/SLAM-Hive/slam_hive_results/mapping_results/3122/2327_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-17.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720544393.761131223]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720544393.762812320]: init begins[0m
[31m[ERROR] [1720544393.763846295]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/a9a3c130-3e14-11ef-b35a-0242ac110005/roslaunch-d311c23ca83a-119.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://d311c23ca83a:43967/[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 [156][0m
[0m[ INFO] [1720544394.918601290]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://d311c23ca83a:11311/[0m
]2;roscore http://d311c23ca83a:11311/
[0m[ INFO] [1720544394.922733899]: Connected to master at [localhost:11311][0m
[1msetting /run_id to a9a3c130-3e14-11ef-b35a-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720544394.947088818]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720544394.947522823]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720544394.947683707]: ROW: 96 COL: 150 [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] [1720544394.948309965]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720544394.948937783]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720544394.949300646]: 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 [249][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720544403.922485155]: 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: 316907825.19 
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
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720544409.316068479]: gyroscope bias initial calibration 0.0489372 0.0771528 0.0210177[0m
[0m[ INFO] [1720544409.360287460]: Initialization finish![0m
time: 1403636583.963556, t: -0.059182 -0.025535 -0.172106 q: -0.012127 0.834695 0.025816 0.549973 
time: 1403636584.363555, t: -0.000358 -0.030256 -0.088524 q: -0.011096 0.812245 0.033064 0.582273 
time: 1403636584.763556, t: 0.513180 -0.227807 0.630384 q: -0.041554 0.800104 0.050733 0.596265 
time: 1403636585.163555, t: 3.133642 -0.879668 0.567773 q: -0.075319 0.811549 0.058968 0.576401 
time: 1403636585.563555, t: 6.118776 -1.776564 0.379119 q: -0.059567 0.825443 0.074403 0.556381 
time: 1403636585.963556, t: 1.868712 4.507387 1.003229 q: 0.071709 0.866734 -0.005301 0.493560 
time: 1403636586.363555, t: 2.360913 4.355636 1.176218 q: -0.046928 0.861571 0.074417 0.499956 
time: 1403636586.763556, t: -2.023839 -1.417353 2.399417 q: -0.358985 -0.390626 0.832586 -0.159190 
time: 1403636587.163555, t: 0.366338 -2.348503 1.892148 q: 0.274471 0.658407 -0.632470 0.301906 
time: 1403636587.563555, t: -1.172140 -0.263201 1.306473 q: 0.053140 0.894381 -0.183577 0.404424 
time: 1403636587.963556, t: -1.526122 -0.979990 1.098134 q: 0.079472 0.874896 -0.245566 0.409803 
time: 1403636588.763556, t: -1.429878 -0.886982 1.126076 q: 0.081636 0.875188 -0.265057 0.396391 
time: 1403636589.163555, t: -1.688803 0.711913 1.523244 q: 0.034282 0.897811 -0.184817 0.398249 
time: 1403636589.563555, t: -1.962326 1.441453 1.682746 q: 0.017973 0.906847 -0.150819 0.393140 
time: 1403636589.963556, t: -1.494070 0.441776 1.274122 q: 0.006743 0.910000 -0.107261 0.400437 
time: 1403636590.363555, t: -1.571128 0.750452 1.298859 q: -0.012846 0.911680 -0.083830 0.402053 
time: 1403636590.763556, t: -2.981533 2.939426 2.318598 q: -0.007053 0.926286 -0.080389 0.368078 
time: 1403636591.163555, t: -3.737887 2.154197 5.234081 q: 0.039682 0.932940 -0.044308 0.355084 
