/SLAM-Hive/slam_hive_results/mapping_results/2876/2084_vins-fusion-mono-imu+MH_03_medium+Image_comb_test-14.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720477274.204712300]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720477274.206253921]: init begins[0m
[31m[ERROR] [1720477274.207331338]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/6343dafa-3d78-11ef-b363-0242ac110005/roslaunch-d560114eadc2-118.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://d560114eadc2:35945/[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] [1720477275.310808750]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720477275.312969966]: 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] [1720477275.318965934]:  fix extrinsic param [0m
camera number 1
[0m[ INFO] [1720477275.319170043]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720477275.319197442]: 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
set g       0       0 9.81007
[0m[ INFO] [1720477275.319409414]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720477275.319698419]: 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://d560114eadc2:11311/[0m
]2;roscore http://d560114eadc2:11311/
[1msetting /run_id to 6343dafa-3d78-11ef-b363-0242ac110005[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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720477284.369141835]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316840154.04 
init first imu pose
averge acc 9.438567 -0.684964 -2.448160
init R0 
  0.260071   0.260169   0.929879
         0  -0.963017    0.26944
  0.965589 -0.0700736  -0.250453
unstable features tracking, please slowly move you device!
[33m[ WARN] [1720477289.015687213]: gyroscope bias initial calibration -0.00491927   0.0172121   0.0734335[0m
[0m[ INFO] [1720477289.063599907]: Initialization finish![0m
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403637249.938319, t: 1.946249 -4.399562 -0.388922 q: 0.162878 0.779497 -0.198584 0.571331 
time: 1403637250.338319, t: 2.145209 -3.830012 -0.385518 q: 0.105099 0.794374 -0.179021 0.570855 
time: 1403637250.738319, t: 2.295218 -3.321695 -0.418282 q: 0.077970 0.804124 -0.169578 0.564402 
time: 1403637251.138319, t: 2.435116 -2.959650 -0.357658 q: 0.062266 0.806409 -0.162667 0.565126 
time: 1403637251.538319, t: 2.531034 -2.659972 -0.188632 q: 0.052925 0.807753 -0.120808 0.574578 
time: 1403637251.938319, t: 2.602101 -2.412953 -0.060609 q: 0.040095 0.805954 -0.081223 0.585007 
time: 1403637252.338319, t: 2.621195 -2.271681 -0.009259 q: 0.039505 0.796690 -0.072405 0.598733 
time: 1403637252.738319, t: 2.565388 -2.154697 -0.062259 q: 0.026491 0.814677 -0.083668 0.573236 
time: 1403637253.138319, t: 2.498198 -2.088922 -0.073782 q: 0.040648 0.809836 -0.077310 0.580118 
time: 1403637253.538319, t: 2.424373 -2.052879 -0.086348 q: 0.042725 0.808518 -0.079148 0.581557 
optimize pose graph 
time: 1403637253.938319, t: 2.319227 -2.033434 -0.090086 q: 0.053640 0.806479 -0.072145 0.584388 
time: 1403637254.338319, t: 2.184662 -1.985248 -0.004663 q: 0.045552 0.811268 -0.052910 0.580491 
time: 1403637254.738319, t: 2.036418 -1.907396 0.075532 q: 0.031837 0.815081 -0.032900 0.577535 
time: 1403637255.138319, t: 1.886605 -1.808710 0.073629 q: 0.020972 0.808226 -0.027874 0.587838 
time: 1403637255.538319, t: 1.712938 -1.693514 0.087423 q: -0.006810 0.809732 0.006373 0.586726 
time: 1403637255.938319, t: 1.514860 -1.570623 0.080113 q: -0.043999 0.813286 0.076609 0.575118 
time: 1403637256.338319, t: 1.303692 -1.432265 0.151480 q: -0.064979 0.804827 0.110057 0.579585 
time: 1403637256.738319, t: 1.078638 -1.268588 0.140247 q: -0.071289 0.811896 0.100023 0.570735 
time: 1403637257.138319, t: 0.851537 -1.106113 0.101977 q: -0.081363 0.807668 0.110648 0.573419 
time: 1403637257.538319, t: 0.628439 -0.945454 0.140126 q: -0.084033 0.807024 0.137187 0.568182 
optimize pose graph 
time: 1403637257.938319, t: 0.422526 -0.761329 0.122864 q: -0.101110 0.817590 0.149716 0.546725 
time: 1403637258.338319, t: 0.277808 -0.559382 0.091426 q: -0.139423 0.794095 0.205647 0.554692 
time: 1403637258.738319, t: 0.183973 -0.346710 0.035925 q: -0.168580 0.787929 0.216308 0.551326 
time: 1403637259.138319, t: 0.179711 -0.161609 -0.003880 q: -0.170934 0.786094 0.210962 0.555277 
time: 1403637259.538319, t: 0.120539 -0.048159 0.039573 q: -0.182369 0.787096 0.197013 0.555345 
time: 1403637259.938319, t: 0.045911 -0.015036 0.037714 q: -0.175146 0.788784 0.200154 0.554150 
time: 1403637260.338319, t: 0.015806 -0.026927 -0.019357 q: -0.154824 0.785058 0.216251 0.559419 
time: 1403637260.738319, t: -0.028684 -0.040738 -0.102426 q: -0.147573 0.794246 0.222894 0.545632 
time: 1403637261.138319, t: -0.068115 -0.009488 -0.192366 q: -0.154479 0.788002 0.220408 0.553723 
time: 1403637261.538319, t: -0.106357 0.038571 -0.243460 q: -0.159530 0.791216 0.216188 0.549354 
time: 1403637261.938319, t: -0.101176 0.107218 -0.232151 q: -0.155512 0.788424 0.216918 0.554212 
time: 1403637262.338319, t: -0.087865 0.162203 -0.281676 q: -0.197469 0.773139 0.182422 0.574442 
time: 1403637262.738319, t: -0.095448 0.145433 -0.294321 q: -0.161144 0.785245 0.163824 0.574965 
time: 1403637263.138319, t: -0.092791 0.146102 -0.295723 q: -0.164708 0.781811 0.162570 0.578977 
time: 1403637263.538319, t: -0.101435 0.139734 -0.279347 q: -0.164580 0.781987 0.162288 0.578855 
time: 1403637263.938319, t: -0.101024 0.142608 -0.280202 q: -0.164215 0.782055 0.162130 0.578911 
time: 1403637264.338319, t: -0.101753 0.141491 -0.279025 q: -0.164335 0.782090 0.162003 0.578865 
time: 1403637264.738319, t: -0.101622 0.141014 -0.279233 q: -0.164368 0.782104 0.161962 0.578848 
time: 1403637265.138319, t: -0.101706 0.140892 -0.278989 q: -0.164342 0.782190 0.161982 0.578734 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720477421.159274806]: Shutdown request received.[0m
[33m[ WARN] [1720477421.159322794]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720477421.160198786]: Shutdown request received.[0m
[33m[ WARN] [1720477421.160238780]: Reason given for shutdown: [user request][0m
killed
