/SLAM-Hive/slam_hive_results/mapping_results/3108/2313_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-3.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720541244.335221675]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720541244.336689197]: init begins[0m
[31m[ERROR] [1720541244.337671796]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/546f3c28-3e0d-11ef-87e1-0242ac110005/roslaunch-a9aa031c6fb0-118.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://a9aa031c6fb0:33011/[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] [1720541245.441455864]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720541245.443377996]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720541245.450676049]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720541245.450872783]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720541245.450896083]: ROW: 240 COL: 376 [0m
 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 9.81007
[0m[ INFO] [1720541245.451122050]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720541245.451335101]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720541245.451518513]: 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://a9aa031c6fb0:11311/[0m
]2;roscore http://a9aa031c6fb0:11311/
[1msetting /run_id to 546f3c28-3e0d-11ef-87e1-0242ac110005[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
VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization
no previous pose graph
[1mprocess[rosout-1]: started with pid [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720541254.499422419]: Opening /slamhive/dataset/MH_01_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403636578.946206   Duration: 0.000000 / 187.749443   Delay: 316904675.78 
init first imu pose
averge acc 7.745210 -0.452196 -2.672312
init R0 
  0.330294    0.15748   0.930648
         0  -0.985983   0.166843
  0.943878 -0.0551073  -0.325664
[33m[ WARN] [1720541256.761567782]: gyroscope bias initial calibration -0.00764168    0.021898   0.0785291[0m
[0m[ INFO] [1720541256.810811821]: Initialization finish![0m
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time: 1403636593.113555, t: 0.173321 0.013804 -0.104363 q: -0.119096 0.886920 0.098037 0.435405 
wait for imu ... 
wait for imu ... 
wait for imu ... 
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optimize pose graph 
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time: 1403636752.513556, t: 2.172568 -2.843353 -0.442956 q: 0.079287 0.803424 -0.123767 0.576980 
time: 1403636752.613555, t: 2.177957 -2.847193 -0.403345 q: 0.067721 0.807447 -0.105455 0.576474 
time: 1403636752.713556, t: 2.181196 -2.851310 -0.370571 q: 0.054910 0.811292 -0.086956 0.575525 
time: 1403636752.813555, t: 2.180080 -2.852000 -0.343096 q: 0.043126 0.813960 -0.066684 0.575467 
time: 1403636752.913555, t: 2.178387 -2.853564 -0.322814 q: 0.032723 0.815646 -0.044204 0.575932 
time: 1403636753.013556, t: 2.178133 -2.853798 -0.309941 q: 0.023489 0.816997 -0.020031 0.575815 
time: 1403636753.113555, t: 2.178123 -2.850889 -0.302319 q: 0.012103 0.817745 0.003891 0.575440 
time: 1403636753.213556, t: 2.177839 -2.842562 -0.300442 q: -0.000981 0.817706 0.027290 0.574988 
time: 1403636753.313555, t: 2.178688 -2.832365 -0.304774 q: -0.010952 0.816465 0.052994 0.574853 
time: 1403636753.413555, t: 2.180467 -2.818450 -0.311556 q: -0.024683 0.813848 0.070536 0.576252 
time: 1403636753.513556, t: 2.182906 -2.799969 -0.314587 q: -0.039555 0.812640 0.078021 0.576163 
