/SLAM-Hive/slam_hive_results/mapping_results/3022/2230_vins-fusion-stereo+MH_03_medium+Image_comb_test-10.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720503224.941414216]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720503224.943957861]: init begins[0m
[31m[ERROR] [1720503224.945044075]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/cf1c23a4-3db4-11ef-a205-0242ac110005/roslaunch-f8a84c4d637b-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://f8a84c4d637b:43797/[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] [1720503226.048155483]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720503226.049887715]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720503226.057076346]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720503226.057403875]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720503226.057460346]: 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] [1720503226.057898576]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720503226.058221433]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720503226.058542383]: 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://f8a84c4d637b:11311/[0m
]2;roscore http://f8a84c4d637b:11311/
[1msetting /run_id to cf1c23a4-3db4-11ef-a205-0242ac110005[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_03_medium.bag  --clock 
[0m[ INFO] [1720503235.063468001]: 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: 316866104.73 
[0m[ INFO] [1720503237.554583667]: Initialization finish![0m
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time: 1403637132.838319, t: 0.000236 0.000094 -0.000080 q: 1.000000 -0.000487 0.000418 -0.000569 
time: 1403637133.038319, t: 0.000538 -0.000230 0.000353 q: 0.999999 -0.000931 0.000337 0.000665 
time: 1403637133.238319, t: 0.002992 -0.000004 -0.002250 q: 0.999979 -0.003681 0.002490 -0.004777 
time: 1403637133.438319, t: 0.017622 0.003035 -0.011929 q: 0.999930 -0.010467 -0.004350 -0.003536 
time: 1403637133.638319, t: 0.025988 0.006893 -0.016138 q: 0.999637 -0.016186 -0.021222 0.003678 
time: 1403637133.838319, t: 0.065434 0.012458 -0.032511 q: 0.999281 -0.029155 -0.024113 0.002531 
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time: 1403637265.038319, t: 0.753892 -0.120290 0.143967 q: 0.996675 0.069862 -0.034247 -0.024205 
time: 1403637265.238319, t: 0.753984 -0.120462 0.143921 q: 0.996662 0.069844 -0.034447 -0.024505 
time: 1403637265.438319, t: 0.754139 -0.120447 0.143725 q: 0.996663 0.069894 -0.034485 -0.024245 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720503371.871939157]: Shutdown request received.[0m
[33m[ WARN] [1720503371.871979381]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720503371.872871933]: Shutdown request received.[0m
[33m[ WARN] [1720503371.872897142]: Reason given for shutdown: [user request][0m
killed