time: 1403636591.563555, t: -7.862032 0.979122 7.272552 q: 0.050358 0.958277 -0.045788 0.277620 
time: 1403636591.963556, t: -6.266868 0.660149 5.751883 q: 0.140658 0.926396 -0.069247 0.342360 
time: 1403636592.363555, t: -5.883371 2.006261 9.447931 q: 0.137278 0.949569 -0.101137 0.263142 
time: 1403636592.763556, t: -17.721889 2.181958 15.434245 q: 0.068930 0.956739 -0.068750 0.274176 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636593.163555, t: -20.691935 2.948862 14.945431 q: -0.034283 0.945738 -0.049935 0.319234 
time: 1403636593.563555, t: -14.983598 2.912024 11.782442 q: -0.073143 0.921880 -0.042084 0.378176 
time: 1403636593.963556, t: -14.268555 2.991277 11.524475 q: 0.006716 0.910414 -0.172823 0.375809 
time: 1403636594.363555, t: -13.939533 2.707334 11.422504 q: 0.096120 0.883847 -0.270325 0.369459 
time: 1403636594.763556, t: -13.386586 2.425820 11.300654 q: 0.109312 0.871054 -0.268046 0.396822 
time: 1403636595.163555, t: -11.512486 -0.435675 8.887186 q: -0.040186 0.887700 -0.151674 0.432862 
time: 1403636595.563555, t: -4.805504 3.263075 7.347769 q: -0.056168 0.901876 -0.076376 0.421464 
time: 1403636595.963556, t: -4.265792 1.500734 7.832849 q: 0.010878 0.909273 -0.116028 0.399552 
time: 1403636596.363555, t: -3.694682 1.376982 8.348048 q: 0.058659 0.907222 -0.165458 0.382272 
time: 1403636596.763556, t: 2.312178 -3.776250 3.133920 q: -0.069119 0.877861 -0.151395 0.449069 
time: 1403636597.163555, t: -5.451191 1.789841 1.985820 q: 0.024163 0.851661 -0.159063 0.498788 
time: 1403636597.563555, t: 14.639763 -1.831871 -8.621057 q: 0.026156 0.886369 0.036819 0.460772 
time: 1403636597.963556, t: 30.985974 9.239927 -15.537315 q: 0.162007 0.927424 -0.047006 0.333809 
time: 1403636598.363555, t: 33.479655 20.180239 -19.029085 q: 0.227661 0.928806 -0.061791 0.285781 
time: 1403636598.763556, t: 32.965745 -10.083740 -21.265824 q: -0.057367 0.898315 0.075306 0.429032 
time: 1403636599.163555, t: 37.954107 17.956212 -24.454012 q: 0.027614 0.857565 0.038230 0.512210 
time: 1403636599.563555, t: 40.831272 8.503312 -25.213831 q: -0.001478 0.818732 0.124132 0.560595 
time: 1403636599.963556, t: 53.853161 28.930355 -25.769211 q: 0.181709 0.861824 0.096067 0.463695 
time: 1403636600.363555, t: 72.174489 -9.986327 -25.068175 q: -0.066018 0.902917 0.012130 0.424541 
wait for imu ... 
wait for imu ... 
wait for imu ... 
time: 1403636600.763556, t: 89.722771 23.786659 -29.993676 q: 0.036775 0.917369 -0.075161 0.389142 
time: 1403636601.163555, t: 77.383332 4.338751 -44.395803 q: -0.060680 0.783216 0.118646 0.607301 
time: 1403636601.563555, t: 91.229487 50.742466 -41.763806 q: 0.129071 0.864190 0.081221 0.479499 
time: 1403636601.963556, t: 115.670092 1.808853 -39.709937 q: -0.107866 0.891971 0.097270 0.428126 
time: 1403636602.363555, t: 126.132001 37.450438 -44.761501 q: 0.050440 0.909997 0.031569 0.410323 
time: 1403636602.763556, t: 138.254556 16.895011 -50.028113 q: -0.080870 0.880836 0.067915 0.461493 
time: 1403636603.163555, t: 138.383730 65.035813 -47.299480 q: 0.105798 0.869398 -0.008030 0.482586 
time: 1403636603.563555, t: 144.929564 25.918299 -32.318562 q: -0.184586 0.829784 0.140179 0.507677 
time: 1403636603.963556, t: 140.454790 60.741933 -26.910160 q: -0.040275 0.851750 0.054138 0.519585 
time: 1403636604.363555, t: 150.096149 32.773120 -31.806786 q: -0.196779 0.792707 0.157871 0.554951 
time: 1403636604.763556, t: 127.541845 100.278088 -24.502197 q: -0.097832 0.821394 0.108736 0.551287 
time: 1403636605.163555, t: 152.836630 48.952060 -15.144734 q: -0.250120 0.727588 0.230356 0.595811 
wait for imu ... 