time: 1403636753.613555, t: 2.181677 -2.779930 -0.310165 q: -0.050120 0.811125 0.081452 0.577001 
time: 1403636753.713556, t: 2.178533 -2.759173 -0.302370 q: -0.055324 0.810809 0.082141 0.576872 
time: 1403636753.813555, t: 2.174457 -2.737740 -0.296208 q: -0.054892 0.809743 0.083148 0.578264 
time: 1403636753.913555, t: 2.166730 -2.716032 -0.296766 q: -0.054674 0.809717 0.081480 0.578559 
optimize pose graph 
time: 1403636754.013556, t: 2.160027 -2.690346 -0.301003 q: -0.051912 0.809319 0.079759 0.579608 
time: 1403636754.113555, t: 2.151044 -2.667306 -0.299971 q: -0.051457 0.805640 0.076772 0.585152 
time: 1403636754.213556, t: 2.139192 -2.642414 -0.293241 q: -0.048067 0.802744 0.075373 0.589584 
time: 1403636754.313555, t: 2.122121 -2.616612 -0.281096 q: -0.044583 0.802108 0.074311 0.590858 
time: 1403636754.413555, t: 2.104819 -2.587216 -0.264358 q: -0.043235 0.802145 0.075008 0.590820 
time: 1403636754.513556, t: 2.077346 -2.558814 -0.245760 q: -0.045960 0.802425 0.079130 0.589695 
time: 1403636754.613555, t: 2.047101 -2.527179 -0.232978 q: -0.049519 0.803521 0.088862 0.586520 
time: 1403636754.713556, t: 2.014458 -2.489207 -0.226079 q: -0.058410 0.803045 0.100221 0.584519 
time: 1403636754.813555, t: 1.978057 -2.450329 -0.223752 q: -0.068357 0.801157 0.113761 0.583552 
time: 1403636754.913555, t: 1.939986 -2.408942 -0.225444 q: -0.076778 0.799382 0.124544 0.582737 
time: 1403636755.013556, t: 1.898270 -2.370453 -0.229807 q: -0.082422 0.798408 0.133836 0.581240 
time: 1403636755.113555, t: 1.853987 -2.329789 -0.234791 q: -0.087405 0.797602 0.138962 0.580414 
time: 1403636755.213556, t: 1.805630 -2.288615 -0.234874 q: -0.091601 0.797686 0.141650 0.579001 
time: 1403636755.313555, t: 1.755817 -2.247290 -0.227534 q: -0.092574 0.801962 0.143601 0.572421 
time: 1403636755.413555, t: 1.704843 -2.204163 -0.213205 q: -0.091538 0.808485 0.145159 0.562939 
time: 1403636755.513556, t: 1.658507 -2.158346 -0.195681 q: -0.090177 0.811149 0.145054 0.559343 
time: 1403636755.613555, t: 1.613670 -2.109140 -0.181518 q: -0.087082 0.810287 0.145251 0.561029 
time: 1403636755.713556, t: 1.569412 -2.060788 -0.174940 q: -0.088225 0.809377 0.142732 0.562808 
time: 1403636755.813555, t: 1.525937 -2.009896 -0.173233 q: -0.090016 0.807168 0.139861 0.566406 
time: 1403636755.913555, t: 1.482574 -1.956223 -0.172626 q: -0.090878 0.804912 0.138248 0.569864 
optimize pose graph 
time: 1403636756.013556, t: 1.439541 -1.902914 -0.174063 q: -0.092619 0.803829 0.136682 0.571488 
time: 1403636756.113555, t: 1.396240 -1.848349 -0.164941 q: -0.091954 0.802821 0.136808 0.572980 
time: 1403636756.213556, t: 1.354111 -1.794281 -0.154643 q: -0.092351 0.801317 0.136888 0.574999 
time: 1403636756.313555, t: 1.305937 -1.740860 -0.139306 q: -0.093318 0.801038 0.136910 0.575226 
time: 1403636756.413555, t: 1.261764 -1.687044 -0.130473 q: -0.092979 0.800083 0.138261 0.576287 
time: 1403636756.513556, t: 1.209080 -1.635847 -0.125981 q: -0.094530 0.799705 0.138501 0.576501 
time: 1403636756.613555, t: 1.161132 -1.582612 -0.129547 q: -0.095208 0.799056 0.139169 0.577128 
time: 1403636756.713556, t: 1.106589 -1.529711 -0.131649 q: -0.096455 0.798080 0.139467 0.578199 
time: 1403636756.813555, t: 1.054126 -1.477145 -0.129794 q: -0.097911 0.797184 0.139718 0.579128 
time: 1403636756.913555, t: 0.993774 -1.425125 -0.121220 q: -0.098208 0.797343 0.140157 0.578754 
time: 1403636757.013556, t: 0.930608 -1.375873 -0.105797 q: -0.098988 0.797308 0.140529 0.578578 
