/SLAM-Hive/slam_hive_results/mapping_results/3085/2293_vins-fusion-stereo+MH_05_difficult+Image_comb_test-13.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720512810.889129252]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720512810.891017072]: init begins[0m
[31m[ERROR] [1720512810.892069071]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/20c7742c-3dcb-11ef-acd1-0242ac110005/roslaunch-b3676aac0a6f-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://b3676aac0a6f:32869/[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] [1720512811.996365376]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720512811.997355302]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720512812.004240816]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720512812.004457232]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720512812.004504044]: ROW: 384 COL: 601 [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] [1720512812.007055538]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720512812.007296163]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720512812.007452352]: waiting for image and imu...[0m
config_file: /slamhive/mappingtask.yaml
[1mROS_MASTER_URI=http://b3676aac0a6f:11311/[0m
]2;roscore http://b3676aac0a6f:11311/
[1msetting /run_id to 20c7742c-3dcb-11ef-acd1-0242ac110005[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 [242][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_05_difficult.bag  --clock 
[0m[ INFO] [1720512821.045554855]: 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: 316874303.11 
[0m[ INFO] [1720512825.703234472]: Initialization finish![0m
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time: 1403638523.077830, t: 0.323469 -0.024351 -0.074242 q: 0.996717 0.063253 0.041825 0.028388 
time: 1403638523.477829, t: 0.267001 0.003079 -0.051470 q: 0.997684 0.049073 0.043997 0.016841 
time: 1403638523.877830, t: 0.116691 0.027340 -0.011635 q: 0.999246 0.038250 0.001170 -0.006544 
time: 1403638524.277829, t: 0.137598 -0.004003 -0.014105 q: 0.998682 0.039400 -0.016127 -0.028679 
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time: 1403638525.077830, t: 0.345126 0.016534 -0.071641 q: 0.998089 0.035259 0.048020 -0.016435 
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time: 1403638528.277829, t: 0.213977 0.369120 -0.023234 q: 0.998276 -0.044236 0.024154 0.030088 
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time: 1403638529.077830, t: 0.263270 0.170836 0.151843 q: 0.996838 -0.053152 0.023854 0.054029 
time: 1403638529.477829, t: 0.200851 0.135684 0.022465 q: 0.997450 -0.067763 -0.008768 0.020598 
time: 1403638529.877830, t: 0.187905 0.134770 -0.028710 q: 0.997699 -0.062683 -0.020934 0.015110 
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time: 1403638543.077830, t: 1.035849 -0.984385 1.344140 q: 0.955907 0.266708 0.023779 -0.120593 
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time: 1403638545.077830, t: 1.418934 -2.813542 1.605871 q: 0.896100 0.409495 0.022762 -0.169705 
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time: 1403638576.277829, t: 1.682457 6.275733 2.990552 q: 0.756715 -0.602063 -0.021583 0.253842 
time: 1403638576.677830, t: 1.721412 6.911114 2.895886 q: 0.755421 -0.609924 -0.040499 0.235990 
time: 1403638577.077830, t: 1.756984 7.549095 2.922300 q: 0.755724 -0.611307 -0.008985 0.234744 
