/SLAM-Hive/slam_hive_results/mapping_results/3249/2454_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-24.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720566060.265633437]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720566060.267304077]: init begins[0m
[31m[ERROR] [1720566060.268286690]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1be25bb2-3e47-11ef-befa-0242ac110005/roslaunch-46e72baa7aa1-119.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://46e72baa7aa1:41759/[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 [156][0m
[1mROS_MASTER_URI=http://46e72baa7aa1:11311/[0m
]2;roscore http://46e72baa7aa1:11311/
[1msetting /run_id to 1be25bb2-3e47-11ef-befa-0242ac110005[0m
[0m[ INFO] [1720566061.421026265]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720566061.423208239]: 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] [1720566061.428918499]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720566061.429135196]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720566061.429167374]: 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] [1720566061.429403204]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720566061.429591704]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720566061.429730468]: 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 [222][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720566070.428815062]: 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: 316927552.49 
init first imu pose
averge acc 9.019961 -0.035676 -3.795306
init R0 
   0.387848  0.00866376    0.921683
          0   -0.999956  0.00939952
   0.921723 -0.00364559   -0.387831
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720566091.772730742]: gyroscope bias initial calibration -0.00240222   0.0139719   0.0614702[0m
[0m[ INFO] [1720566091.856365852]: Initialization finish![0m
time: 1403638541.077830, t: -1.886223 2.826141 0.550290 q: 0.128706 0.818974 -0.018090 0.558917 
time: 1403638543.077830, t: 1.041935 4.096741 0.870476 q: -0.107847 0.800038 0.232318 0.542528 
time: 1403638545.077830, t: 3.861739 6.924503 1.106406 q: -0.206950 0.757504 0.354324 0.507753 
time: 1403638547.077830, t: 8.970731 11.413549 1.051799 q: -0.290621 0.677883 0.505151 0.448148 
time: 1403638549.077830, t: 14.871076 19.989104 0.969256 q: -0.342010 0.631601 0.565902 0.404802 
time: 1403638551.077830, t: 23.594611 30.824879 1.497924 q: -0.378061 0.624237 0.538659 0.421005 
time: 1403638553.077830, t: 2.017397 -6.494882 0.963885 q: -0.379706 0.651965 0.470609 0.457485 
time: 1403638555.077830, t: 24.903244 30.305360 2.512839 q: -0.330186 0.677498 0.467202 0.462273 
time: 1403638557.077830, t: 20.353203 18.318039 2.916047 q: -0.325836 0.699186 0.437147 0.462463 
time: 1403638559.077830, t: 47.129228 41.356980 2.401698 q: -0.289895 0.710713 0.437842 0.468125 
time: 1403638561.077830, t: 58.520811 49.125058 1.657143 q: -0.165817 0.777660 0.195126 0.574174 
time: 1403638563.077830, t: 68.645329 55.614839 1.073403 q: -0.005562 0.803220 -0.027781 0.595009 
time: 1403638565.077830, t: 76.238957 60.698084 0.352471 q: -0.000875 0.790530 -0.060676 0.609409 
time: 1403638567.077830, t: 81.159671 64.637988 -1.546985 q: 0.036821 0.826231 -0.033237 0.561143 
time: 1403638569.077830, t: 85.989454 69.876598 -3.424267 q: 0.064098 0.820496 -0.030079 0.567250 
time: 1403638571.077830, t: 91.072647 76.829913 -4.639621 q: 0.087102 0.766266 -0.206485 0.602174 