time: 1403636757.113555, t: 0.867968 -1.328122 -0.095236 q: -0.101202 0.797288 0.139936 0.578366 
time: 1403636757.213556, t: 0.802804 -1.277852 -0.087627 q: -0.101473 0.797530 0.139725 0.578036 
time: 1403636757.313555, t: 0.737270 -1.226441 -0.084568 q: -0.098441 0.797943 0.141991 0.577438 
time: 1403636757.413555, t: 0.670884 -1.178334 -0.086222 q: -0.097164 0.799533 0.143149 0.575165 
time: 1403636757.513556, t: 0.601126 -1.129496 -0.090471 q: -0.094560 0.801610 0.147194 0.571676 
time: 1403636757.613555, t: 0.534578 -1.077685 -0.088740 q: -0.096030 0.806334 0.153996 0.562928 
time: 1403636757.713556, t: 0.469648 -1.023810 -0.081347 q: -0.098764 0.812299 0.161032 0.551801 
time: 1403636757.813555, t: 0.410538 -0.968278 -0.065704 q: -0.102855 0.816291 0.166660 0.543429 
time: 1403636757.913555, t: 0.355917 -0.908136 -0.041404 q: -0.107988 0.816896 0.169742 0.540562 
time: 1403636758.013556, t: 0.305540 -0.844784 -0.010573 q: -0.113918 0.810502 0.170660 0.548621 
time: 1403636758.113555, t: 0.261823 -0.779600 0.016700 q: -0.119595 0.802614 0.170151 0.559068 
time: 1403636758.213556, t: 0.221122 -0.715478 0.038268 q: -0.123034 0.796698 0.169651 0.566881 
time: 1403636758.313555, t: 0.174532 -0.654702 0.050109 q: -0.126408 0.794381 0.168139 0.569832 
time: 1403636758.413555, t: 0.130893 -0.596073 0.051133 q: -0.128660 0.799263 0.166801 0.562853 
time: 1403636758.513556, t: 0.088340 -0.536172 0.046859 q: -0.133643 0.811527 0.162954 0.544985 
time: 1403636758.613555, t: 0.050751 -0.481770 0.037606 q: -0.141434 0.823105 0.157135 0.527071 
time: 1403636758.713556, t: 0.023164 -0.429906 0.031911 q: -0.142038 0.820818 0.155725 0.530880 
time: 1403636758.813555, t: 0.002390 -0.381469 0.025456 q: -0.139914 0.811153 0.156189 0.545949 
time: 1403636758.913555, t: -0.011566 -0.339018 0.015640 q: -0.133976 0.802425 0.160265 0.558998 
time: 1403636759.013556, t: -0.030743 -0.299910 0.000291 q: -0.131156 0.797999 0.162228 0.565400 
time: 1403636759.113555, t: -0.045720 -0.260768 -0.014803 q: -0.139689 0.796622 0.156390 0.566941 
time: 1403636759.213556, t: -0.060743 -0.226420 -0.033031 q: -0.158130 0.797711 0.143970 0.563848 
time: 1403636759.313555, t: -0.071666 -0.200473 -0.053449 q: -0.167652 0.798332 0.137814 0.561753 
time: 1403636759.413555, t: -0.080935 -0.184799 -0.078107 q: -0.155349 0.796874 0.147041 0.565011 
time: 1403636759.513556, t: -0.090756 -0.177056 -0.104504 q: -0.142230 0.794866 0.156851 0.568644 
time: 1403636759.613555, t: -0.099475 -0.172699 -0.132451 q: -0.133447 0.793128 0.164523 0.571028 
time: 1403636759.713556, t: -0.110061 -0.171132 -0.151647 q: -0.128979 0.792936 0.168730 0.571093 
time: 1403636759.813555, t: -0.122117 -0.170251 -0.160050 q: -0.128878 0.791774 0.169664 0.572450 
time: 1403636759.913555, t: -0.135199 -0.170444 -0.164409 q: -0.128449 0.795410 0.169985 0.567388 
time: 1403636760.013556, t: -0.151505 -0.172096 -0.172591 q: -0.126901 0.801302 0.170774 0.559149 
time: 1403636760.113555, t: -0.166276 -0.173903 -0.182324 q: -0.126272 0.806512 0.170606 0.551805 
optimize pose graph 
time: 1403636760.213556, t: -0.178422 -0.175676 -0.191421 q: -0.127073 0.806261 0.169979 0.552181 
time: 1403636760.313555, t: -0.188265 -0.176321 -0.201503 q: -0.130651 0.798302 0.167046 0.563685 
time: 1403636760.413555, t: -0.197095 -0.177813 -0.215321 q: -0.129218 0.793351 0.168157 0.570631 
time: 1403636760.513556, t: -0.207988 -0.180875 -0.231418 q: -0.126286 0.793283 0.170162 0.570788 
