/SLAM-Hive/slam_hive_results/mapping_results/3251/2456_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-26.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720566361.859593177]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720566361.861257139]: init begins[0m
[31m[ERROR] [1720566361.862294359]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/cfa509d8-3e47-11ef-9f4f-0242ac110005/roslaunch-80fd8d3c769c-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://80fd8d3c769c:44755/[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
[0m[ INFO] [1720566362.966319543]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720566362.967453486]: 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] [1720566362.973653099]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720566362.973902291]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720566362.973945487]: 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] [1720566362.974234507]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720566362.974503808]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720566362.974670089]: 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://80fd8d3c769c:11311/[0m
]2;roscore http://80fd8d3c769c:11311/
[1msetting /run_id to cfa509d8-3e47-11ef-9f4f-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 [249][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720566372.019281802]: 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: 316927854.08 
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] [1720566393.326091879]: gyroscope bias initial calibration -0.0031628  0.0118109   0.061494[0m
[0m[ INFO] [1720566393.406997034]: Initialization finish![0m
time: 1403638539.077830, t: 21.232825 9.358881 -3.380108 q: -0.239826 0.799504 0.133678 0.534236 
time: 1403638541.077830, t: 19.887960 7.542115 -3.711343 q: -0.292199 0.735624 0.266031 0.550186 
time: 1403638543.077830, t: 17.134832 7.988255 -3.420083 q: -0.409069 0.626585 0.428646 0.506277 
time: 1403638545.077830, t: 7.575309 5.396635 -3.991105 q: -0.473998 0.532847 0.530115 0.458670 
time: 1403638547.077830, t: -10.508913 -1.240270 -5.902114 q: 0.507770 -0.399084 -0.650736 -0.399306 
time: 1403638549.077830, t: -37.169906 -7.773937 -8.351452 q: 0.513261 -0.350489 -0.696861 -0.357917 
time: 1403638551.077830, t: -62.731271 -16.361208 -10.339927 q: 0.538886 -0.376115 -0.659421 -0.365108 
time: 1403638553.077830, t: -78.485466 -46.862641 -13.450866 q: -0.493742 0.504855 0.560959 0.432048 
time: 1403638555.077830, t: -119.125422 -61.362866 -16.827034 q: -0.474261 0.509188 0.572760 0.433302 
time: 1403638557.077830, t: -163.432754 -93.533576 -22.368174 q: -0.461676 0.546908 0.544114 0.437821 
time: 1403638559.077830, t: -237.115662 -78.058042 -23.534775 q: -0.431644 0.544069 0.560777 0.450779 
time: 1403638561.077830, t: -304.011741 -50.441061 -24.502128 q: -0.329720 0.678642 0.314091 0.576261 
time: 1403638563.077830, t: -371.387869 -0.523530 -23.606649 q: -0.164909 0.761077 0.073433 0.623036 
time: 1403638565.077830, t: -431.195123 76.064204 -19.271018 q: -0.140801 0.752414 0.024630 0.642994 
time: 1403638567.077830, t: -479.331043 159.201268 -11.411162 q: -0.088623 0.786262 0.064955 0.608045 
time: 1403638569.077830, t: -520.789838 250.005431 -1.224413 q: -0.057667 0.778727 0.075921 0.620076 
time: 1403638571.077830, t: -557.533783 347.067472 11.266384 q: -0.047564 0.750760 -0.098528 0.651452 
time: 1403638573.077830, t: -586.531393 451.001752 25.365809 q: 0.148209 0.747226 -0.298947 0.574733 
time: 1403638575.077830, t: -609.677208 556.371885 42.460439 q: 0.253427 0.647673 -0.481265 0.533553 
time: 1403638577.077830, t: -628.171345 662.912233 61.459056 q: 0.275382 0.658970 -0.451376 0.534960 
time: 1403638579.077830, t: -446.477085 848.262227 118.500299 q: 0.279545 0.671503 -0.401893 0.556256 
time: 1403638581.077830, t: -535.020793 933.165297 136.776720 q: 0.086187 0.763410 -0.105139 0.631445 
time: 1403638583.077830, t: -588.788982 1025.126594 156.232961 q: 0.120174 0.754111 -0.124053 0.633629 
time: 1403638585.077830, t: -607.464599 1127.253257 181.910467 q: 0.133096 0.749319 -0.136549 0.634161 
time: 1403638587.077830, t: -658.665972 1191.625497 204.740246 q: 0.135855 0.742471 -0.137111 0.641468 
time: 1403638589.077830, t: -770.048818 1055.754882 153.919304 q: 0.077197 0.773725 -0.078047 0.623938 
time: 1403638591.077830, t: -818.248000 1105.489371 169.452018 q: 0.075293 0.783183 -0.084050 0.611466 
time: 1403638593.077830, t: -969.905768 1057.382399 232.669733 q: -0.012349 0.791174 0.018113 0.611198 
time: 1403638595.077830, t: -1106.454046 1007.582661 234.443181 q: -0.028799 0.762159 0.044817 0.645195 
time: 1403638597.077830, t: -955.093322 1212.959206 288.424883 q: 0.099686 0.761004 0.075197 0.636617 
time: 1403638599.077830, t: -1131.830361 1171.553484 303.872706 q: -0.048550 0.756350 0.143351 0.636418 
time: 1403638601.077830, t: -1280.387795 1091.935228 309.823276 q: -0.126301 0.768919 0.236599 0.580373 
time: 1403638603.077830, t: -1391.145963 967.087058 306.005025 q: -0.396650 0.545488 0.521986 0.522152 
time: 1403638605.077830, t: -1454.388642 807.252789 284.801162 q: -0.383108 0.531092 0.613094 0.441911 
time: 1403638607.077830, t: -1468.443813 644.995827 244.088636 q: -0.402181 0.481814 0.676921 0.384557 
time: 1403638609.077830, t: -1453.099041 509.294797 188.166038 q: -0.472614 0.443704 0.661635 0.376832 
time: 1403638611.077830, t: -1431.083979 395.089031 130.149573 q: -0.498723 0.444178 0.640211 0.379620 
time: 1403638613.077830, t: -651.173247 270.493503 257.477381 q: 0.517373 -0.463540 -0.618254 -0.367721 
time: 1403638615.077830, t: -628.843059 230.915891 257.335991 q: -0.434298 0.637409 0.476585 0.421854 
time: 1403638617.077830, t: -732.974275 294.911024 59.690408 q: -0.200635 0.818190 0.216794 0.493266 
time: 1403638619.077830, t: -937.994746 246.297874 13.668539 q: -0.171267 0.802764 0.217255 0.528241 
time: 1403638621.077830, t: -1088.904532 176.563860 1.330542 q: -0.105589 0.817733 0.096787 0.557490 
time: 1403638623.077830, t: -1204.256635 105.784673 -16.646834 q: -0.111163 0.789926 0.093196 0.595797 
time: 1403638625.077830, t: -1298.787955 33.822873 -38.646160 q: -0.122070 0.804132 0.096164 0.573780 
time: 1403638627.077830, t: -1345.399754 -7.903122 -55.389584 q: -0.116246 0.820033 0.111514 0.549179 
time: 1403638629.077830, t: -1391.077237 -45.905212 -72.355241 q: -0.115595 0.807842 0.105640 0.568215 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720566487.715108311]: Shutdown request received.[0m
[33m[ WARN] [1720566487.715158026]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720566487.716113173]: Shutdown request received.[0m
[33m[ WARN] [1720566487.716143992]: Reason given for shutdown: [user request][0m
killed
