0.696125 q: 0.016547 0.838167 -0.031019 0.544279 
time: 1403638618.577830, t: 3.399630 13.585827 0.763275 q: 0.012508 0.832575 -0.015551 0.553553 
time: 1403638619.577830, t: 4.239962 12.717859 0.733924 q: 0.099488 0.802272 -0.153579 0.568222 
time: 1403638620.577830, t: 4.672372 12.027463 0.637704 q: 0.105873 0.792589 -0.183649 0.571723 
time: 1403638621.577830, t: 4.997881 11.137018 0.536293 q: 0.112039 0.795945 -0.155464 0.574238 
time: 1403638622.577830, t: 4.532125 10.591406 0.794243 q: 0.114537 0.789139 -0.152284 0.583910 
time: 1403638623.577830, t: 4.087855 10.409358 0.872063 q: 0.108669 0.792117 -0.160064 0.578896 
time: 1403638624.577830, t: 3.265917 10.460020 0.911430 q: 0.105843 0.786955 -0.174467 0.582289 
time: 1403638625.577830, t: 2.285321 10.747679 0.822054 q: 0.090123 0.799839 -0.149086 0.574377 
time: 1403638626.577830, t: 1.385080 10.755289 0.869211 q: 0.102590 0.808702 -0.142668 0.561358 
time: 1403638627.577830, t: 0.954729 10.836915 0.909806 q: 0.100609 0.817174 -0.141014 0.549744 
time: 1403638628.577830, t: 0.869598 10.800003 0.849451 q: 0.092204 0.806015 -0.152485 0.564435 
time: 1403638629.577830, t: 0.885446 10.762763 0.833934 q: 0.100957 0.817602 -0.148206 0.547147 
time: 1403638630.577830, t: 0.967222 10.631637 0.746581 q: 0.101744 0.802235 -0.146898 0.569639 
time: 1403638631.577830, t: 0.912351 10.463900 0.692621 q: 0.097157 0.826572 -0.139435 0.536561 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720566034.229757180]: Shutdown request received.[0m
[33m[ WARN] [1720566034.229821660]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720566034.230782416]: Shutdown request received.[0m
[33m[ WARN] [1720566034.230808824]: Reason given for shutdown: [user request][0m
killed