time: 1403638577.477829, t: 1.834400 8.171446 2.986441 q: 0.755822 -0.614700 -0.017129 0.224906 
time: 1403638577.877830, t: 1.940554 8.741317 3.117571 q: 0.757068 -0.609939 -0.013961 0.233728 
time: 1403638578.277829, t: 2.053415 9.326817 3.329357 q: 0.758854 -0.602517 0.003786 0.247185 
time: 1403638578.677830, t: 2.182597 9.859994 3.523804 q: 0.757012 -0.604488 0.006938 0.247951 
time: 1403638579.077830, t: 2.249080 10.356101 3.714114 q: 0.758034 -0.609312 -0.005417 0.232580 
time: 1403638579.477829, t: 2.370498 10.825177 3.907050 q: 0.759073 -0.602366 0.011368 0.246645 
time: 1403638579.877830, t: 2.455338 11.254182 4.119060 q: 0.799825 -0.562788 0.018641 0.207852 
time: 1403638580.277829, t: 2.487863 11.597768 4.317582 q: 0.893322 -0.423377 0.035244 0.146580 
time: 1403638580.677830, t: 2.379968 11.861743 4.576207 q: 0.940338 -0.310959 0.027707 0.135280 
time: 1403638581.077830, t: 2.468062 11.967013 4.654732 q: 0.953078 -0.275909 0.007332 0.124349 
time: 1403638581.477829, t: 2.583041 12.158864 4.719632 q: 0.951260 -0.283388 0.010982 0.121141 
time: 1403638581.877830, t: 2.690936 12.330646 4.827048 q: 0.947724 -0.296381 0.025748 0.115387 
time: 1403638582.277829, t: 2.758232 12.438188 4.894630 q: 0.947482 -0.296410 0.017234 0.118832 
time: 1403638582.677830, t: 2.922933 12.464480 4.918053 q: 0.947285 -0.298742 0.025594 0.112916 
time: 1403638583.077830, t: 3.119790 12.422335 4.910725 q: 0.946643 -0.299423 0.012444 0.118562 
time: 1403638583.477829, t: 3.257860 12.346473 4.938644 q: 0.946378 -0.299956 0.006938 0.119783 
time: 1403638583.877830, t: 3.432381 12.258346 4.978667 q: 0.946451 -0.301012 0.007370 0.116482 
time: 1403638584.277829, t: 3.545711 12.132239 5.042981 q: 0.945794 -0.304285 0.044366 0.104484 
time: 1403638584.677830, t: 3.591950 11.920763 5.098484 q: 0.945855 -0.303707 0.045675 0.105041 
time: 1403638585.077830, t: 3.661327 11.643575 5.046121 q: 0.947227 -0.296107 0.013194 0.122096 
time: 1403638585.477829, t: 3.648085 11.323695 5.049609 q: 0.947192 -0.295531 0.021053 0.122657 
time: 1403638585.877830, t: 3.707809 10.992957 5.023871 q: 0.947560 -0.291954 -0.002759 0.129947 
time: 1403638586.277829, t: 3.835951 10.692439 5.028080 q: 0.946677 -0.296167 0.012076 0.126263 
time: 1403638586.677830, t: 3.908265 10.390368 5.064719 q: 0.946158 -0.303209 0.017061 0.112063 
time: 1403638587.077830, t: 3.886412 10.042854 5.130908 q: 0.946160 -0.300467 0.020573 0.118645 
time: 1403638587.477829, t: 3.900850 9.672545 5.168447 q: 0.946323 -0.299074 0.011925 0.122003 
time: 1403638587.877830, t: 3.889517 9.297855 5.230569 q: 0.945574 -0.299991 0.013490 0.125349 
time: 1403638588.277829, t: 3.825724 8.930916 5.289102 q: 0.945717 -0.304504 0.011108 0.113022 
time: 1403638588.677830, t: 3.839666 8.539304 5.326084 q: 0.945771 -0.302142 0.012463 0.118624 
time: 1403638589.077830, t: 3.870922 8.135906 5.345065 q: 0.945211 -0.301754 0.014876 0.123695 
time: 1403638589.477829, t: 3.835731 7.724950 5.358814 q: 0.945105 -0.302491 0.015029 0.122679 
time: 1403638589.877830, t: 3.857968 7.333729 5.331463 q: 0.945027 -0.301943 0.010077 0.125114 
time: 1403638590.277829, t: 3.842930 6.934170 5.304203 q: 0.944501 -0.302961 0.012054 0.126438 
time: 1403638590.677830, t: 3.796448 6.536726 5.284535 q: 0.944376 -0.302054 0.004795 0.129982 
time: 1403638591.077830, t: 3.819762 6.173428 5.252164 q: 0.944199 -0.301038 -0.000895 0.133651 
