/SLAM-Hive/slam_hive_results/mapping_results/3127/2332_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-22.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720545511.694479097]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720545511.697451179]: init begins[0m
[31m[ERROR] [1720545511.698498048]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/43fa274a-3e17-11ef-90b2-0242ac110005/roslaunch-1b0df1c41ecd-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://1b0df1c41ecd:43529/[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] [1720545512.851212624]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://1b0df1c41ecd:11311/[0m
]2;roscore http://1b0df1c41ecd:11311/
[0m[ INFO] [1720545512.854216997]: Connected to master at [localhost:11311][0m
[1msetting /run_id to 43fa274a-3e17-11ef-90b2-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720545512.861940093]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720545512.862156677]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720545512.862186903]: 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] [1720545512.862463805]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720545512.862690098]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720545512.862847654]: 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 [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720545521.844947949]: 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: 316908943.11 
  0.352648   0.118464   0.928227
         0  -0.991954   0.126597
  0.935756 -0.0446441  -0.349811
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! 
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] [1720545533.557058916]: gyroscope bias initial calibration  -0.14263 0.0866984 0.0180102[0m
[0m[ INFO] [1720545533.606412056]: Initialization finish![0m
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time: 1403636755.263556, t: 752.506171 15156.594369 -63627.044049 q: -0.426892 0.331591 0.838376 -0.070261 
time: 1403636756.263556, t: 888.737043 15614.867575 -63877.464719 q: -0.358648 0.390271 0.847790 -0.017706 
time: 1403636757.263556, t: 1692.075049 16071.642959 -64214.055006 q: -0.290247 0.428355 0.854782 0.040216 
time: 1403636758.263556, t: 2923.704324 16174.359350 -64557.931387 q: -0.223852 0.442392 0.867859 0.031610 
time: 1403636759.263556, t: 4514.972040 15246.909520 -64937.983102 q: -0.180535 0.504210 0.844459 0.008241 
time: 1403636760.263556, t: 4926.830500 14334.759087 -65296.675575 q: -0.160419 0.526314 0.832672 0.062585 
time: 1403636762.263556, t: 3183.810286 11708.740112 -66166.964104 q: -0.222668 0.633325 0.737669 0.071855 
time: 1403636763.263556, t: 1136.935125 12572.720103 -66532.355093 q: -0.175060 0.724463 0.652368 0.137561 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720545710.501030620]: Shutdown request received.[0m
[33m[ WARN] [1720545710.501068685]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720545710.501898782]: Shutdown request received.[0m
[33m[ WARN] [1720545710.501923645]: Reason given for shutdown: [user request][0m
killed
