/SLAM-Hive/slam_hive_results/mapping_results/3076/2284_vins-fusion-stereo+MH_05_difficult+Image_comb_test-4.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720511449.123981256]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720511449.125488422]: init begins[0m
[31m[ERROR] [1720511449.126509674]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/f51a2be2-3dc7-11ef-abbb-0242ac110005/roslaunch-402210a3950b-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://402210a3950b:45789/[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] [1720511450.230133479]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720511450.231823073]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720511450.237651210]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720511450.237876373]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720511450.237905399]: 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] [1720511450.238157812]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720511450.238389391]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720511450.238565235]: 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://402210a3950b:11311/[0m
]2;roscore http://402210a3950b:11311/
[1msetting /run_id to f51a2be2-3dc7-11ef-abbb-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_05_difficult.bag  --clock 
[0m[ INFO] [1720511459.280395040]: Opening /slamhive/dataset/MH_05_difficult.bag[0m

Waiting 0.2 seconds after advertising topics... done.

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

 [DELAYED]  Bag Time: 1403638518.147706   Duration: 0.000000 / 114.773304   Delay: 316872941.35 
[0m[ INFO] [1720511460.638503018]: Initialization finish![0m
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optimize pose graph 
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time: 1403638630.527829, t: 1.915667 -0.328525 -0.284908 q: 0.975243 -0.212424 -0.030838 0.053170 
time: 1403638630.627830, t: 2.148172 -0.192255 -0.379849 q: 0.975911 -0.208297 -0.039548 0.051439 
time: 1403638630.727829, t: 2.061464 -0.344185 -0.342340 q: 0.974563 -0.201830 -0.081146 0.053925 
time: 1403638630.827830, t: 1.980965 -0.240034 -0.342598 q: 0.975040 -0.203158 -0.073152 0.051703 
time: 1403638630.927830, t: 1.938889 -0.683879 -0.312491 q: 0.970041 -0.226633 -0.072251 0.049383 
time: 1403638631.027829, t: 2.149947 -0.799107 -0.149877 q: 0.970936 -0.217925 -0.079369 0.059097 
time: 1403638631.127830, t: 2.123781 -0.729153 -0.157755 q: 0.971510 -0.215768 -0.078403 0.058873 
time: 1403638631.227829, t: 2.100121 -0.629454 -0.160569 q: 0.972301 -0.212853 -0.077660 0.057381 
time: 1403638631.327830, t: 2.135544 -0.641473 -0.150699 q: 0.972087 -0.213613 -0.078302 0.057324 
time: 1403638631.427830, t: 2.132048 -0.640879 -0.151496 q: 0.972126 -0.213633 -0.078210 0.056696 
time: 1403638631.527829, t: 2.131588 -0.639981 -0.151587 q: 0.972107 -0.213691 -0.078362 0.056607 
time: 1403638631.627830, t: 2.130455 -0.638180 -0.151889 q: 0.972108 -0.213748 -0.078460 0.056225 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720511574.966053772]: Shutdown request received.[0m
[33m[ WARN] [1720511574.966095490]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720511574.967092790]: Shutdown request received.[0m
[33m[ WARN] [1720511574.967123878]: Reason given for shutdown: [user request][0m
killed
