/SLAM-Hive/slam_hive_results/mapping_results/3016/2224_vins-fusion-stereo+MH_03_medium+Image_comb_test-4.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720502188.502070897]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720502188.506687644]: init begins[0m
[31m[ERROR] [1720502188.507995304]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/655a231e-3db2-11ef-ae17-0242ac110005/roslaunch-36ebedcab781-119.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://36ebedcab781:43891/[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] [1720502189.613571796]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720502189.618188299]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720502189.618384574]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720502189.618401878]: 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] [1720502189.618614668]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720502189.618801679]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720502189.618956969]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://36ebedcab781:11311/[0m
]2;roscore http://36ebedcab781:11311/
[1msetting /run_id to 655a231e-3db2-11ef-ae17-0242ac110005[0m
[0m[ INFO] [1720502189.657741758]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
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
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [243][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720502198.651314106]: 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: 316865068.32 
[0m[ INFO] [1720502200.089679023]: Initialization finish![0m
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time: 1403637131.788319, t: 0.000017 0.000098 -0.000035 q: 1.000000 0.000272 -0.000359 -0.000021 
time: 1403637131.888319, t: 0.000014 0.000029 0.000114 q: 1.000000 -0.000060 -0.000197 -0.000014 
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time: 1403637265.088319, t: 1.511207 -0.001055 0.137382 q: 0.997082 0.060522 -0.009587 0.045537 
time: 1403637265.188319, t: 1.511205 -0.001038 0.137314 q: 0.997086 0.060473 -0.009513 0.045524 
time: 1403637265.288319, t: 1.511111 -0.001039 0.137516 q: 0.997093 0.060463 -0.009526 0.045380 
time: 1403637265.488319, t: 1.511401 -0.000999 0.137097 q: 0.997075 0.060516 -0.009676 0.045679 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720502335.439804300]: Shutdown request received.[0m
[33m[ WARN] [1720502335.439860660]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720502335.440878247]: Shutdown request received.[0m
[33m[ WARN] [1720502335.440919522]: Reason given for shutdown: [user request][0m
killed
