/SLAM-Hive/slam_hive_results/mapping_results/3084/2292_vins-fusion-stereo+MH_05_difficult+Image_comb_test-12.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720512659.845421587]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720512659.851397712]: init begins[0m
[31m[ERROR] [1720512659.852456715]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/c6c0a2be-3dca-11ef-80e9-0242ac110005/roslaunch-d8d3eef6b211-118.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://d8d3eef6b211:36121/[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://d8d3eef6b211:11311/[0m
]2;roscore http://d8d3eef6b211:11311/
[1msetting /run_id to c6c0a2be-3dca-11ef-80e9-0242ac110005[0m
[0m[ INFO] [1720512661.000966810]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720512661.007808357]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
config_file: /slamhive/mappingtask.yaml
result path /home/output/vio.csv
[33m[ WARN] [1720512661.014959584]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720512661.015169970]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720512661.015193174]: ROW: 480 COL: 752 [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] [1720512661.015396525]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720512661.015609167]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720512661.015776141]: 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 [220][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720512670.001545401]: 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: 316874152.07 
[0m[ INFO] [1720512674.673170007]: Initialization finish![0m
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time: 1403638523.077830, t: 0.454124 -0.171130 -0.072310 q: 0.997370 0.056619 0.037430 0.025426 
time: 1403638523.477829, t: 0.413099 -0.155770 -0.052344 q: 0.998264 0.042004 0.038999 0.013575 
time: 1403638523.877830, t: 0.168281 -0.061400 -0.026716 q: 0.999371 0.034702 -0.000607 -0.007226 
time: 1403638524.277829, t: 0.134446 -0.083690 -0.027814 q: 0.998820 0.036213 -0.015679 -0.028320 
time: 1403638524.677830, t: 0.421762 -0.035684 -0.134758 q: 0.998623 0.043847 0.024723 -0.014793 
time: 1403638525.077830, t: 0.497176 -0.026744 -0.160796 q: 0.998419 0.032367 0.040629 -0.021469 
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time: 1403638529.077830, t: 0.328648 0.091653 0.120124 q: 0.996784 -0.057436 0.021475 0.051595 
time: 1403638529.477829, t: 0.274749 0.016795 0.001968 q: 0.997051 -0.073608 -0.011501 0.018411 
time: 1403638529.877830, t: 0.127793 -0.062276 0.003362 q: 0.997257 -0.070252 -0.016790 0.016151 
time: 1403638530.277829, t: 0.070889 -0.038348 0.018987 q: 0.996532 -0.078355 -0.016465 0.022654 
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time: 1403638535.877830, t: 0.068030 -0.024961 0.117836 q: 0.995573 -0.088924 -0.008448 0.029264 
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time: 1403638541.477829, t: 0.549610 -0.082955 0.829688 q: 0.994673 0.079435 0.020471 -0.062418 
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time: 1403638543.477829, t: 1.239778 -1.386927 1.337192 q: 0.956422 0.266557 0.016008 -0.118101 
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time: 1403638576.677830, t: 2.121492 6.786162 2.886072 q: 0.756852 -0.611284 -0.049725 0.225907 
time: 1403638577.077830, t: 2.139047 7.422789 2.911898 q: 0.757651 -0.612328 -0.017852 0.225169 
