/SLAM-Hive/slam_hive_results/mapping_results/2962/2170_vins-fusion-stereo+MH_01_easy+Image_comb_test-10.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720491249.241013307]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720491249.243082233]: init begins[0m
[31m[ERROR] [1720491249.244142376]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ed08b8b2-3d98-11ef-8443-0242ac110005/roslaunch-26bf5f4ff1bd-117.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://26bf5f4ff1bd:43339/[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 [154][0m
[0m[ INFO] [1720491250.347170310]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720491250.349545362]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720491250.355345415]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720491250.355583832]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720491250.355609807]: ROW: 192 COL: 300 [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] [1720491250.355833569]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720491250.356023341]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720491250.356190086]: 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://26bf5f4ff1bd:11311/[0m
]2;roscore http://26bf5f4ff1bd:11311/
[1msetting /run_id to ed08b8b2-3d98-11ef-8443-0242ac110005[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 [241][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720491259.371500831]: 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: 316854680.64 
[0m[ INFO] [1720491262.716836335]: Initialization finish![0m
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time: 1403636582.063555, t: 0.019571 0.007629 -0.080090 q: 0.998484 -0.019757 -0.049122 -0.015025 
time: 1403636582.263556, t: 0.134951 -0.011327 -0.210206 q: 0.993491 -0.010439 -0.113381 -0.003376 
time: 1403636582.463556, t: -0.135071 0.021478 -0.008766 q: 0.999070 -0.007142 -0.042369 -0.003539 
time: 1403636582.663555, t: 0.000654 0.017466 -0.051897 q: 0.999448 -0.016378 -0.027583 -0.008632 
time: 1403636582.863555, t: 0.139269 0.017177 -0.090205 q: 0.999512 -0.028790 -0.010487 -0.006054 
time: 1403636583.063555, t: 0.231431 0.022248 -0.120946 q: 0.999196 -0.034973 0.019037 -0.004720 
time: 1403636583.263556, t: 0.225549 0.024565 -0.116105 q: 0.999044 -0.038187 0.017034 -0.012765 
time: 1403636583.463556, t: 0.145162 0.022097 -0.100389 q: 0.999321 -0.033395 0.004039 -0.015046 
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time: 1403636590.063555, t: 0.010817 -0.225363 -0.145796 q: 0.978513 0.012883 -0.205646 0.007523 
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time: 1403636590.463556, t: 0.015512 -0.218836 -0.155821 q: 0.979993 0.010759 -0.198704 0.003902 
time: 1403636590.663555, t: 0.022814 -0.150583 -0.162565 q: 0.981137 -0.001479 -0.193287 0.002755 
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time: 1403636597.063555, t: 0.946587 0.440813 -2.107593 q: 0.944803 -0.279859 -0.150986 -0.078926 
time: 1403636597.263556, t: 0.887580 0.586566 -2.116280 q: 0.971432 -0.209044 -0.083130 -0.075564 
time: 1403636597.463556, t: 0.950248 0.558686 -2.033985 q: 0.962137 -0.215152 -0.118497 -0.118156 
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time: 1403636597.863555, t: 0.999587 0.537142 -1.950536 q: 0.944065 -0.183965 -0.163896 -0.219170 
time: 1403636598.063555, t: 0.962255 0.497837 -2.005242 q: 0.942511 -0.174468 -0.177130 -0.223293 
unstable tracking...
unstable tracking...
time: 1403636598.463556, t: 0.900332 0.512575 -2.102115 q: 0.930065 -0.199290 -0.219720 -0.216761 
unstable tracking...
time: 1403636598.663555, t: 0.903001 0.555914 -2.064170 q: 0.935348 -0.187312 -0.199536 -0.224106 
unstable tracking...
time: 1403636598.863555, t: 0.902600 0.605756 -2.004858 q: 0.945432 -0.157345 -0.163464 -0.233840 
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time: 1403636763.263556, t: 0.942535 -0.159717 -0.674182 q: 0.949397 -0.215108 -0.049206 -0.223500 
time: 1403636763.463556, t: 0.942897 -0.160657 -0.674056 q: 0.949446 -0.215216 -0.046367 -0.223797 
time: 1403636763.663555, t: 0.942476 -0.160027 -0.673795 q: 0.949764 -0.214894 -0.046065 -0.222818 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720491448.089537282]: Shutdown request received.[0m
[33m[ WARN] [1720491448.089585100]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720491448.090337903]: Shutdown request received.[0m
[33m[ WARN] [1720491448.090366115]: Reason given for shutdown: [user request][0m
killed
