/SLAM-Hive/slam_hive_results/mapping_results/2960/2168_vins-fusion-stereo+MH_01_easy+Image_comb_test-8.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720490801.366445936]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720490801.368244256]: init begins[0m
[31m[ERROR] [1720490801.369422116]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e214cec4-3d97-11ef-a12e-0242ac110005/roslaunch-51bdade0c8ec-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://51bdade0c8ec:43095/[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] [1720490802.472927091]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720490802.474440044]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720490802.480369123]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720490802.480594892]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720490802.480622401]: ROW: 288 COL: 451 [0m
no imu, fix extrinsic param; no time offset calibration
 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 9.8
[0m[ INFO] [1720490802.480854398]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720490802.481065361]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720490802.481229877]: 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://51bdade0c8ec:11311/[0m
]2;roscore http://51bdade0c8ec:11311/
[1msetting /run_id to e214cec4-3d97-11ef-a12e-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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720490811.487977820]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316854232.76 
[0m[ INFO] [1720490814.846824394]: Initialization finish![0m
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time: 1403636626.863555, t: -0.227453 0.068469 0.301379 q: 0.995040 0.067188 0.056284 -0.047040 
time: 1403636627.063555, t: -0.254324 0.090028 0.296640 q: 0.995793 0.066322 0.038996 -0.049760 
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time: 1403636627.663555, t: -0.204150 0.145877 0.228382 q: 0.996787 0.056896 0.041771 -0.037864 
optimize pose graph 
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time: 1403636629.663555, t: -0.028666 0.552632 0.344972 q: 0.996464 -0.070481 0.037037 0.026844 
optimize pose graph 
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time: 1403636738.863555, t: -0.091335 1.515520 0.993622 q: 0.996532 -0.056187 0.057497 0.021494 
time: 1403636739.063555, t: -0.118710 1.541395 1.007601 q: 0.991331 -0.100651 0.065030 0.053888 
time: 1403636739.263556, t: -0.157231 1.569156 1.033049 q: 0.982556 -0.161349 0.065421 0.065355 
time: 1403636739.463556, t: -0.193445 1.612597 1.052986 q: 0.970615 -0.221268 0.063340 0.070249 
time: 1403636739.663555, t: -0.216058 1.664926 1.044665 q: 0.960113 -0.256875 0.064223 0.089856 
time: 1403636739.863555, t: -0.225841 1.710339 1.043204 q: 0.955417 -0.269178 0.065966 0.101829 
optimize pose graph 
time: 1403636740.063555, t: -0.253806 1.756019 1.049006 q: 0.954972 -0.271952 0.064062 0.099837 
time: 1403636740.263556, t: -0.299805 1.811830 1.056712 q: 0.956226 -0.273180 0.061799 0.084772 
time: 1403636740.463556, t: -0.355800 1.845959 1.084599 q: 0.957494 -0.265664 0.066548 0.090546 
time: 1403636740.663555, t: -0.412825 1.881793 1.106283 q: 0.958679 -0.259655 0.069560 0.093137 
time: 1403636740.863555, t: -0.459630 1.913691 1.114892 q: 0.959897 -0.255747 0.065619 0.094264 
time: 1403636741.063555, t: -0.518987 1.947513 1.128903 q: 0.959470 -0.264091 0.066377 0.072580 
time: 1403636741.263556, t: -0.602681 1.970023 1.154537 q: 0.955187 -0.274165 0.073337 0.084100 
time: 1403636741.463556, t: -0.705007 1.973204 1.183500 q: 0.952653 -0.278438 0.063797 0.104190 
time: 1403636741.663555, t: -0.783448 1.986958 1.199504 q: 0.952055 -0.280767 0.048125 0.111561 