time: 1403638591.477829, t: 3.826882 5.848262 5.238523 q: 0.943154 -0.296994 -0.032324 0.145639 
time: 1403638591.877830, t: 3.809406 5.626569 5.356005 q: 0.942778 -0.297636 -0.030512 0.147143 
time: 1403638592.277829, t: 3.916899 5.518724 5.503475 q: 0.946612 -0.289009 -0.001532 0.142819 
time: 1403638592.677830, t: 4.138414 5.488417 5.623923 q: 0.964304 -0.234698 -0.001718 0.122602 
time: 1403638593.077830, t: 4.354970 5.522858 5.712266 q: 0.969216 -0.216365 -0.021211 0.115569 
time: 1403638593.477829, t: 4.594353 5.633522 5.846992 q: 0.969473 -0.228071 0.000122 0.090027 
time: 1403638593.877830, t: 4.779746 5.723503 6.001881 q: 0.968877 -0.230200 0.029924 0.085961 
time: 1403638594.277829, t: 4.952063 5.736147 6.114521 q: 0.974242 -0.208719 0.019714 0.083069 
time: 1403638594.677830, t: 5.156963 5.699221 6.146347 q: 0.975792 -0.201635 0.023412 0.081397 
time: 1403638595.077830, t: 5.307326 5.620250 6.137302 q: 0.975286 -0.201655 0.016305 0.088805 
time: 1403638595.477829, t: 5.340512 5.531423 6.132334 q: 0.974959 -0.202461 0.014344 0.090874 
time: 1403638595.877830, t: 5.345922 5.433756 6.118288 q: 0.975286 -0.205142 0.010586 0.081375 
time: 1403638596.277829, t: 5.274861 5.299505 6.129568 q: 0.974791 -0.218736 0.002471 0.043934 
time: 1403638596.677830, t: 5.328667 5.017427 6.151245 q: 0.973268 -0.229533 -0.002401 0.007600 
time: 1403638597.077830, t: 5.508332 4.494971 6.205989 q: 0.971984 -0.234964 0.000417 -0.006248 
time: 1403638597.477829, t: 5.640911 3.706975 6.335250 q: 0.972139 -0.233108 0.019960 0.014420 
time: 1403638598.277829, t: 5.792631 1.637317 6.684381 q: 0.979847 -0.191680 0.027937 0.048772 
time: 1403638598.677830, t: 5.830812 0.620201 6.733806 q: 0.985121 -0.160929 0.016670 0.057965 
time: 1403638599.077830, t: 5.834645 -0.575667 6.728710 q: 0.994778 -0.096083 0.016086 0.030441 
time: 1403638599.477829, t: 6.010759 -1.782998 6.863939 q: 0.999568 -0.027904 0.007162 0.005757 
time: 1403638599.877830, t: 5.990477 -2.728975 6.882555 q: 0.999969 -0.002393 0.004978 0.005586 
time: 1403638600.277829, t: 6.093332 -3.866641 7.060706 q: 0.998395 -0.001903 -0.010440 0.055623 
time: 1403638600.677830, t: 6.252630 -4.805287 7.224805 q: 0.996425 -0.004727 -0.026996 0.079918 
time: 1403638601.077830, t: 6.356124 -5.300736 7.398185 q: 0.998542 -0.013145 -0.043535 0.029068 
time: 1403638601.477829, t: 6.410380 -5.894048 7.733128 q: 0.999917 -0.004097 -0.007084 0.009994 
time: 1403638601.877830, t: 6.563423 -6.272849 7.901369 q: 0.994602 0.094976 0.012868 -0.039771 
time: 1403638602.277829, t: 6.779683 -6.709592 8.348503 q: 0.980798 0.174486 0.025405 -0.083334 
time: 1403638602.677830, t: 6.532254 -7.403246 8.221427 q: 0.947482 0.289268 0.136355 -0.003111 
time: 1403638603.077830, t: 7.124217 -7.924610 8.262570 q: 0.923518 0.368220 0.081330 -0.070097 
time: 1403638603.477829, t: 7.120238 -8.021047 8.051909 q: 0.908839 0.400356 0.023583 -0.114760 
time: 1403638603.877830, t: 7.107669 -8.039939 7.844658 q: 0.901788 0.407118 0.058986 -0.132492 
time: 1403638604.277829, t: 6.946896 -8.014610 7.568325 q: 0.900694 0.405545 0.070051 -0.139198 
time: 1403638604.677830, t: 6.820820 -7.950995 7.136083 q: 0.902455 0.408008 0.029443 -0.135042 
time: 1403638605.077830, t: 6.667909 -7.865002 6.685066 q: 0.903126 0.407408 -0.002477 -0.135562 
time: 1403638605.477829, t: 6.582629 -7.808813 6.279028 q: 0.903209 0.398663 0.013722 -0.158409 