time: 1403638573.077830, t: 93.415138 82.679878 -5.859358 q: 0.273676 0.721946 -0.396184 0.496924 
time: 1403638575.077830, t: 94.127427 88.699577 -6.706046 q: 0.376156 0.591646 -0.557296 0.444841 
time: 1403638577.077830, t: 92.415766 96.050200 -7.709282 q: 0.390100 0.611120 -0.530744 0.438936 
time: 1403638579.077830, t: 89.840578 104.837270 -8.705766 q: 0.389833 0.610917 -0.526622 0.444388 
time: 1403638581.077830, t: 85.160587 116.087857 -10.144639 q: 0.184710 0.771973 -0.244187 0.557058 
time: 1403638583.077830, t: 78.087725 129.479094 -11.038449 q: 0.211568 0.764969 -0.252291 0.553543 
time: 1403638585.077830, t: 69.268261 144.812266 -11.919094 q: 0.210827 0.763769 -0.252128 0.555554 
time: 1403638587.077830, t: 58.719340 161.627716 -13.072341 q: 0.214875 0.757229 -0.252214 0.562869 
time: 1403638589.077830, t: 46.578486 179.598363 -14.504677 q: 0.211245 0.757820 -0.256747 0.561395 
time: 1403638591.077830, t: 32.541708 198.681960 -15.974346 q: 0.206595 0.764421 -0.265693 0.549897 
time: 1403638593.077830, t: 17.566471 217.596884 -17.004166 q: 0.146406 0.799951 -0.201287 0.546010 
time: 1403638595.077830, t: 1.320481 236.826779 -17.748661 q: 0.150282 0.782717 -0.170385 0.579429 
time: 1403638597.077830, t: -16.912036 258.071487 -19.270419 q: 0.233089 0.786622 -0.112561 0.560559 
time: 1403638599.077830, t: -35.866357 284.295440 -21.116622 q: 0.103698 0.800247 -0.066130 0.586923 
time: 1403638601.077830, t: -56.181242 311.062984 -22.736914 q: 0.038452 0.837359 -0.011265 0.545183 
time: 1403638603.077830, t: -76.734206 336.871695 -23.895833 q: -0.220476 0.725090 0.286723 0.586025 
time: 1403638605.077830, t: -99.987433 361.434034 -25.422661 q: -0.209142 0.756079 0.356355 0.507558 
time: 1403638607.077830, t: -123.782329 388.089193 -26.973030 q: -0.227120 0.744529 0.422882 0.463965 
time: 1403638609.077830, t: -146.270707 417.310564 -29.340333 q: -0.279519 0.707616 0.428832 0.487084 
time: 1403638611.077830, t: -167.664478 446.578045 -31.776748 q: -0.292209 0.697095 0.421980 0.500604 
time: 1403638613.077830, t: 32.422143 422.878842 -80.758140 q: -0.255253 0.731970 0.395818 0.492335 
time: 1403638615.077830, t: 69.832269 403.335247 -64.393038 q: -0.168875 0.805145 0.224141 0.522479 
time: 1403638617.077830, t: -92.465759 508.974920 -48.166267 q: 0.058335 0.822623 -0.074586 0.560648 
time: 1403638619.077830, t: -146.095197 566.769219 -47.785994 q: 0.095306 0.810078 -0.071897 0.574040 
time: 1403638621.077830, t: -171.826385 611.227077 -49.621148 q: 0.166270 0.779196 -0.192495 0.572846 
time: 1403638623.077830, t: -192.634183 653.001782 -51.964850 q: 0.174716 0.756364 -0.179712 0.604228 
time: 1403638625.077830, t: -215.017656 695.621829 -54.509124 q: 0.156900 0.775052 -0.179533 0.585188 
time: 1403638627.077830, t: -240.417867 738.169714 -57.174451 q: 0.154376 0.795609 -0.173657 0.559479 
time: 1403638629.077830, t: -266.348193 781.976846 -59.946494 q: 0.161583 0.781662 -0.173884 0.576767 
time: 1403638631.077830, t: -293.757253 827.166648 -62.771071 q: 0.157657 0.803474 -0.168311 0.548858 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720566186.131448171]: Shutdown request received.[0m
[33m[ WARN] [1720566186.131489025]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720566186.132377128]: Shutdown request received.[0m
[33m[ WARN] [1720566186.132403833]: Reason given for shutdown: [user request][0m
killed