time: 1403636760.613555, t: -0.220632 -0.183379 -0.248662 q: -0.123293 0.799177 0.172804 0.562365 
time: 1403636760.713556, t: -0.233008 -0.184901 -0.263895 q: -0.119082 0.802947 0.176480 0.556733 
time: 1403636760.813555, t: -0.244305 -0.184228 -0.276999 q: -0.117316 0.801032 0.178523 0.559209 
time: 1403636760.913555, t: -0.255197 -0.182446 -0.288557 q: -0.116301 0.796655 0.180513 0.565005 
time: 1403636761.013556, t: -0.267973 -0.177993 -0.302222 q: -0.117811 0.798980 0.180285 0.561470 
time: 1403636761.113555, t: -0.281170 -0.170503 -0.316657 q: -0.120288 0.805782 0.179039 0.551535 
time: 1403636761.213556, t: -0.292896 -0.161044 -0.331685 q: -0.118865 0.813705 0.180810 0.539502 
time: 1403636761.313555, t: -0.300703 -0.148757 -0.343614 q: -0.118800 0.816854 0.181055 0.534655 
time: 1403636761.413555, t: -0.303593 -0.132856 -0.349253 q: -0.120861 0.811398 0.179944 0.542812 
time: 1403636761.513556, t: -0.302134 -0.115074 -0.350547 q: -0.122960 0.802984 0.178125 0.555310 
time: 1403636761.613555, t: -0.300996 -0.096348 -0.349459 q: -0.125083 0.796969 0.175662 0.564215 
time: 1403636761.713556, t: -0.300391 -0.077574 -0.346691 q: -0.134207 0.796018 0.168315 0.565698 
time: 1403636761.813555, t: -0.299151 -0.061271 -0.342849 q: -0.143264 0.796875 0.161481 0.564260 
time: 1403636761.913555, t: -0.298428 -0.049473 -0.336764 q: -0.144403 0.797655 0.160333 0.563195 
time: 1403636762.013556, t: -0.298132 -0.041469 -0.328114 q: -0.133228 0.796468 0.167529 0.565530 
time: 1403636762.113555, t: -0.298342 -0.036374 -0.318608 q: -0.114749 0.793576 0.179662 0.569905 
time: 1403636762.213556, t: -0.300721 -0.029690 -0.309329 q: -0.103513 0.795913 0.186610 0.566555 
time: 1403636762.313555, t: -0.304367 -0.017806 -0.304780 q: -0.104282 0.805370 0.185298 0.553326 
time: 1403636762.413555, t: -0.307690 -0.001109 -0.308018 q: -0.109021 0.812236 0.181436 0.543571 
time: 1403636762.513556, t: -0.307521 0.020441 -0.318647 q: -0.128427 0.812954 0.167655 0.542682 
time: 1403636762.613555, t: -0.303314 0.042391 -0.337501 q: -0.152401 0.808653 0.150761 0.547837 
time: 1403636762.713556, t: -0.295417 0.058420 -0.365088 q: -0.157414 0.802466 0.147950 0.556219 
time: 1403636762.813555, t: -0.283536 0.069086 -0.399515 q: -0.144736 0.798864 0.157816 0.562106 
time: 1403636762.913555, t: -0.286796 0.061079 -0.400023 q: -0.151200 0.773824 0.151494 0.596141 
time: 1403636763.013556, t: -0.297195 0.042424 -0.409378 q: -0.128998 0.798452 0.148155 0.569108 
time: 1403636763.113555, t: -0.307473 0.024444 -0.417367 q: -0.129858 0.796085 0.122922 0.578166 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636763.313555, t: -0.308908 0.016277 -0.421043 q: -0.130092 0.797639 0.110690 0.578443 
time: 1403636763.413555, t: -0.310965 0.012878 -0.419131 q: -0.130887 0.798499 0.110769 0.577060 
time: 1403636763.513556, t: -0.312676 0.010472 -0.415357 q: -0.131017 0.798397 0.110808 0.577163 
time: 1403636763.613555, t: -0.314875 0.011895 -0.414692 q: -0.130446 0.798416 0.110515 0.577323 
time: 1403636763.713556, t: -0.314449 0.011989 -0.413281 q: -0.130491 0.798459 0.110365 0.577283 
time: 1403636763.813555, t: -0.315699 0.010928 -0.412878 q: -0.130634 0.798474 0.110257 0.577250 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720541443.243251114]: Shutdown request received.[0m
[33m[ WARN] [1720541443.243289256]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720541443.244184348]: Shutdown request received.[0m
[33m[ WARN] [1720541443.244218850]: Reason given for shutdown: [user request][0m
killed