time: 1403636741.863555, t: -0.832648 2.010354 1.204991 q: 0.952195 -0.282903 0.054818 0.101422 
time: 1403636742.063555, t: -0.892592 2.034206 1.226286 q: 0.953755 -0.283355 0.050867 0.086445 
optimize pose graph 
time: 1403636742.263556, t: -0.944607 2.047011 1.256262 q: 0.956134 -0.273210 0.043551 0.096272 
time: 1403636742.463556, t: -0.956625 2.070689 1.282204 q: 0.957031 -0.267602 0.057754 0.095633 
time: 1403636742.663555, t: -0.952519 2.098805 1.305629 q: 0.957583 -0.265003 0.065399 0.092362 
time: 1403636742.863555, t: -0.966306 2.123365 1.332321 q: 0.958030 -0.262105 0.072574 0.090619 
time: 1403636743.063555, t: -1.013999 2.146561 1.368864 q: 0.956904 -0.265806 0.066033 0.096553 
time: 1403636743.263556, t: -1.075232 2.176846 1.405928 q: 0.955038 -0.272849 0.030579 0.111895 
time: 1403636743.463556, t: -1.098143 2.233082 1.448386 q: 0.953602 -0.275224 0.029910 0.118325 
time: 1403636743.663555, t: -1.113340 2.300338 1.506357 q: 0.952722 -0.279747 0.046388 0.109133 
time: 1403636743.863555, t: -1.135497 2.371072 1.597613 q: 0.948988 -0.289815 0.062900 0.107115 
time: 1403636744.063555, t: -1.176161 2.446222 1.694134 q: 0.944843 -0.301941 0.070550 0.105482 
time: 1403636744.263556, t: -1.237235 2.515746 1.793695 q: 0.939399 -0.313948 0.076790 0.114322 
time: 1403636744.463556, t: -1.331617 2.580593 1.902777 q: 0.936919 -0.314769 0.082132 0.127896 
time: 1403636744.663555, t: -1.444095 2.647742 2.007153 q: 0.936753 -0.309300 0.090948 0.136224 
time: 1403636744.863555, t: -1.564578 2.712036 2.104630 q: 0.937121 -0.315547 0.086796 0.121244 
time: 1403636745.063555, t: -1.671272 2.770486 2.163825 q: 0.939558 -0.313067 0.071289 0.118903 
time: 1403636745.263556, t: -1.749603 2.819802 2.218862 q: 0.942717 -0.305308 0.064381 0.118008 
time: 1403636745.463556, t: -1.788699 2.883037 2.262258 q: 0.944470 -0.301541 0.076564 0.105771 
time: 1403636745.663555, t: -1.806097 2.935518 2.293288 q: 0.942472 -0.305989 0.083161 0.105839 
time: 1403636745.863555, t: -1.802774 2.976126 2.306210 q: 0.938351 -0.319369 0.080805 0.104740 
time: 1403636746.063555, t: -1.773043 3.000954 2.308535 q: 0.933534 -0.335526 0.076227 0.100631 
time: 1403636746.263556, t: -1.721468 2.997703 2.303055 q: 0.929931 -0.345208 0.080306 0.098033 
time: 1403636746.463556, t: -1.672921 2.966732 2.306200 q: 0.927761 -0.346858 0.096308 0.098353 
time: 1403636746.663555, t: -1.659162 2.921427 2.311698 q: 0.932901 -0.332801 0.064631 0.121496 
time: 1403636746.863555, t: -1.657572 2.868872 2.336220 q: 0.936018 -0.316587 0.051885 0.144745 
time: 1403636747.063555, t: -1.643666 2.844198 2.365330 q: 0.937146 -0.315196 0.059856 0.137211 
time: 1403636747.263556, t: -1.592893 2.835372 2.382666 q: 0.936192 -0.324830 0.068789 0.115319 
time: 1403636747.463556, t: -1.528262 2.830572 2.393357 q: 0.934933 -0.329617 0.070342 0.110930 
time: 1403636747.663555, t: -1.471690 2.816506 2.418833 q: 0.933562 -0.332236 0.067047 0.116564 
time: 1403636747.863555, t: -1.396945 2.795063 2.445917 q: 0.931639 -0.336035 0.067518 0.120710 
time: 1403636748.063555, t: -1.308895 2.774043 2.468155 q: 0.928994 -0.329453 0.082198 0.147223 
time: 1403636748.263556, t: -1.237946 2.765722 2.492672 q: 0.928111 -0.332813 0.078558 0.147221 
time: 1403636748.463556, t: -1.183262 2.764373 2.516202 q: 0.928385 -0.343402 0.069746 0.123741 
time: 1403636748.663555, t: -1.120300 2.770542 2.531297 q: 0.928160 -0.341630 0.074900 0.127269 
time: 1403636748.863555, t: -1.050943 2.771429 2.545621 q: 0.926735 -0.337739 0.082173 0.142625 
time: 1403636749.063555, t: -0.999593 2.779884 2.565430 q: 0.923964 -0.340502 0.086473 0.151235 
time: 1403636749.263556, t: -0.955246 2.795160 2.570384 q: 0.921838 -0.346363 0.087006 0.150590 