time: 1403638577.477829, t: 2.219981 8.042066 3.001159 q: 0.757416 -0.616030 -0.026163 0.214810 
time: 1403638577.877830, t: 2.311413 8.604431 3.141370 q: 0.758501 -0.611367 -0.022378 0.224511 
time: 1403638578.277829, t: 2.426219 9.168588 3.349685 q: 0.760312 -0.604527 -0.005376 0.237578 
time: 1403638578.677830, t: 2.533743 9.673048 3.529953 q: 0.758711 -0.605960 -0.001148 0.239100 
time: 1403638579.077830, t: 2.605087 10.153495 3.719311 q: 0.759308 -0.611074 -0.013880 0.223263 
time: 1403638579.477829, t: 2.737807 10.640497 3.921087 q: 0.760554 -0.604233 0.002806 0.237597 
time: 1403638579.877830, t: 2.816391 11.074156 4.131763 q: 0.801198 -0.564002 0.009893 0.199712 
time: 1403638580.277829, t: 2.867978 11.393053 4.378073 q: 0.893364 -0.427470 0.022436 0.136629 
time: 1403638580.677830, t: 2.906786 11.493921 3.562045 q: 0.940019 -0.276207 0.055883 0.192227 
time: 1403638581.077830, t: 2.900731 11.737555 4.355562 q: 0.954237 -0.264284 0.011858 0.139442 
time: 1403638581.477829, t: 2.918085 12.016064 4.787790 q: 0.951246 -0.286763 -0.002239 0.113544 
time: 1403638581.877830, t: 3.041746 12.161558 4.862092 q: 0.948164 -0.298068 0.012800 0.109436 
time: 1403638582.277829, t: 3.104717 12.255898 4.950197 q: 0.947484 -0.299294 0.004244 0.112599 
time: 1403638582.677830, t: 3.273213 12.290087 4.987753 q: 0.947332 -0.302168 0.011851 0.105430 
time: 1403638583.077830, t: 3.489202 12.236814 4.931874 q: 0.946757 -0.300786 0.000472 0.114796 
time: 1403638583.477829, t: 3.635050 12.176251 4.970598 q: 0.946310 -0.301611 -0.006391 0.116139 
time: 1403638583.877830, t: 3.806685 12.094373 5.017573 q: 0.946265 -0.302705 -0.006037 0.113643 
time: 1403638584.277829, t: 3.881722 12.008462 5.145191 q: 0.945822 -0.307339 0.031868 0.099740 
time: 1403638584.677830, t: 3.931787 11.770960 5.219798 q: 0.945593 -0.307952 0.032951 0.099663 
time: 1403638585.077830, t: 4.007365 11.484609 5.184901 q: 0.946258 -0.301694 0.000546 0.116518 
time: 1403638585.477829, t: 4.034524 11.139377 5.180878 q: 0.946165 -0.301476 0.006322 0.117658 
time: 1403638585.877830, t: 4.113678 10.797054 5.130936 q: 0.946036 -0.297749 -0.017943 0.126643 
time: 1403638586.277829, t: 4.300334 10.490790 5.107809 q: 0.945330 -0.301261 -0.005603 0.124746 
time: 1403638586.677830, t: 4.382068 10.173319 5.170140 q: 0.944581 -0.309331 -0.001217 0.109908 
time: 1403638587.077830, t: 4.342104 9.831061 5.231491 q: 0.944857 -0.306198 0.003537 0.116084 
time: 1403638587.477829, t: 4.350869 9.461011 5.269054 q: 0.944971 -0.304568 -0.004691 0.119355 
time: 1403638587.877830, t: 4.333679 9.100551 5.313273 q: 0.944711 -0.304123 -0.002918 0.122559 
time: 1403638588.277829, t: 4.250501 8.746032 5.386377 q: 0.944878 -0.308284 -0.004204 0.110221 
time: 1403638588.677830, t: 4.249931 8.361189 5.436126 q: 0.945011 -0.305857 -0.002039 0.115764 
time: 1403638589.077830, t: 4.276377 7.966548 5.451218 q: 0.944492 -0.305171 0.001462 0.121667 
time: 1403638589.477829, t: 4.231197 7.573488 5.462107 q: 0.944593 -0.305295 0.001990 0.120565 
time: 1403638589.877830, t: 4.253651 7.168538 5.433701 q: 0.944364 -0.305118 -0.002818 0.122767 
time: 1403638590.277829, t: 4.217854 6.784647 5.416582 q: 0.943934 -0.306061 -0.000046 0.123754 
time: 1403638590.677830, t: 4.150919 6.402907 5.399760 q: 0.943855 -0.304898 -0.006516 0.127010 
time: 1403638591.077830, t: 4.184851 6.032996 5.357838 q: 0.943688 -0.303733 -0.013138 0.130489 
