/SLAM-Hive/slam_hive_results/mapping_results/3131/2336_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-26.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720546405.457827753]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720546405.463199036]: init begins[0m
[31m[ERROR] [1720546405.464329059]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/58b3ed2c-3e19-11ef-a3d7-0242ac110005/roslaunch-5cd013654e30-117.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://5cd013654e30:39371/[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 [154][0m
[1mROS_MASTER_URI=http://5cd013654e30:11311/[0m
]2;roscore http://5cd013654e30:11311/
[1msetting /run_id to 58b3ed2c-3e19-11ef-a3d7-0242ac110005[0m
[0m[ INFO] [1720546406.615549654]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720546406.625470186]: 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] [1720546406.647160686]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720546406.647504507]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720546406.647558365]: 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] [1720546406.648037606]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720546406.648417873]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720546406.648793975]: 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 [237][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_01_easy.bag  --clock 
[0m[ INFO] [1720546415.608713495]: 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: 316909836.88 
init first imu pose
averge acc 9.910340 -0.410350 -4.054184
init R0 
  0.380285  0.0931361   0.920168
         0  -0.994917   0.100702
   0.92487 -0.0382954  -0.378351
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! 
wait for imu ... 
wait for imu ... 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720546437.810270860]: gyroscope bias initial calibration 0.00474977 0.00899816    0.03058[0m
time: 1403636602.763556, t: -49.053674 -627.494483 -326.214027 q: 0.459408 0.831873 -0.295483 -0.098088 
time: 1403636604.763556, t: -331.311409 -757.981441 -471.867595 q: 0.426497 0.866449 -0.259249 -0.012543 
time: 1403636606.763556, t: -757.783390 -681.797326 -651.811523 q: 0.369280 0.853833 -0.366735 -0.010349 
time: 1403636608.763556, t: -938.068459 -758.476101 -836.002460 q: 0.321074 0.896359 -0.296829 0.073110 
time: 1403636610.763556, t: -1245.061569 -592.274905 -1042.217505 q: 0.308128 0.870176 -0.365630 0.119019 
time: 1403636612.763556, t: -1432.941792 581.071168 -1207.132250 q: -0.397256 -0.597728 0.696180 0.015573 
time: 1403636614.763556, t: -393.728261 1618.060257 -1038.338795 q: -0.263751 -0.087038 0.958371 0.066222 
time: 1403636616.763556, t: -985.345709 1514.219671 -1399.754934 q: -0.260628 -0.323299 0.903646 0.104762 
time: 1403636618.763556, t: -1411.368791 1344.909485 -1798.733189 q: -0.236047 -0.438065 0.835865 0.231754 
time: 1403636620.763556, t: -914.808646 1983.304080 -2128.797797 q: -0.258019 -0.265163 0.910212 0.186088 
time: 1403636622.763556, t: -1024.051929 2237.565080 -2426.523933 q: -0.171251 -0.086849 0.981315 0.012331 
time: 1403636624.763556, t: -1484.074832 2070.988596 -3037.485320 q: -0.133946 -0.325718 0.932933 0.074850 
time: 1403636626.763556, t: -1784.539496 2027.392507 -3673.785370 q: -0.102676 -0.401885 0.909526 0.026634 
