/SLAM-Hive/slam_hive_results/mapping_results/3250/2455_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-25.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720566210.563959739]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720566210.565535835]: init begins[0m
[31m[ERROR] [1720566210.566654819]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/7576a39a-3e47-11ef-9bfe-0242ac110005/roslaunch-224242075be7-118.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://224242075be7:44055/[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] [1720566211.670251289]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720566211.671941907]: 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] [1720566211.677787388]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720566211.677992258]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720566211.678018993]: 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] [1720566211.678255433]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720566211.678447717]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720566211.678602836]: 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://224242075be7:11311/[0m
]2;roscore http://224242075be7:11311/
[1msetting /run_id to 7576a39a-3e47-11ef-9bfe-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] [1720566220.697091368]: 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: 316927702.76 
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] [1720566242.035081561]: gyroscope bias initial calibration -0.00456945   0.0200585   0.0647368[0m
[0m[ INFO] [1720566242.117820179]: Initialization finish![0m
time: 1403638539.077830, t: -4.278593 -2.135485 -0.886768 q: 0.105526 0.800947 -0.102225 0.580429 
time: 1403638541.077830, t: -5.444699 -2.242296 -0.044631 q: 0.098442 0.810950 0.001866 0.576771 
time: 1403638543.077830, t: -3.281002 -0.439437 0.468733 q: -0.043476 0.805416 0.185300 0.561319 
time: 1403638545.077830, t: 1.320443 4.195755 0.903192 q: -0.139295 0.776618 0.308766 0.531154 
time: 1403638547.077830, t: 9.289048 12.707640 0.946298 q: -0.225823 0.712806 0.465935 0.473093 
time: 1403638549.077830, t: -0.860485 12.423797 -0.297317 q: -0.361251 0.611896 0.572719 0.408747 
time: 1403638551.077830, t: 1.325774 22.323952 0.490936 q: -0.394358 0.605440 0.545169 0.425105 
time: 1403638553.077830, t: -3.146969 53.334351 2.641542 q: -0.314187 0.671743 0.454331 0.493591 
time: 1403638555.077830, t: 32.812055 81.114103 1.029671 q: -0.276838 0.700755 0.440315 0.488289 
time: 1403638557.077830, t: -1.774176 35.522966 -2.867873 q: -0.312829 0.700492 0.423479 0.481783 
time: 1403638559.077830, t: 3.923065 112.667897 4.095785 q: -0.264321 0.709369 0.431249 0.490871 
time: 1403638561.077830, t: 7.100628 140.579611 3.754471 q: -0.142847 0.767711 0.184039 0.596946 
time: 1403638563.077830, t: 7.085776 168.262312 3.710047 q: 0.012300 0.786591 -0.043194 0.615839 
time: 1403638565.077830, t: 4.298986 195.243777 3.665778 q: 0.016522 0.772786 -0.075597 0.629932 
time: 1403638567.077830, t: -1.413219 221.391808 2.622282 q: 0.054075 0.810176 -0.050076 0.581535 
time: 1403638569.077830, t: -7.223794 249.083553 1.768176 q: 0.081598 0.804233 -0.047248 0.586787 
time: 1403638571.077830, t: -12.711524 278.749764 1.702179 q: 0.100577 0.744956 -0.222442 0.620842 
time: 1403638573.077830, t: -21.334718 307.124788 1.714230 q: 0.279506 0.697892 -0.416294 0.511392 
time: 1403638575.077830, t: -32.495121 334.662891 2.143095 q: -0.375818 -0.564781 0.577117 -0.454665 
time: 1403638577.077830, t: -47.640860 362.260889 2.391314 q: 0.390451 0.585073 -0.551275 0.448703 
time: 1403638579.077830, t: -65.383317 389.885086 2.685202 q: 0.390441 0.584993 -0.546967 0.454055 
time: 1403638581.077830, t: -86.690586 418.699432 2.588390 q: 0.196111 0.750979 -0.262308 0.573380 
time: 1403638583.077830, t: -110.869477 448.963064 3.135120 q: 0.222688 0.743806 -0.270751 0.569084 
time: 1403638585.077830, t: -137.077220 480.572253 3.831328 q: 0.222057 0.742663 -0.270347 0.571013 
time: 1403638587.077830, t: -165.330432 513.043472 4.406218 q: 0.226275 0.736018 -0.270146 0.578013 
time: 1403638589.077830, t: -195.481942 546.056032 4.848439 q: 0.222567 0.736671 -0.274422 0.576604 
time: 1403638591.077830, t: -227.842631 579.586682 5.393892 q: 0.217558 0.743484 -0.283288 0.565374 
time: 1403638593.077830, t: 45.336484 747.773503 -7.121502 q: 0.223711 0.769578 -0.264640 0.536347 
time: 1403638595.077830, t: -108.592555 755.302125 -0.511118 q: 0.208608 0.755474 -0.219887 0.580853 
time: 1403638597.077830, t: -130.154552 803.236948 -0.372724 q: 0.290649 0.762459 -0.163955 0.554345 
time: 1403638599.077830, t: -217.351623 819.054610 2.647346 q: 0.152785 0.781713 -0.108649 0.594792 
time: 1403638601.077830, t: -280.429073 843.605743 4.925607 q: 0.078340 0.823785 -0.047667 0.559436 
time: 1403638603.077830, t: -331.683487 874.477041 7.250689 q: -0.178377 0.727367 0.265911 0.606969 
time: 1403638605.077830, t: -379.463758 910.701586 9.014170 q: -0.171095 0.761185 0.335634 0.527895 
time: 1403638607.077830, t: -424.560406 954.148197 10.525853 q: -0.190797 0.752308 0.404242 0.483960 
time: 1403638609.077830, t: -466.452643 1004.530155 11.034841 q: -0.243187 0.715044 0.414028 0.508088 
time: 1403638611.077830, t: -506.267565 1059.078388 11.448995 q: -0.255800 0.703829 0.408464 0.521869 
time: 1403638613.077830, t: -141.773868 760.063301 -38.953680 q: -0.254413 0.732908 0.383233 0.501250 
time: 1403638615.077830, t: -38.978869 898.842652 -12.841415 q: -0.139923 0.816226 0.183405 0.529679 
time: 1403638617.077830, t: -286.668066 1159.645710 3.340136 q: 0.114981 0.805134 -0.136653 0.565565 
time: 1403638619.077830, t: -327.563595 1324.098466 4.768439 q: 0.169070 0.788210 -0.145615 0.573530 
time: 1403638621.077830, t: -303.298388 1444.599395 3.847202 q: 0.244892 0.742336 -0.266704 0.563768 
time: 1403638623.077830, t: -260.422457 1545.644418 2.129650 q: 0.255920 0.723858 -0.244910 0.592076 
time: 1403638625.077830, t: -239.137226 1640.749223 1.400995 q: 0.236636 0.744501 -0.244969 0.574205 
time: 1403638627.077830, t: -241.446447 1730.688151 1.411372 q: 0.232041 0.765934 -0.241772 0.548678 
time: 1403638629.077830, t: -214.899517 1824.651585 0.780278 q: 0.239856 0.753657 -0.237264 0.564071 
time: 1403638631.077830, t: -214.149943 1918.017470 0.871742 q: 0.233740 0.776291 -0.234517 0.536414 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720566336.384343336]: Shutdown request received.[0m
[33m[ WARN] [1720566336.384380128]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720566336.385338024]: Shutdown request received.[0m
[33m[ WARN] [1720566336.385359324]: Reason given for shutdown: [user request][0m
killed