time: 1403638591.477829, t: 4.199047 5.712534 5.344442 q: 0.942251 -0.299595 -0.044554 0.142904 
time: 1403638591.877830, t: 4.183378 5.496804 5.453450 q: 0.942013 -0.299764 -0.043243 0.144507 
time: 1403638592.277829, t: 4.281649 5.404153 5.593935 q: 0.946413 -0.290592 -0.013884 0.140237 
time: 1403638592.677830, t: 4.498074 5.391126 5.712477 q: 0.964402 -0.234633 -0.013998 0.121160 
time: 1403638593.077830, t: 4.706728 5.444693 5.814580 q: 0.969189 -0.215804 -0.033418 0.113954 
time: 1403638593.477829, t: 4.921211 5.558080 5.958598 q: 0.969661 -0.227779 -0.010537 0.088109 
time: 1403638593.877830, t: 5.105100 5.645131 6.128003 q: 0.969182 -0.230595 0.019395 0.084477 
time: 1403638594.277829, t: 5.272592 5.661818 6.236380 q: 0.974494 -0.208509 0.009638 0.082423 
time: 1403638594.677830, t: 5.463932 5.623295 6.266062 q: 0.976030 -0.201409 0.014567 0.081160 
time: 1403638595.077830, t: 5.625014 5.544220 6.261342 q: 0.975483 -0.201389 0.006817 0.088479 
time: 1403638595.477829, t: 5.671053 5.454797 6.259249 q: 0.975074 -0.202605 0.003697 0.090380 
time: 1403638595.877830, t: 5.682273 5.355373 6.251864 q: 0.975332 -0.205330 -0.000385 0.081039 
time: 1403638596.277829, t: 5.625602 5.216883 6.264044 q: 0.974756 -0.218804 -0.009777 0.043364 
time: 1403638596.677830, t: 5.677896 4.941300 6.281415 q: 0.973411 -0.228515 -0.014433 0.006566 
time: 1403638597.077830, t: 5.862997 4.420904 6.327969 q: 0.972386 -0.232925 -0.012342 -0.007717 
time: 1403638597.477829, t: 6.019612 3.622995 6.459166 q: 0.972850 -0.231056 0.004761 0.012392 
time: 1403638597.877830, t: 6.091189 2.652229 6.633862 q: 0.974839 -0.222063 0.011971 0.015285 
time: 1403638598.277829, t: 6.085237 1.549300 6.815073 q: 0.980980 -0.188467 0.017193 0.043160 
time: 1403638598.677830, t: 6.129486 0.388745 6.924321 q: 0.984789 -0.165316 0.005018 0.053250 
time: 1403638599.077830, t: 6.186396 -0.673663 6.913674 q: 0.995199 -0.093001 0.003190 0.030313 
time: 1403638599.477829, t: 6.275230 -1.756617 6.975160 q: 0.999808 -0.018976 -0.004905 0.000790 
time: 1403638600.277829, t: 6.057198 -3.721961 7.094140 q: 0.998899 0.012194 -0.009172 0.044367 
time: 1403638600.677830, t: 6.531509 -4.826420 7.211963 q: 0.996480 0.001532 -0.040943 0.073130 
time: 1403638601.077830, t: 6.660619 -5.503040 7.435754 q: 0.997930 -0.012837 -0.057138 0.026557 
time: 1403638601.477829, t: 6.867572 -5.938942 7.683106 q: 0.999452 0.003967 -0.031995 0.007511 
time: 1403638602.277829, t: 7.350795 -7.092238 8.350612 q: 0.983101 0.167559 -0.006244 -0.073461 
time: 1403638602.677830, t: 7.590105 -7.605015 8.680206 q: 0.956324 0.282002 0.067491 -0.036936 
time: 1403638603.077830, t: 7.820829 -8.028940 8.702035 q: 0.924242 0.375070 0.028382 -0.065532 
time: 1403638603.477829, t: 7.750588 -8.184615 8.254236 q: 0.909313 0.403547 -0.010929 -0.100902 
time: 1403638603.877830, t: 7.683271 -8.283397 8.007125 q: 0.905557 0.404954 0.027711 -0.123336 
time: 1403638604.277829, t: 7.549110 -8.263798 7.700214 q: 0.904893 0.403908 0.037837 -0.128826 
time: 1403638604.677830, t: 7.444794 -8.219938 7.260158 q: 0.905821 0.405295 -0.002328 -0.123365 
time: 1403638605.077830, t: 7.320544 -8.145246 6.807673 q: 0.905694 0.404146 -0.033891 -0.123434 
time: 1403638605.477829, t: 7.271182 -8.084028 6.415196 q: 0.905670 0.397137 -0.017960 -0.147385 
time: 1403638605.877830, t: 7.177284 -8.094187 6.022440 q: 0.905357 0.391756 0.006667 -0.163741 
