/SLAM-Hive/slam_hive_results/mapping_results/3082/2290_vins-fusion-stereo+MH_05_difficult+Image_comb_test-10.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720512357.953280994]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720512357.960151297]: init begins[0m
[31m[ERROR] [1720512357.961297579]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/12cec452-3dca-11ef-aa40-0242ac110005/roslaunch-38c0823b5ceb-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://38c0823b5ceb:42379/[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://38c0823b5ceb:11311/[0m
]2;roscore http://38c0823b5ceb:11311/
[1msetting /run_id to 12cec452-3dca-11ef-aa40-0242ac110005[0m
[0m[ INFO] [1720512359.109344510]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720512359.116453727]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720512359.122965941]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720512359.123173534]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720512359.123206808]: ROW: 192 COL: 300 [0m
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
config_file: /slamhive/mappingtask.yaml
  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] [1720512359.124738766]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720512359.124980969]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720512359.125164985]: waiting for image and imu...[0m
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 [218][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720512368.128202950]: 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: 316873850.20 
[0m[ INFO] [1720512370.569826305]: Initialization finish![0m
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time: 1403638630.977829, t: 0.195390 0.341801 -0.973457 q: 0.971095 -0.221754 -0.005491 0.088145 
time: 1403638631.177830, t: 0.203195 0.341192 -0.983957 q: 0.970517 -0.226738 -0.011652 0.080942 
time: 1403638631.377830, t: 0.189604 0.337517 -0.964554 q: 0.970777 -0.223863 -0.007272 0.086162 
time: 1403638631.577830, t: 0.170292 0.329674 -0.962656 q: 0.970946 -0.222426 -0.004431 0.088151 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720512483.803921475]: Shutdown request received.[0m
[33m[ WARN] [1720512483.803954350]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720512483.804877146]: Shutdown request received.[0m
[33m[ WARN] [1720512483.804902032]: Reason given for shutdown: [user request][0m
killed