time: 1403636749.463556, t: -0.903782 2.824232 2.547766 q: 0.921306 -0.356576 0.080184 0.132737 
time: 1403636749.663555, t: -0.838182 2.845415 2.521737 q: 0.921623 -0.362092 0.073469 0.118754 
time: 1403636749.863555, t: -0.793887 2.862406 2.504573 q: 0.922146 -0.357922 0.087057 0.118153 
time: 1403636750.063555, t: -0.776670 2.863930 2.498993 q: 0.923783 -0.352302 0.095520 0.115688 
time: 1403636750.263556, t: -0.766703 2.848761 2.481184 q: 0.926858 -0.345573 0.087430 0.117769 
time: 1403636750.463556, t: -0.734843 2.821096 2.439265 q: 0.930029 -0.338323 0.079871 0.119186 
time: 1403636750.663555, t: -0.674075 2.784031 2.382727 q: 0.932776 -0.332544 0.078006 0.115148 
time: 1403636750.863555, t: -0.583472 2.740895 2.311754 q: 0.934624 -0.328818 0.073448 0.113847 
time: 1403636751.063555, t: -0.483072 2.689669 2.239171 q: 0.935035 -0.330130 0.067072 0.110565 
time: 1403636751.263556, t: -0.407700 2.637626 2.182919 q: 0.935110 -0.329759 0.055945 0.117037 
time: 1403636751.463556, t: -0.327198 2.579232 2.142443 q: 0.933725 -0.326803 0.063054 0.131840 
time: 1403636751.663555, t: -0.255989 2.527678 2.106960 q: 0.935466 -0.316655 0.075011 0.137863 
time: 1403636751.863555, t: -0.187914 2.498931 2.064075 q: 0.939711 -0.306513 0.057898 0.140145 
time: 1403636752.063555, t: -0.126543 2.499237 2.026186 q: 0.941966 -0.307905 0.048184 0.124792 
time: 1403636752.263556, t: -0.067119 2.509697 2.000930 q: 0.944363 -0.302245 0.063396 0.113169 
time: 1403636752.463556, t: 0.006921 2.511738 1.975924 q: 0.952788 -0.276878 0.076227 0.098609 
time: 1403636752.663555, t: 0.082022 2.513864 1.942380 q: 0.965006 -0.239478 0.070137 0.080586 
time: 1403636752.863555, t: 0.131946 2.516101 1.913304 q: 0.976106 -0.198142 0.065607 0.060435 
time: 1403636753.063555, t: 0.157397 2.514299 1.908771 q: 0.985071 -0.157659 0.062629 0.029270 
time: 1403636753.263556, t: 0.167102 2.510362 1.902970 q: 0.992012 -0.111148 0.059620 0.001788 
time: 1403636753.463556, t: 0.154823 2.495344 1.902828 q: 0.995496 -0.069374 0.062988 -0.014430 
time: 1403636753.663555, t: 0.154429 2.453005 1.911633 q: 0.996544 -0.047999 0.066953 -0.010684 
time: 1403636753.863555, t: 0.157752 2.404162 1.917489 q: 0.996409 -0.046671 0.069770 -0.011122 
time: 1403636754.063555, t: 0.148377 2.361453 1.908716 q: 0.995947 -0.050401 0.073934 -0.009135 
time: 1403636754.263556, t: 0.151460 2.308135 1.891300 q: 0.994823 -0.056888 0.083570 -0.010299 
optimize pose graph 
time: 1403636754.463556, t: 0.167333 2.242215 1.849819 q: 0.994818 -0.057081 0.083246 -0.012238 
time: 1403636754.663555, t: 0.168342 2.161441 1.800122 q: 0.995905 -0.040036 0.077891 -0.022421 
time: 1403636754.863555, t: 0.147716 2.068754 1.752355 q: 0.996503 -0.009325 0.076319 -0.032702 
time: 1403636755.063555, t: 0.103660 1.974607 1.711344 q: 0.996209 0.010248 0.076513 -0.040115 
time: 1403636755.263556, t: 0.072055 1.860611 1.656667 q: 0.996347 0.019051 0.072058 -0.041675 
time: 1403636755.463556, t: 0.057653 1.747992 1.588401 q: 0.997605 0.020252 0.051922 -0.040978 
time: 1403636755.663555, t: 0.044381 1.633017 1.525536 q: 0.997502 0.016999 0.054325 -0.041833 
time: 1403636755.863555, t: 0.016688 1.512782 1.478212 q: 0.997252 0.016702 0.061792 -0.037310 
time: 1403636756.063555, t: -0.014361 1.395765 1.428171 q: 0.996931 0.018249 0.067898 -0.034425 
time: 1403636756.263556, t: -0.025658 1.269536 1.368405 q: 0.996645 0.018353 0.071429 -0.035505 
optimize pose graph 
time: 1403636756.463556, t: -0.043401 1.139887 1.305504 q: 0.996471 0.019623 0.072887 -0.036716 
time: 1403636756.663555, t: -0.081491 1.012276 1.239480 q: 0.996338 0.022137 0.073922 -0.036838 
time: 1403636756.863555, t: -0.114326 0.879850 1.164757 q: 0.996124 0.024635 0.076195 -0.036403 