time: 1403638606.277829, t: 7.080359 -8.207493 5.516302 q: 0.906505 0.384388 0.007271 -0.174476 
time: 1403638606.677830, t: 6.869811 -8.416304 4.984754 q: 0.904445 0.397810 -0.047042 -0.146675 
optimize pose graph 
time: 1403638607.077830, t: 6.656609 -8.718751 4.511189 q: 0.870370 0.458598 -0.060762 -0.168675 
time: 1403638607.477829, t: 6.507505 -9.110765 4.159134 q: 0.848832 0.506084 -0.030557 -0.149767 
time: 1403638607.877830, t: 6.302927 -9.482987 3.884455 q: 0.847650 0.509103 -0.028600 -0.146577 
time: 1403638608.277829, t: 6.057944 -9.822808 3.687663 q: 0.852293 0.502872 -0.015994 -0.143043 
time: 1403638608.677830, t: 5.755148 -10.089365 3.560590 q: 0.852950 0.503686 -0.002720 -0.137003 
time: 1403638609.077830, t: 5.491150 -10.266924 3.433311 q: 0.851878 0.504236 -0.021126 -0.140016 
time: 1403638609.477829, t: 5.271768 -10.389691 3.296320 q: 0.852714 0.504788 -0.021555 -0.132676 
time: 1403638609.877830, t: 4.992737 -10.455592 3.237610 q: 0.853514 0.501945 -0.018372 -0.138660 
time: 1403638610.277829, t: 4.793115 -10.470070 3.163328 q: 0.855082 0.502416 -0.005000 -0.128014 
time: 1403638610.677830, t: 4.538264 -10.418930 3.114864 q: 0.856265 0.502803 0.016865 -0.117110 
time: 1403638611.077830, t: 4.339063 -10.247769 3.093846 q: 0.854176 0.505304 -0.001003 -0.122681 
optimize pose graph 
time: 1403638611.477829, t: 4.142476 -9.996169 3.066015 q: 0.854581 0.498899 0.012841 -0.143621 
time: 1403638611.877830, t: 3.996570 -9.691857 2.989874 q: 0.855464 0.498289 -0.007823 -0.140810 
time: 1403638612.277829, t: 3.841753 -9.384836 2.890280 q: 0.856671 0.497747 -0.017975 -0.134313 
time: 1403638612.677830, t: 3.754860 -9.063246 2.834586 q: 0.859055 0.490931 -0.005940 -0.144828 
time: 1403638613.077830, t: 3.627609 -8.745534 2.769099 q: 0.861955 0.486618 -0.005111 -0.142162 
time: 1403638613.477829, t: 3.557220 -8.421148 2.634962 q: 0.863132 0.484447 -0.008191 -0.142292 
time: 1403638613.877830, t: 3.427709 -8.085547 2.507759 q: 0.874102 0.471070 0.002315 -0.118463 
time: 1403638614.277829, t: 3.233287 -7.678787 2.405413 q: 0.907586 0.406439 -0.008409 -0.104995 
time: 1403638614.677830, t: 3.119341 -7.254908 2.248910 q: 0.925785 0.368051 -0.019066 -0.084242 
time: 1403638615.077830, t: 3.175174 -6.773392 2.147736 q: 0.953401 0.294255 -0.044215 -0.049848 
time: 1403638615.477829, t: 4.126800 -3.676439 1.374901 q: 0.981073 0.190270 -0.035836 -0.002958 
time: 1403638615.877830, t: 3.885060 -2.942649 1.064395 q: 0.989966 0.138818 -0.010179 0.024355 
time: 1403638616.277829, t: 3.777350 -2.255032 0.856770 q: 0.994429 0.089096 -0.008374 0.055702 
time: 1403638616.677830, t: 3.706513 -1.905204 1.199467 q: 0.995324 0.022682 -0.039484 0.085184 
time: 1403638617.077830, t: 3.611494 -1.500530 1.284116 q: 0.995413 -0.005316 -0.061328 0.073238 
time: 1403638617.477829, t: 3.564469 -0.992320 1.387501 q: 0.996004 -0.000541 -0.071140 0.053989 
time: 1403638617.877830, t: 2.971155 -0.579339 0.799563 q: 0.996379 -0.019821 -0.047177 0.067903 
time: 1403638618.277829, t: 4.467604 -0.490169 0.962396 q: 0.997977 -0.022490 -0.055639 0.021005 
time: 1403638618.677830, t: 4.462585 -0.077071 1.329536 q: 0.999131 -0.016546 -0.030874 0.022570 
time: 1403638619.077830, t: 4.702011 0.228799 1.640404 q: 0.998341 -0.049651 -0.005813 0.028569 
time: 1403638619.477829, t: 4.818511 0.499498 1.955601 q: 0.986994 -0.144637 0.003614 0.070067 