time: 1403638605.877830, t: 6.487725 -7.789709 5.862290 q: 0.901764 0.393642 0.037559 -0.174519 
time: 1403638606.277829, t: 6.355240 -7.885919 5.364753 q: 0.902877 0.386090 0.038563 -0.185097 
time: 1403638606.677830, t: 6.091315 -8.131504 4.813069 q: 0.903939 0.396839 -0.015707 -0.158640 
time: 1403638607.077830, t: 5.819699 -8.449888 4.341439 q: 0.870417 0.457445 -0.029015 -0.179658 
time: 1403638607.477829, t: 5.674129 -8.826111 3.942261 q: 0.847612 0.505000 -0.001856 -0.162865 
time: 1403638607.877830, t: 5.452878 -9.216734 3.646536 q: 0.847586 0.505607 -0.000465 -0.161119 
time: 1403638608.277829, t: 5.172309 -9.559051 3.471592 q: 0.851525 0.499793 0.013767 -0.157869 
time: 1403638608.677830, t: 4.858608 -9.845567 3.337197 q: 0.851890 0.500569 0.025963 -0.151789 
optimize pose graph 
time: 1403638609.077830, t: 4.560784 -10.026643 3.201038 q: 0.851947 0.500218 0.008912 -0.154559 
time: 1403638609.477829, t: 4.335494 -10.158391 3.082940 q: 0.852495 0.501268 0.008339 -0.148032 
time: 1403638609.877830, t: 4.054797 -10.203832 3.059376 q: 0.852609 0.499241 0.011061 -0.153931 
time: 1403638610.277829, t: 3.832205 -10.200044 2.986459 q: 0.854234 0.499396 0.025285 -0.142297 
time: 1403638610.677830, t: 3.575486 -10.140944 2.967838 q: 0.854343 0.500678 0.046896 -0.131223 
optimize pose graph 
time: 1403638611.077830, t: 3.346028 -9.956992 2.976978 q: 0.852842 0.503579 0.029822 -0.134827 
time: 1403638611.477829, t: 3.127377 -9.684905 2.987179 q: 0.852213 0.497769 0.044655 -0.154807 
time: 1403638611.877830, t: 2.989810 -9.372266 2.923964 q: 0.853949 0.497138 0.022523 -0.152044 
time: 1403638612.277829, t: 2.823760 -9.048885 2.852639 q: 0.855012 0.497798 0.012768 -0.144875 
time: 1403638612.677830, t: 2.707288 -8.716180 2.772194 q: 0.858234 0.488899 0.025826 -0.154093 
time: 1403638613.077830, t: 2.573990 -8.381558 2.729558 q: 0.860472 0.485816 0.026591 -0.151212 
time: 1403638613.477829, t: 2.517063 -8.049798 2.605153 q: 0.861322 0.484043 0.022957 -0.152642 
time: 1403638613.877830, t: 2.387762 -7.710340 2.490058 q: 0.871670 0.471616 0.033249 -0.129093 
time: 1403638614.277829, t: 2.199336 -7.316045 2.395638 q: 0.905991 0.407010 0.022084 -0.114173 
time: 1403638614.677830, t: 2.097024 -6.880964 2.258169 q: 0.924219 0.370160 0.011227 -0.093135 
time: 1403638615.077830, t: 2.103529 -6.409100 2.131386 q: 0.953501 0.296040 -0.012306 -0.055187 
optimize pose graph 
time: 1403638615.477829, t: 2.202213 -6.121638 1.822863 q: 0.988257 0.149801 0.008124 -0.029029 
time: 1403638615.877830, t: 2.152266 -5.785402 1.964940 q: 0.995542 0.086825 0.029946 -0.021474 
time: 1403638616.277829, t: 2.331291 -4.970148 1.824852 q: 0.999418 0.025337 0.002554 0.022685 
time: 1403638616.677830, t: 2.178443 -4.439103 1.776738 q: 0.997955 -0.038649 -0.013579 0.049066 
time: 1403638617.077830, t: 2.005476 -3.923376 1.762221 q: 0.997070 -0.045162 -0.029459 0.054264 
time: 1403638617.477829, t: 1.988627 -3.372163 1.830904 q: 0.997820 -0.037438 -0.040507 0.036231 
time: 1403638617.877830, t: 2.119216 -2.921356 1.930196 q: 0.998464 -0.033836 -0.036308 0.024614 
time: 1403638618.277829, t: 2.291993 -2.453056 2.099192 q: 0.998795 -0.025989 -0.033371 0.024907 
time: 1403638618.677830, t: 2.430745 -2.054655 2.362371 q: 0.998891 -0.028781 -0.029941 0.022194 
time: 1403638619.077830, t: 2.615095 -1.689395 2.648835 q: 0.997368 -0.063484 -0.014193 0.032025 