time: 1403636757.063555, t: -0.130089 0.745207 1.069084 q: 0.996227 0.026803 0.074637 -0.035238 
time: 1403636757.263556, t: -0.170667 0.621284 0.977769 q: 0.996182 0.027783 0.074767 -0.035499 
time: 1403636757.463556, t: -0.222634 0.497746 0.884643 q: 0.996429 0.026534 0.068476 -0.041676 
time: 1403636757.663555, t: -0.267617 0.366410 0.787313 q: 0.996892 0.035674 0.048729 -0.050595 
time: 1403636757.863555, t: -0.284801 0.226731 0.699082 q: 0.996884 0.049187 0.030750 -0.053450 
time: 1403636758.063555, t: -0.264878 0.079013 0.614380 q: 0.995711 0.059289 0.047987 -0.052353 
time: 1403636758.263556, t: -0.267627 -0.064056 0.547626 q: 0.994392 0.065376 0.067709 -0.048235 
time: 1403636758.463556, t: -0.288827 -0.211017 0.499804 q: 0.995495 0.068359 0.052304 -0.039752 
optimize pose graph 
time: 1403636758.663555, t: -0.316898 -0.333928 0.470583 q: 0.996785 0.075079 0.018600 -0.020878 
time: 1403636758.863555, t: -0.335368 -0.435006 0.461783 q: 0.995794 0.070991 0.050637 -0.028112 
time: 1403636759.063555, t: -0.365256 -0.523542 0.472261 q: 0.994876 0.067982 0.065844 -0.035555 
time: 1403636759.263556, t: -0.401599 -0.583006 0.489765 q: 0.994179 0.084818 0.066429 0.000879 
time: 1403636759.463556, t: -0.452133 -0.614575 0.506908 q: 0.994354 0.077673 0.069602 -0.019574 
time: 1403636759.663555, t: -0.508159 -0.623101 0.523783 q: 0.994046 0.069891 0.071842 -0.042744 
time: 1403636759.863555, t: -0.535391 -0.629909 0.511932 q: 0.993913 0.069626 0.071936 -0.045976 
time: 1403636760.063555, t: -0.564734 -0.636778 0.493223 q: 0.995251 0.068810 0.052502 -0.044537 
time: 1403636760.263556, t: -0.597240 -0.636203 0.483886 q: 0.995073 0.068957 0.056471 -0.043433 
time: 1403636760.463556, t: -0.632512 -0.636592 0.485747 q: 0.993887 0.068365 0.073542 -0.045892 
time: 1403636760.663555, t: -0.675739 -0.636255 0.478860 q: 0.994777 0.065898 0.057664 -0.052445 
optimize pose graph 
time: 1403636760.863555, t: -0.707860 -0.638167 0.467172 q: 0.994346 0.064616 0.060466 -0.058700 
time: 1403636761.063555, t: -0.743030 -0.653463 0.458974 q: 0.994678 0.065928 0.054824 -0.057131 
time: 1403636761.263556, t: -0.776833 -0.674907 0.453545 q: 0.995822 0.067577 0.028875 -0.054201 
time: 1403636761.463556, t: -0.784174 -0.706754 0.462670 q: 0.995182 0.067934 0.045140 -0.054407 
time: 1403636761.663555, t: -0.778000 -0.742219 0.475639 q: 0.994250 0.070090 0.065638 -0.047383 
time: 1403636761.863555, t: -0.766963 -0.773051 0.482360 q: 0.994406 0.077358 0.066710 -0.026863 
time: 1403636762.063555, t: -0.751169 -0.787166 0.480182 q: 0.994290 0.066408 0.067782 -0.048817 
time: 1403636762.263556, t: -0.736746 -0.802318 0.472092 q: 0.994436 0.055009 0.055198 -0.070877 
time: 1403636762.463556, t: -0.742750 -0.835367 0.478030 q: 0.996132 0.061095 0.034334 -0.053004 
time: 1403636762.663555, t: -0.768966 -0.870488 0.511445 q: 0.995130 0.081992 0.054479 -0.004962 
time: 1403636762.863555, t: -0.805224 -0.877791 0.551115 q: 0.992103 0.079736 0.095406 -0.016496 
time: 1403636763.063555, t: -0.820379 -0.850672 0.535135 q: 0.996303 0.049160 0.069497 -0.011568 
time: 1403636763.263556, t: -0.825632 -0.841228 0.531448 q: 0.996313 0.036266 0.077491 0.006342 
time: 1403636763.463556, t: -0.826023 -0.841010 0.533240 q: 0.996118 0.036199 0.079934 0.006962 
time: 1403636763.663555, t: -0.825272 -0.840994 0.532603 q: 0.996104 0.036326 0.080031 0.007294 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720491000.190589834]: Shutdown request received.[0m
[33m[ WARN] [1720491000.190632500]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720491000.191465221]: Shutdown request received.[0m
[33m[ WARN] [1720491000.191504071]: Reason given for shutdown: [user request][0m
killed
