/SLAM-Hive/slam_hive_results/mapping_results/3119/2324_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-14.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720543721.815152482]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720543721.817107042]: init begins[0m
[31m[ERROR] [1720543721.818092001]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1920d022-3e13-11ef-a0b0-0242ac110005/roslaunch-8bd5e35befd4-118.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://8bd5e35befd4:40851/[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] [1720543722.921396571]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720543722.923119164]: 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] [1720543722.928858809]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720543722.929045991]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720543722.929069742]: ROW: 288 COL: 451 [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] [1720543722.929285571]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720543722.929479266]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720543722.929633459]: 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://8bd5e35befd4:11311/[0m
]2;roscore http://8bd5e35befd4:11311/
[1msetting /run_id to 1920d022-3e13-11ef-a0b0-0242ac110005[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] [1720543731.960080883]: 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: 316907153.23 
init first imu pose
averge acc 8.132320 -0.420480 -2.900939
init R0 
   0.33909   0.134948   0.931025
         0  -0.989658   0.143447
  0.940754 -0.0486414  -0.335583
[33m[ WARN] [1720543737.356039947]: gyroscope bias initial calibration -0.000500014     0.019994     0.082466[0m
[0m[ INFO] [1720543737.385750540]: Initialization finish![0m
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optimize pose graph 
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time: 1403636761.163555, t: -0.206483 0.078495 -0.098302 q: -0.115238 0.811315 0.171753 0.546798 
time: 1403636761.563555, t: -0.218353 0.132819 -0.123243 q: -0.118666 0.800809 0.169478 0.562051 
time: 1403636761.963556, t: -0.209570 0.195449 -0.108071 q: -0.135565 0.799011 0.154473 0.565103 
time: 1403636762.363555, t: -0.211675 0.233865 -0.085727 q: -0.100042 0.811261 0.175376 0.548717 
time: 1403636762.763556, t: -0.187860 0.309674 -0.159666 q: -0.146064 0.801687 0.142372 0.561866 
time: 1403636763.163555, t: -0.205138 0.270841 -0.189537 q: -0.122013 0.790038 0.105342 0.591486 
time: 1403636763.563555, t: -0.209769 0.268003 -0.204800 q: -0.123413 0.799567 0.100904 0.579033 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720543920.575335916]: Shutdown request received.[0m
[33m[ WARN] [1720543920.575376068]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720543920.576256518]: Shutdown request received.[0m
[33m[ WARN] [1720543920.576284884]: Reason given for shutdown: [user request][0m
killed