time: 1403636605.563555, t: 144.587053 92.374250 -12.749058 q: -0.183867 0.775272 0.198482 0.570746 
time: 1403636605.963556, t: 174.706008 -1.971366 -62.865586 q: -0.022687 0.774787 0.073448 0.627531 
time: 1403636606.363555, t: 169.658742 130.238663 -42.374303 q: -0.143901 0.883009 0.065151 0.441975 
time: 1403636606.763556, t: 196.858653 102.728477 -32.494583 q: -0.380257 0.749097 0.198206 0.504949 
time: 1403636607.163555, t: 201.709721 101.716041 -62.563651 q: -0.122317 0.737264 0.138978 0.649743 
time: 1403636607.563555, t: 163.872438 140.261000 -68.277818 q: -0.141623 0.783222 0.110968 0.595141 
time: 1403636607.963556, t: 222.979740 105.363332 -27.908004 q: 0.071300 0.778302 -0.091557 0.617074 
time: 1403636608.363555, t: 232.963120 77.534863 -19.402144 q: -0.169070 0.738351 0.138423 0.638037 
time: 1403636608.763556, t: 240.689253 140.096517 -13.601825 q: -0.120011 0.778736 0.096555 0.608149 
time: 1403636609.163555, t: 268.819840 68.218484 -19.480864 q: 0.000727 0.739624 -0.012762 0.672899 
time: 1403636609.563555, t: 268.904005 165.158247 -33.779088 q: -0.168758 0.783967 0.117958 0.585664 
time: 1403636609.963556, t: 276.429464 130.453378 -3.335248 q: -0.279841 0.670019 0.241722 0.643688 
time: 1403636610.363555, t: 302.194066 158.120101 -22.493493 q: -0.091567 0.749072 0.058360 0.653529 
time: 1403636610.763556, t: 261.296914 219.826414 -65.973825 q: -0.142787 0.758970 0.100001 0.627357 
time: 1403636611.163555, t: 341.667903 125.370028 -14.119606 q: 0.155353 0.723236 -0.175720 0.649552 
time: 1403636611.563555, t: 341.972424 140.692482 -0.317178 q: -0.217824 0.696051 0.183406 0.659111 
time: 1403636611.963556, t: 358.184703 135.361543 7.040049 q: -0.096795 0.742257 0.059472 0.660415 
time: 1403636612.363555, t: 368.353715 146.429690 10.140374 q: -0.121753 0.743908 0.079537 0.652266 
time: 1403636612.763556, t: 373.150197 200.552371 -2.284088 q: -0.229267 0.707431 0.174712 0.645332 
time: 1403636613.163555, t: 190.770616 252.738169 27.042293 q: 0.692622 -0.250695 -0.632190 -0.240338 
time: 1403636613.563555, t: 174.548385 120.648936 17.530186 q: 0.804939 -0.029480 -0.592389 -0.016709 
time: 1403636613.963556, t: 138.679999 130.988347 1.303792 q: 0.827396 -0.148998 -0.530205 -0.109990 
time: 1403636614.363555, t: 141.346834 114.424363 33.189422 q: 0.830886 -0.100138 -0.543428 -0.065475 
time: 1403636614.763556, t: 136.209487 121.111540 58.811724 q: 0.848151 0.219449 -0.461696 0.138994 
time: 1403636615.163555, t: 108.784729 135.937143 29.332204 q: 0.870809 0.284135 -0.376760 0.137877 
time: 1403636615.563555, t: 56.257822 86.836997 42.290481 q: 0.881580 0.245019 -0.384835 0.121177 
time: 1403636615.963556, t: 99.865687 70.025883 69.434226 q: 0.862379 0.258503 -0.410950 0.143526 
time: 1403636616.363555, t: 89.749844 67.983065 95.611659 q: 0.817846 0.400654 -0.357689 0.206547 
time: 1403636616.763556, t: 50.486178 86.390698 63.359989 q: 0.806884 0.450667 -0.312764 0.219126 
time: 1403636617.163555, t: 28.124735 28.492877 55.530305 q: 0.878439 0.215353 -0.405126 0.133570 
time: 1403636617.563555, t: 68.771192 0.681954 89.107819 q: 0.832901 0.308270 -0.417963 0.191189 
time: 1403636617.963556, t: 42.075518 -0.071086 128.612885 q: 0.758486 0.484499 -0.342245 0.269866 
time: 1403636618.363555, t: -11.974314 10.173346 97.751767 q: 0.855644 0.233110 -0.430680 0.167473 
time: 1403636618.763556, t: 13.222674 -1.863502 94.513793 q: 0.844922 0.263256 -0.425192 0.189779 
time: 1403636619.163555, t: 33.859642 -53.978165 115.685368 q: 0.827184 0.286120 -0.440270 0.200162 
time: 1403636619.563555, t: 1.865772 -47.104769 148.327278 q: 0.734847 0.495856 -0.349319 0.303483 
time: 1403636619.963556, t: -49.903076 -28.280329 114.868688 q: 0.856850 0.207243 -0.441594 0.166893 
time: 1403636620.363555, t: -16.021180 -47.910471 111.415544 q: 0.811551 0.321272 -0.425666 0.238698 
time: 1403636620.763556, t: 39.788295 -103.187336 107.477401 q: 0.679290 0.611854 -0.257747 0.312677 
wait for imu ... 