time: 1403638619.477829, t: 2.710060 -1.392598 2.959656 q: 0.984661 -0.157931 -0.003642 0.074081 
time: 1403638619.877830, t: 2.763475 -1.128049 3.279864 q: 0.975817 -0.185291 0.003440 0.115918 
time: 1403638620.277829, t: 2.751746 -0.849971 3.556435 q: 0.973940 -0.197503 0.011913 0.110870 
time: 1403638620.677830, t: 2.814577 -0.544571 3.710674 q: 0.975293 -0.194396 0.001537 0.104936 
time: 1403638621.077830, t: 2.811303 -0.231102 3.831661 q: 0.977406 -0.192324 -0.005964 0.087483 
time: 1403638621.477829, t: 2.828999 0.067176 3.941477 q: 0.978896 -0.188624 0.001158 0.078630 
time: 1403638621.877830, t: 2.790190 0.323460 4.046588 q: 0.979506 -0.187367 0.015942 0.072157 
time: 1403638622.277829, t: 2.693932 0.513958 4.090725 q: 0.979402 -0.184304 0.019791 0.080071 
time: 1403638622.677830, t: 2.645409 0.658837 4.019291 q: 0.978982 -0.190169 0.022990 0.070015 
time: 1403638623.077830, t: 2.654054 0.723257 3.814833 q: 0.978274 -0.191081 0.031276 0.074097 
optimize pose graph 
time: 1403638623.477829, t: 2.554130 0.724369 3.551391 q: 0.978572 -0.186559 0.012540 0.086229 
time: 1403638623.877830, t: 2.466826 0.699452 3.231422 q: 0.978209 -0.190958 0.007025 0.081198 
time: 1403638624.277829, t: 2.375858 0.660926 2.883175 q: 0.977195 -0.191845 0.004451 0.090915 
time: 1403638624.677830, t: 2.216586 0.615094 2.537817 q: 0.976098 -0.193329 0.025634 0.095915 
time: 1403638625.077830, t: 2.064293 0.559559 2.144691 q: 0.981122 -0.174218 0.005177 0.083787 
time: 1403638625.477829, t: 1.920701 0.509204 1.734822 q: 0.982544 -0.163988 0.004804 0.087699 
time: 1403638625.877830, t: 1.830665 0.468926 1.309134 q: 0.982360 -0.164396 -0.012004 0.088312 
time: 1403638626.277829, t: 1.700961 0.474570 0.933696 q: 0.982045 -0.166661 -0.014289 0.087224 
time: 1403638626.677830, t: 1.544985 0.485642 0.611278 q: 0.982417 -0.169833 -0.017049 0.075654 
time: 1403638627.077830, t: 1.428629 0.475850 0.344897 q: 0.982250 -0.167285 -0.029980 0.079379 
optimize pose graph 
time: 1403638627.477829, t: 1.342381 0.477253 0.148889 q: 0.982536 -0.167731 -0.029771 0.074848 
time: 1403638627.877830, t: 1.235927 0.479113 0.043512 q: 0.982543 -0.171642 -0.018471 0.069329 
time: 1403638628.277829, t: 1.155899 0.441663 -0.026379 q: 0.981711 -0.175361 -0.026424 0.069243 
time: 1403638628.677830, t: 1.132353 0.419683 -0.065611 q: 0.981396 -0.167551 -0.002955 0.093696 
time: 1403638629.077830, t: 1.114300 0.426535 -0.151648 q: 0.981752 -0.174061 -0.010716 0.075834 
optimize pose graph 
time: 1403638629.477829, t: 1.086536 0.381545 -0.127244 q: 0.981305 -0.176044 -0.026243 0.073212 
time: 1403638629.877830, t: 1.095415 0.357688 -0.113521 q: 0.980459 -0.168440 -0.007526 0.101351 
time: 1403638630.277829, t: 1.064866 0.338801 -0.042990 q: 0.980930 -0.180049 -0.005580 0.072994 
time: 1403638630.677830, t: 0.994562 0.342857 -0.018627 q: 0.981610 -0.171296 -0.037158 0.075624 
time: 1403638631.077830, t: 1.002561 0.369173 -0.032810 q: 0.982347 -0.166544 -0.045442 0.072054 
optimize pose graph 
time: 1403638631.477829, t: 1.017361 0.355851 -0.023857 q: 0.982195 -0.166843 -0.045813 0.073188 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720512936.703096971]: Shutdown request received.[0m
[33m[ WARN] [1720512936.703134676]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720512936.703914813]: Shutdown request received.[0m
[33m[ WARN] [1720512936.703944360]: Reason given for shutdown: [user request][0m
killed
