/SLAM-Hive/slam_hive_results/mapping_results/3254/2459_vins-fusion-stereo-imu+MH_05_difficult+Image_comb_test-29.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720566812.163738589]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720566812.165340731]: init begins[0m
[31m[ERROR] [1720566812.166313973]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/dc0d2a10-3e48-11ef-81e4-0242ac110005/roslaunch-143f7cdcd9ea-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://143f7cdcd9ea:33219/[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] [1720566813.273408791]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720566813.274981688]: 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] [1720566813.286451050]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720566813.286891383]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720566813.286926168]: 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] [1720566813.287203939]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720566813.287509931]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720566813.287718742]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://143f7cdcd9ea:11311/[0m
]2;roscore http://143f7cdcd9ea:11311/
[1msetting /run_id to dc0d2a10-3e48-11ef-81e4-0242ac110005[0m
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 [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720566822.314357209]: 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: 316928304.38 
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! 
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] [1720566843.637282410]: gyroscope bias initial calibration -0.0258745   0.034312  0.0622689[0m
[0m[ INFO] [1720566843.716135319]: Initialization finish![0m
time: 1403638539.077830, t: -254.485803 96.591831 -204.346442 q: 0.338957 0.512409 0.717577 -0.328068 
time: 1403638541.077830, t: -280.949572 270.472010 -172.821236 q: 0.030378 0.733717 0.622855 -0.269792 
time: 1403638543.077830, t: -194.095463 350.517716 -195.152324 q: -0.291809 0.766931 0.244611 -0.516556 
time: 1403638545.077830, t: -228.522470 437.834669 -226.991376 q: -0.443504 0.721647 -0.057634 -0.528402 
time: 1403638547.077830, t: -229.360167 514.440641 -276.401625 q: 0.580712 -0.580194 0.334275 0.463042 
time: 1403638549.077830, t: -202.406831 562.182206 -353.060385 q: 0.575854 -0.412524 0.580233 0.401927 
time: 1403638551.077830, t: -160.205176 570.815609 -463.095354 q: 0.438263 -0.244721 0.779712 0.374280 
time: 1403638553.077830, t: -111.246236 537.555862 -608.947398 q: 0.240068 -0.101286 0.857242 0.444122 
time: 1403638555.077830, t: -57.166133 461.898566 -793.476643 q: 0.098420 0.063542 0.932233 0.342370 
time: 1403638557.077830, t: -5.460172 344.506609 -1011.243367 q: -0.075729 0.244936 0.928616 0.268223 
time: 1403638559.077830, t: 38.385612 187.284227 -1255.305205 q: -0.231369 0.374524 0.885284 0.149910 
time: 1403638561.077830, t: 75.109666 -6.751597 -1517.811041 q: -0.322067 0.640620 0.660082 0.223989 
time: 1403638563.077830, t: 93.228521 -231.099813 -1796.519861 q: -0.347647 0.814352 0.389866 0.252937 
time: 1403638565.077830, t: 82.634995 -474.016395 -2088.796861 q: 0.533094 -0.792912 -0.188969 -0.226697 
time: 1403638567.077830, t: 42.798335 -736.095068 -2392.622428 q: 0.664094 -0.727750 -0.075106 -0.154007 
time: 1403638569.077830, t: 348.512558 -936.999615 -2709.735585 q: 0.774068 -0.632020 0.034789 -0.012599 
time: 1403638571.077830, t: 358.075337 -1265.141861 -3045.255013 q: 0.734452 -0.563441 0.334455 0.176787 