time: 1403636621.163555, t: -9.037834 -100.811149 154.745174 q: 0.673163 0.587440 -0.291592 0.341672 
wait for imu ... 
time: 1403636621.563555, t: -61.183454 -70.579949 122.976865 q: 0.833418 0.232785 -0.462426 0.193358 
wait for imu ... 
time: 1403636621.963556, t: -11.192099 -138.612617 102.548234 q: 0.596099 0.665608 -0.247050 0.374965 
time: 1403636622.363555, t: 7.388657 -131.648473 122.486879 q: 0.724369 0.496517 -0.356651 0.318686 
time: 1403636622.763556, t: 5.997136 -161.217873 147.542920 q: 0.556391 0.727682 -0.181472 0.357737 
time: 1403636623.163555, t: -56.672448 -144.373973 144.961861 q: 0.692166 0.543033 -0.328620 0.343554 
wait for imu ... 
time: 1403636623.563555, t: -7.276157 -182.063412 95.582173 q: 0.554734 0.765232 -0.112794 0.306541 
time: 1403636623.963556, t: 13.370870 -174.465096 115.469104 q: 0.661127 0.609743 -0.271742 0.342463 
time: 1403636624.363555, t: 7.890380 -194.295201 128.697669 q: 0.450415 0.825412 -0.078209 0.331219 
time: 1403636624.763556, t: -30.228423 -161.810852 129.641957 q: 0.646982 0.592216 -0.322559 0.355879 
time: 1403636625.163555, t: 22.270094 -108.947236 122.663515 q: 0.653033 0.545439 -0.416486 0.320286 
time: 1403636625.563555, t: 27.889014 -67.459730 74.320019 q: 0.653494 0.532232 -0.421809 0.334293 
time: 1403636625.963556, t: 48.084554 -55.129748 63.934305 q: 0.720618 0.401813 -0.480065 0.297982 
time: 1403636626.363555, t: 49.128887 -23.970507 30.854481 q: 0.731130 0.221639 -0.600026 0.237262 
time: 1403636626.763556, t: 46.905245 -9.356324 10.271274 q: 0.698912 0.410683 -0.477063 0.339519 
time: 1403636627.163555, t: 134.007617 -19.958412 5.376990 q: 0.808358 0.037824 -0.579173 0.098419 
time: 1403636627.563555, t: 110.032989 34.333518 -5.346156 q: 0.698526 0.428583 -0.458838 0.343287 
time: 1403636627.963556, t: 102.252535 61.578596 -36.788124 q: 0.724719 0.201042 -0.623964 0.212210 
time: 1403636628.363555, t: 218.326453 37.753988 -11.464459 q: 0.853501 0.239537 -0.379438 0.264924 
time: 1403636628.763556, t: 289.963067 53.188163 -36.605936 q: 0.797753 0.033191 -0.583769 0.147316 
time: 1403636629.163555, t: 321.961842 72.352898 -49.614986 q: 0.786706 0.017900 -0.602062 0.135260 
time: 1403636629.563555, t: 184.220253 228.339539 -70.413696 q: 0.656401 0.353469 -0.507566 0.431943 
time: 1403636629.963556, t: 313.539323 122.205118 -89.185514 q: 0.792404 0.277024 -0.393558 0.374787 
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time: 1403636630.763556, t: 168.141252 245.933473 -177.170929 q: 0.706714 0.344971 -0.467520 0.403701 
time: 1403636631.163555, t: 175.521084 279.841898 -199.576540 q: 0.697977 0.355622 -0.455343 0.423111 
time: 1403636631.563555, t: 183.118920 315.331526 -222.713637 q: 0.696067 0.365826 -0.442173 0.431446 
time: 1403636631.963556, t: 207.287959 349.922612 -245.795292 q: 0.705460 0.358059 -0.443459 0.421264 
time: 1403636632.363555, t: 217.341535 388.398716 -270.299972 q: 0.705677 0.361975 -0.432283 0.429099 
time: 1403636632.763556, t: 227.586417 428.459399 -295.577124 q: 0.668813 0.400859 -0.431593 0.453573 
time: 1403636633.163555, t: 394.046210 412.115749 -313.324470 q: 0.768349 0.317840 -0.423495 0.359542 
