/SLAM-Hive/slam_hive_results/mapping_results/3087/2295_vins-fusion-stereo+MH_05_difficult+Image_comb_test-15.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720513111.621295105]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720513111.622985243]: init begins[0m
[31m[ERROR] [1720513111.624048468]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/d4075e4e-3dcb-11ef-b535-0242ac110005/roslaunch-883a747618fd-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://883a747618fd:35339/[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] [1720513112.727495649]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720513112.729049059]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 0
result path /home/output/vio.csv
[33m[ WARN] [1720513112.734748819]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720513112.734954213]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720513112.734978417]: 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] [1720513112.735180833]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720513112.735385226]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720513112.735563074]: 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://883a747618fd:11311/[0m
]2;roscore http://883a747618fd:11311/
[1msetting /run_id to d4075e4e-3dcb-11ef-b535-0242ac110005[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] [1720513121.772993194]: 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: 316874603.84 
[0m[ INFO] [1720513126.334169763]: Initialization finish![0m
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time: 1403638523.077830, t: 0.292551 -0.278892 0.168854 q: 0.996818 0.056648 0.047037 0.030524 
time: 1403638523.477829, t: 0.233123 -0.244081 0.188322 q: 0.997746 0.042406 0.049240 0.016719 
time: 1403638523.877830, t: 0.047880 -0.230020 0.259685 q: 0.999463 0.031839 0.006923 -0.003477 
time: 1403638524.277829, t: 0.019741 -0.233944 0.260408 q: 0.999087 0.033688 -0.008415 -0.024870 
time: 1403638525.077830, t: 2.946428 -1.068855 -0.593780 q: 0.997105 -0.012467 -0.048963 -0.056815 
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time: 1403638559.477829, t: 6.955717 -7.992552 7.153829 q: 0.841870 0.499905 0.024657 -0.201845 
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feature tracking not enough, please slowly move you device! 
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time: 1403638631.477829, t: 2.015610 1.368954 0.503911 q: 0.986872 -0.154055 -0.028479 0.039235 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720513237.454776918]: Shutdown request received.[0m
[33m[ WARN] [1720513237.454829667]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720513237.455694092]: Shutdown request received.[0m
[33m[ WARN] [1720513237.455733628]: Reason given for shutdown: [user request][0m
killed