time: 1403636628.763556, t: -2089.132785 1954.925419 -4364.505277 q: -0.081451 -0.409075 0.907970 0.040163 
time: 1403636630.763556, t: -2372.995859 1941.462682 -5117.241447 q: -0.113350 -0.407414 0.890729 0.166634 
time: 1403636632.763556, t: -2706.655645 1156.944309 -5928.467745 q: -0.062977 -0.553814 0.824154 0.100475 
time: 1403636634.763556, t: -2970.070147 939.092954 -6804.089090 q: -0.000928 -0.666268 0.745660 -0.008735 
time: 1403636636.763556, t: -2572.895822 -389.348873 -7746.732133 q: -0.009799 0.869290 -0.494167 -0.006071 
time: 1403636640.763556, t: -2695.206373 -1017.047881 -9647.705727 q: -0.126209 0.948321 -0.180773 0.228210 
time: 1403636642.763556, t: -2780.912982 -1335.184348 -10686.177054 q: -0.085297 0.983495 -0.156539 -0.030934 
time: 1403636644.763556, t: -2662.285641 -1663.980910 -11792.794280 q: -0.125418 0.989051 -0.073137 -0.026445 
time: 1403636646.763556, t: -2614.275481 -1952.438490 -12941.740366 q: 0.011582 0.981660 0.093410 -0.165783 
time: 1403636648.763556, t: -2478.767707 -2186.221685 -14180.387751 q: 0.207036 0.946833 0.163774 -0.183906 
time: 1403636650.763556, t: -2341.783709 -2390.194539 -15490.749856 q: 0.360426 0.880995 0.234438 -0.197434 
time: 1403636652.763556, t: -2183.862727 -2575.198234 -16875.567537 q: 0.551501 0.764345 0.271799 -0.194289 
time: 1403636654.763556, t: -2063.345336 -2758.887074 -18337.021875 q: 0.590976 0.699751 0.340482 -0.212529 
time: 1403636656.763556, t: -1970.968198 -2955.790410 -19872.456772 q: 0.686064 0.593741 0.371437 -0.197034 
time: 1403636658.763556, t: -1889.173318 -3177.276604 -21479.620883 q: 0.685753 0.533122 0.398550 -0.294418 
time: 1403636660.763556, t: -1802.446153 -3423.254405 -23156.460529 q: 0.669052 0.486722 0.427380 -0.364440 
time: 1403636662.763556, t: -1679.269434 -3683.891245 -24900.492839 q: 0.657801 0.460884 0.423082 -0.419386 
time: 1403636664.763556, t: -1561.535305 -3972.391223 -26705.948949 q: 0.597886 0.412849 0.453678 -0.516008 
time: 1403636666.763556, t: -1442.334608 -4283.779079 -28568.591149 q: 0.572003 0.349367 0.447069 -0.592355 
time: 1403636668.763556, t: -1334.365218 -4622.232191 -30483.060689 q: 0.529995 0.270408 0.471181 -0.651132 
time: 1403636670.763556, t: -1204.991748 -4974.526171 -32444.819431 q: -0.497924 -0.327379 -0.383553 0.705536 
time: 1403636672.763556, t: -1151.083105 -5369.895273 -34450.082061 q: -0.239528 -0.240477 -0.294867 0.893225 
time: 1403636674.763556, t: -1195.037848 -5791.101978 -36483.124422 q: -0.105149 -0.210502 -0.195674 0.952021 
time: 1403636676.763556, t: -1316.059919 -6211.087541 -38540.373290 q: 0.159985 -0.129301 0.002418 0.978611 
time: 1403636678.763556, t: -1498.789856 -6602.654759 -40622.118750 q: 0.408907 -0.038449 0.245445 0.878108 
time: 1403636680.763556, t: -1623.843339 -6945.421894 -42742.698767 q: 0.569519 -0.000786 0.400414 0.717855 
time: 1403636682.763556, t: -1728.600877 -7251.721137 -44907.991382 q: 0.626293 0.005461 0.406052 0.665469 
time: 1403636684.763556, t: -4299.099805 -6262.446487 -47094.649750 q: 0.921771 0.168197 0.282396 0.205671 
time: 1403636686.763556, t: -355.415081 -7470.153533 -49338.038486 q: 0.507980 0.100926 0.233456 0.822964 
time: 1403636688.763556, t: -330.333383 -7663.763625 -51583.480255 q: 0.611861 0.128669 0.212962 0.750812 
time: 1403636690.763556, t: -940.429883 -8019.181369 -53837.289435 q: 0.788840 0.110392 0.157224 0.583802 