time: 1403638619.877830, t: 4.827842 0.735104 2.304950 q: 0.978306 -0.173198 0.013309 0.112886 
time: 1403638620.277829, t: 4.885395 1.021333 2.581908 q: 0.976711 -0.183993 0.017520 0.108974 
time: 1403638620.677830, t: 4.950101 1.337382 2.724947 q: 0.978254 -0.179818 0.007126 0.103120 
time: 1403638621.077830, t: 4.942717 1.663895 2.858192 q: 0.980542 -0.176579 0.000347 0.085771 
time: 1403638621.477829, t: 4.960603 1.971359 2.975564 q: 0.982042 -0.172012 0.008338 0.077045 
time: 1403638621.877830, t: 4.931622 2.229876 3.075994 q: 0.982611 -0.170054 0.023093 0.070885 
time: 1403638622.277829, t: 4.829280 2.423806 3.124239 q: 0.982507 -0.166486 0.027354 0.078826 
time: 1403638622.677830, t: 4.782826 2.574587 3.061808 q: 0.982144 -0.172439 0.030471 0.068768 
time: 1403638623.077830, t: 4.781168 2.638423 2.866338 q: 0.981316 -0.173919 0.038944 0.072481 
optimize pose graph 
time: 1403638623.477829, t: 4.682103 2.644233 2.595981 q: 0.981743 -0.169609 0.019507 0.083861 
time: 1403638623.877830, t: 4.599633 2.620801 2.270141 q: 0.981382 -0.174610 0.013513 0.078852 
time: 1403638624.277829, t: 4.511358 2.589691 1.924395 q: 0.980381 -0.175805 0.010349 0.088538 
time: 1403638624.677830, t: 4.345662 2.553456 1.587152 q: 0.979138 -0.177479 0.031588 0.093765 
time: 1403638625.077830, t: 4.188937 2.511114 1.208271 q: 0.983954 -0.158575 0.011333 0.080989 
optimize pose graph 
time: 1403638625.477829, t: 4.043065 2.465863 0.804278 q: 0.985168 -0.148736 0.010705 0.084888 
time: 1403638625.877830, t: 3.943373 2.441664 0.377719 q: 0.985103 -0.149028 -0.005739 0.085618 
time: 1403638626.277829, t: 3.804614 2.445772 0.002100 q: 0.984731 -0.151917 -0.007680 0.084658 
time: 1403638626.677830, t: 3.622438 2.460778 -0.304440 q: 0.985123 -0.155611 -0.009134 0.072351 
time: 1403638627.077830, t: 3.509522 2.466554 -0.578813 q: 0.985120 -0.152573 -0.022582 0.075827 
optimize pose graph 
time: 1403638627.477829, t: 3.412505 2.481625 -0.766411 q: 0.985431 -0.152840 -0.021965 0.071295 
time: 1403638627.877830, t: 3.312675 2.493811 -0.876781 q: 0.985406 -0.156441 -0.010960 0.066196 
time: 1403638628.277829, t: 3.229224 2.502520 -0.936311 q: 0.985079 -0.158028 -0.019295 0.065380 
time: 1403638628.677830, t: 3.212385 2.465776 -0.966546 q: 0.984464 -0.150460 0.003368 0.090454 
time: 1403638629.077830, t: 2.951914 2.371305 -0.813288 q: 0.984280 -0.158792 0.007668 0.076938 
optimize pose graph 
time: 1403638629.477829, t: 3.141544 2.427628 -1.010947 q: 0.984582 -0.158812 -0.018534 0.070951 
time: 1403638629.877830, t: 3.158649 2.405393 -1.008551 q: 0.983527 -0.150931 -0.000667 0.099468 
time: 1403638630.277829, t: 3.087778 2.411182 -0.958571 q: 0.984237 -0.161819 0.002853 0.071299 
time: 1403638630.677830, t: 3.019024 2.379696 -0.870634 q: 0.984889 -0.154431 -0.028038 0.073200 
time: 1403638631.077830, t: 3.021454 2.430877 -0.948699 q: 0.985762 -0.148744 -0.036911 0.069178 
optimize pose graph 
time: 1403638631.477829, t: 3.026205 2.427620 -0.943790 q: 0.985717 -0.148632 -0.036957 0.070037 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720512785.705065926]: Shutdown request received.[0m
[33m[ WARN] [1720512785.705107258]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720512785.706024092]: Shutdown request received.[0m
[33m[ WARN] [1720512785.706062338]: Reason given for shutdown: [user request][0m
killed
