/SLAM-Hive/slam_hive_results/mapping_results/3021/2229_vins-fusion-stereo+MH_03_medium+Image_comb_test-9.yamlERROR: Unable to communicate with master!
[0m[ INFO] [1720503053.354948510]: init begins[0m
[31m[ERROR] [1720503053.356326540]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[31m[ERROR] [1720503053.370966263]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/68d875d4-3db4-11ef-92cc-0242ac110005/roslaunch-f948cc6f3b3e-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://f948cc6f3b3e:39789/[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] [1720503054.563472281]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720503054.568304869]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720503054.568511323]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720503054.568536587]: ROW: 240 COL: 376 [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] [1720503054.568778117]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720503054.568952342]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720503054.569098080]: waiting for image and imu...[0m
[0m[ INFO] [1720503054.576767429]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://f948cc6f3b3e:11311/[0m
]2;roscore http://f948cc6f3b3e:11311/
[1msetting /run_id to 68d875d4-3db4-11ef-92cc-0242ac110005[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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720503063.494976301]: 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: 316865933.16 
[0m[ INFO] [1720503065.968258802]: Initialization finish![0m
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time: 1403637132.838319, t: 0.000458 0.000415 -0.000001 q: 1.000000 -0.000362 0.000321 -0.000306 
time: 1403637133.038319, t: 0.001430 -0.000040 0.000632 q: 0.999998 -0.000978 -0.000039 0.001590 
time: 1403637133.238319, t: 0.007431 0.002371 -0.006761 q: 0.999995 -0.002043 0.001687 -0.001848 
time: 1403637133.438319, t: 0.040095 0.005438 -0.020964 q: 0.999885 -0.011684 -0.006592 -0.007137 
time: 1403637133.638319, t: 0.046710 0.011061 -0.024834 q: 0.999581 -0.017663 -0.022946 -0.000027 
time: 1403637133.838319, t: 0.090872 0.014680 -0.042938 q: 0.999152 -0.031427 -0.026453 -0.002825 
time: 1403637134.038319, t: 0.170329 -0.000854 -0.075287 q: 0.998393 -0.047087 -0.031520 0.000998 
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time: 1403637134.438319, t: 0.373352 -0.011497 -0.110292 q: 0.997078 -0.073719 0.010455 -0.017102 
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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: 1403637265.038319, t: -0.121438 -0.343291 -1.370445 q: 0.993357 0.107668 0.005880 -0.040179 
time: 1403637265.238319, t: -0.121511 -0.343296 -1.370515 q: 0.993355 0.107675 0.005884 -0.040220 
time: 1403637265.438319, t: -0.121511 -0.343270 -1.370548 q: 0.993353 0.107689 0.005890 -0.040226 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720503200.287035374]: Shutdown request received.[0m
[33m[ WARN] [1720503200.287080141]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720503200.287957909]: Shutdown request received.[0m
[33m[ WARN] [1720503200.287992714]: Reason given for shutdown: [user request][0m
killed
