/SLAM-Hive/slam_hive_results/mapping_results/3109/2314_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-4.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720541469.139641962]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720541469.141400895]: init begins[0m
[31m[ERROR] [1720541469.142447620]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/da6d814a-3e0d-11ef-8325-0242ac110005/roslaunch-74ad5d0eea07-118.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://74ad5d0eea07:42251/[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://74ad5d0eea07:11311/[0m
]2;roscore http://74ad5d0eea07:11311/
[0m[ INFO] [1720541470.297589915]: Connected to master at [localhost:11311][0m
[1msetting /run_id to da6d814a-3e0d-11ef-8325-0242ac110005[0m
[0m[ INFO] [1720541470.301531565]: 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] [1720541470.325911850]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720541470.326237435]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720541470.326296484]: ROW: 192 COL: 300 [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] [1720541470.326705279]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720541470.330492434]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720541470.330764418]: 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
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 [239][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720541479.278289068]: 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: 316904900.55 
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] [1720541481.536575341]: gyroscope bias initial calibration -0.00246209   0.0237405   0.0773448[0m
[0m[ INFO] [1720541481.600841711]: Initialization finish![0m
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time: 1403636593.113555, t: 0.154369 0.008288 -0.095350 q: -0.092768 0.890109 0.071061 0.440512 
wait for imu ... 
wait for imu ... 
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time: 1403636763.113555, t: 0.123436 0.556687 -0.195198 q: -0.095963 0.801831 0.075997 0.584878 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636763.213556, t: 0.117853 0.552869 -0.198500 q: -0.094377 0.799616 0.064520 0.589529 
time: 1403636763.313555, t: 0.121682 0.549557 -0.200783 q: -0.096321 0.802838 0.063347 0.584946 
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time: 1403636763.713556, t: 0.106353 0.542606 -0.219269 q: -0.096943 0.803565 0.062252 0.583960 
time: 1403636763.813555, t: 0.103373 0.538731 -0.221469 q: -0.097230 0.803465 0.062148 0.584062 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720541667.832147707]: Shutdown request received.[0m
[33m[ WARN] [1720541667.832178196]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720541667.833148015]: Shutdown request received.[0m
[33m[ WARN] [1720541667.833168775]: Reason given for shutdown: [user request][0m
killed