time: 1403636633.563555, t: 516.597547 387.355549 -333.687332 q: 0.813290 0.176477 -0.474585 0.286679 
time: 1403636633.963556, t: 592.670483 394.969493 -356.653641 q: 0.787658 0.152546 -0.541605 0.250975 
time: 1403636634.363555, t: 649.017218 411.705461 -382.360704 q: 0.778616 0.147578 -0.569466 0.218373 
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time: 1403636754.763556, t: -11075.434001 9625.633617 -18722.594841 q: 0.856114 0.214635 0.313757 0.350083 
time: 1403636755.163555, t: -11325.535883 9796.268088 -18931.240455 q: 0.852527 0.240087 0.330387 0.326191 
time: 1403636755.563555, t: -11577.499826 9968.420421 -19142.370409 q: 0.861487 0.244310 0.312150 0.317356 
time: 1403636755.963556, t: -11837.517449 10134.565070 -19362.724163 q: 0.843003 0.268716 0.332262 0.326709 
time: 1403636756.363555, t: -12113.690302 10262.931359 -19606.314538 q: 0.861574 0.224788 0.291091 0.349895 
time: 1403636756.763556, t: -12314.479527 10500.201225 -19853.835017 q: 0.853238 0.228632 0.331459 0.331431 
time: 1403636757.163555, t: -12570.490534 10679.427728 -20080.934655 q: 0.853316 0.226886 0.332489 0.331399 
time: 1403636757.563555, t: -12860.983900 10827.588743 -20312.061659 q: 0.857266 0.257810 0.292276 0.336456 
time: 1403636757.963556, t: -13119.006718 11027.654500 -20551.471024 q: 0.860952 0.276391 0.288296 0.315048 
time: 1403636758.363555, t: -13367.379625 11200.182420 -20807.301445 q: 0.854388 0.239107 0.331516 0.320852 
time: 1403636758.763556, t: -13631.842296 11383.252383 -21047.502728 q: 0.857001 0.255419 0.301574 0.330703 
time: 1403636759.163555, t: -13902.212142 11576.414654 -21290.787100 q: 0.841027 0.272906 0.307071 0.352001 
time: 1403636759.563555, t: -14159.225058 11750.167432 -21554.945849 q: 0.854943 0.220218 0.330635 0.333552 
time: 1403636759.963556, t: -14417.114800 11962.513218 -21801.358120 q: 0.858809 0.239482 0.320264 0.320197 
time: 1403636760.363555, t: -14686.996166 12153.682188 -22053.038351 q: 0.857477 0.231908 0.325599 0.323939 
time: 1403636760.763556, t: -14999.150757 12284.236207 -22314.771974 q: 0.876490 0.201742 0.295653 0.321953 
time: 1403636761.163555, t: -15235.583688 12504.763140 -22591.970856 q: 0.879878 0.185156 0.307838 0.311075 
time: 1403636761.563555, t: -15513.858330 12702.819410 -22854.744669 q: 0.873072 0.199515 0.308862 0.320225 
time: 1403636761.963556, t: -15787.422068 12880.024463 -23138.196174 q: 0.867773 0.172679 0.320528 0.338252 
time: 1403636762.363555, t: -16066.126173 13073.750676 -23408.580964 q: 0.890736 0.151730 0.296760 0.309031 
time: 1403636762.763556, t: -16330.635969 13273.890568 -23699.492946 q: 0.865904 0.160090 0.318410 0.350993 
time: 1403636763.163555, t: -16633.480283 13452.814722 -23978.544548 q: 0.860490 0.128748 0.307792 0.385025 
time: 1403636763.563555, t: -16896.647632 13657.642122 -24275.299722 q: 0.862960 0.102345 0.310888 0.384933 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720544592.516452689]: Shutdown request received.[0m
[33m[ WARN] [1720544592.516509332]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720544592.517277316]: Shutdown request received.[0m
[33m[ WARN] [1720544592.517316441]: Reason given for shutdown: [user request][0m
killed
