/SLAM-Hive/slam_hive_results/mapping_results/3081/2289_vins-fusion-stereo+MH_05_difficult+Image_comb_test-9.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720512207.517184258]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720512207.519152125]: init begins[0m
[31m[ERROR] [1720512207.520240833]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b924b628-3dc9-11ef-bf8a-0242ac110005/roslaunch-75589f386cbf-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://75589f386cbf:44757/[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
[1mROS_MASTER_URI=http://75589f386cbf:11311/[0m
]2;roscore http://75589f386cbf:11311/
[1msetting /run_id to b924b628-3dc9-11ef-bf8a-0242ac110005[0m
[0m[ INFO] [1720512208.672638533]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720512208.675419498]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720512208.681673230]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720512208.681895973]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720512208.681920137]: 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] [1720512208.682140844]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720512208.682372828]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720512208.682551924]: 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
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 [213][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720512217.645899347]: 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: 316873699.71 
[0m[ INFO] [1720512220.066114727]: Initialization finish![0m
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time: 1403638520.577830, t: -0.000008 0.000011 -0.000027 q: 1.000000 0.000007 -0.000012 0.000005 
time: 1403638520.777829, t: 0.000002 0.000022 -0.000046 q: 1.000000 -0.000016 -0.000033 -0.000037 
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optimize pose graph 
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time: 1403638629.577830, t: 2.287918 1.792662 0.083037 q: 0.991547 -0.123211 -0.029181 0.028319 
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time: 1403638629.977829, t: 2.286534 1.780829 0.101031 q: 0.991844 -0.120322 0.003824 0.041868 
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time: 1403638630.577830, t: 2.213786 1.799688 0.163511 q: 0.992196 -0.121422 -0.002237 0.028265 
time: 1403638630.777829, t: 2.181383 1.789590 0.187913 q: 0.991765 -0.118314 -0.045117 0.019176 
time: 1403638630.977829, t: 1.710214 -2.282321 -0.770205 q: 0.962612 -0.257302 -0.038476 0.075452 
time: 1403638631.177830, t: 2.072626 0.216999 -0.773452 q: 0.982570 -0.173146 -0.051480 0.043880 
time: 1403638631.377830, t: 2.164575 1.629341 0.054668 q: 0.991188 -0.121549 -0.045191 0.027019 
time: 1403638631.577830, t: 2.165917 1.637673 0.059890 q: 0.991260 -0.120958 -0.044939 0.027458 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720512333.341515683]: Shutdown request received.[0m
[33m[ WARN] [1720512333.341561202]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720512333.342374513]: Shutdown request received.[0m
[33m[ WARN] [1720512333.342403038]: Reason given for shutdown: [user request][0m
killed