time: 1403638573.077830, t: 377.987430 -1629.985046 -3402.414704 q: 0.559277 -0.585928 0.475223 0.343600 
time: 1403638575.077830, t: 417.142939 -2029.873336 -3781.045324 q: 0.334528 -0.488555 0.660199 0.462107 
time: 1403638577.077830, t: 517.521118 -2458.338757 -4188.964710 q: 0.250250 -0.362748 0.819695 0.365907 
time: 1403638579.077830, t: 598.417634 -2929.164382 -4622.301363 q: 0.137090 -0.191893 0.939332 0.249077 
time: 1403638581.077830, t: 708.432736 -3431.472855 -5073.825353 q: 0.106025 -0.073091 0.954063 -0.270517 
time: 1403638583.077830, t: 829.205390 -3942.718512 -5524.877997 q: 0.060728 0.142158 0.919371 -0.361745 
time: 1403638585.077830, t: 947.054048 -4451.740729 -5972.909688 q: 0.015954 0.356567 0.815587 -0.455437 
time: 1403638587.077830, t: 1972.564566 -4700.816458 -6436.412068 q: 0.102588 0.395991 0.758160 -0.507799 
time: 1403638589.077830, t: 1875.485460 -5249.258715 -6878.734645 q: 0.053630 0.606187 0.593421 -0.526795 
time: 1403638591.077830, t: 3901.650417 -4483.769755 -7355.630748 q: 0.234894 0.515050 0.600861 -0.564371 
time: 1403638593.077830, t: 2627.699755 -5853.050436 -7801.194597 q: -0.005770 0.762838 0.218232 -0.608621 
time: 1403638595.077830, t: -3302.703724 -16.957038 -8258.158363 q: 0.417878 -0.247995 0.873908 0.012719 
time: 1403638597.077830, t: -3246.517034 943.206841 -8719.680394 q: 0.410735 0.162422 0.853280 -0.277180 
time: 1403638599.077830, t: -3971.782455 667.892679 -9206.015583 q: 0.422745 0.496772 0.584224 -0.482894 
time: 1403638601.077830, t: -4881.027209 -243.086058 -9732.043225 q: 0.489536 0.607658 0.258077 -0.569651 
time: 1403638603.077830, t: -5550.566871 -1674.082617 -10312.496885 q: 0.211330 0.834083 -0.086983 -0.502075 
time: 1403638605.077830, t: -5757.614409 -3098.008118 -10948.549206 q: 0.119025 0.743771 -0.384459 -0.533694 
time: 1403638607.077830, t: -6115.705456 -3356.718729 -11618.203608 q: 0.125818 -0.592416 0.657158 0.448728 
time: 1403638609.077830, t: -6444.456555 -3613.463198 -12306.760471 q: 0.232588 -0.353306 0.855822 0.297736 
time: 1403638611.077830, t: -6771.054568 -3871.476778 -13020.616544 q: 0.233391 -0.064557 0.954650 0.173221 
time: 1403638613.077830, t: -7320.777849 -3507.414118 -13759.005679 q: 0.126400 0.254017 0.958176 0.037382 
time: 1403638615.077830, t: -7796.609171 -3197.633031 -14496.100323 q: 0.182331 0.624984 0.758726 0.022038 
time: 1403638617.077830, t: -8272.406084 -2805.394354 -15250.261002 q: 0.393328 0.861746 0.292947 0.129879 
time: 1403638619.077830, t: -8752.198688 -2515.705737 -16025.335037 q: 0.252389 0.963908 -0.006810 0.084468 
time: 1403638621.077830, t: -9236.620030 -2740.026105 -16828.628548 q: 0.138608 0.930132 -0.317241 0.122478 
time: 1403638623.077830, t: -9721.798906 -2672.506685 -17649.749135 q: -0.104965 0.819344 -0.541512 0.156277 
time: 1403638625.077830, t: -9524.799437 -4837.350150 -18477.567566 q: -0.242344 0.829830 -0.498296 -0.065976 
time: 1403638627.077830, t: -7927.533207 -6738.740196 -19280.852099 q: -0.292287 0.820755 -0.335599 -0.358193 
time: 1403638629.077830, t: -7035.445284 -7437.040152 -20104.529181 q: -0.385690 0.641030 -0.432205 -0.503510 
time: 1403638631.077830, t: -6010.525392 -7932.827980 -20962.922970 q: 0.449400 -0.387653 0.500858 0.630005 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720566937.925336201]: Shutdown request received.[0m
[33m[ WARN] [1720566937.925368176]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720566937.926304252]: Shutdown request received.[0m
[33m[ WARN] [1720566937.926332091]: Reason given for shutdown: [user request][0m
killed