time: 1403636692.763556, t: -1206.236768 -8256.277348 -56116.058964 q: 0.935817 -0.069912 0.049621 0.341902 
time: 1403636694.763556, t: -1618.018958 -8496.085603 -58498.236005 q: 0.968976 -0.189746 0.111538 0.112429 
time: 1403636696.763556, t: -1309.792740 -8752.030303 -60838.149070 q: 0.969763 -0.213909 0.080812 0.085283 
time: 1403636698.763556, t: -383.118702 -8798.934856 -63212.124638 q: 0.935005 -0.293726 -0.056641 0.190479 
time: 1403636700.763556, t: 13.866657 -8919.602223 -65572.748781 q: 0.733986 -0.648864 -0.110457 0.167449 
time: 1403636702.763556, t: 409.307268 -8984.456535 -67953.708113 q: 0.630146 -0.740128 -0.215238 0.093804 
time: 1403636704.763556, t: 910.492543 -8851.826323 -70371.094805 q: 0.645501 -0.668933 -0.363915 0.058501 
time: 1403636706.763556, t: 1560.007691 -8238.919728 -72930.443050 q: -0.327566 0.736004 0.592305 -0.013157 
time: 1403636708.763556, t: -3048.424919 -6114.069224 -75481.616807 q: -0.003923 -0.607034 0.794357 -0.022186 
time: 1403636710.763556, t: -83.248563 -5033.617704 -78092.840581 q: 0.042184 -0.094703 0.994205 0.028441 
time: 1403636712.763556, t: -857.672564 -4785.495133 -80782.514066 q: 0.032882 -0.382504 0.922642 -0.036623 
time: 1403636714.763556, t: -1406.058065 -4740.935199 -83533.281296 q: 0.060832 -0.570000 0.819183 -0.018393 
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time: 1403636718.763556, t: -2199.082163 -4978.354667 -89137.562828 q: -0.175093 0.816129 -0.454100 0.311559 
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time: 1403636728.763556, t: -2553.668629 -6244.246028 -103687.009031 q: 0.162944 0.983419 0.049531 -0.062309 
time: 1403636730.763556, t: -2300.717360 -6397.748557 -106771.144932 q: -0.011371 0.956525 0.250544 -0.148859 
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time: 1403636734.763556, t: -1685.613224 -6292.506680 -113416.676566 q: 0.137092 0.737288 0.656696 -0.079761 
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time: 1403636740.763556, t: -1609.465381 -6301.038051 -123839.674120 q: 0.247136 0.461564 0.849240 0.068369 
time: 1403636742.763556, t: -1638.364933 -6171.808297 -127510.476373 q: 0.237886 0.325862 0.886499 0.226590 
time: 1403636744.763556, t: -1731.521483 -6045.616955 -131151.142144 q: 0.314728 0.207938 0.902786 0.206603 
time: 1403636746.763556, t: -1698.672401 -6126.412484 -134837.450554 q: 0.232410 0.281625 0.926562 0.090309 
time: 1403636748.763556, t: -1955.931559 -5953.538572 -138596.843269 q: 0.106329 0.156618 0.981857 0.011015 
time: 1403636750.763556, t: -2243.462121 -5824.664386 -142466.483322 q: -0.059415 -0.115539 0.991076 -0.029799 
time: 1403636752.763556, t: -2554.785131 -5801.184740 -146380.592007 q: 0.075456 -0.315220 0.945130 -0.040898 
time: 1403636754.763556, t: -2861.042129 -5901.417937 -150267.528877 q: 0.110593 -0.464929 0.819230 -0.316975 
time: 1403636756.763556, t: -3134.722565 -6053.588584 -154158.466165 q: 0.095470 -0.547431 0.722564 -0.411225 
time: 1403636758.763556, t: -3379.416943 -6232.563944 -158045.365929 q: -0.118679 0.624187 -0.622391 0.457094 
time: 1403636760.763556, t: -3599.784768 -6388.534856 -161931.702481 q: -0.087990 0.712541 -0.593086 0.364408 
time: 1403636762.763556, t: -3808.676251 -6480.147813 -165875.190351 q: -0.031969 0.774354 -0.486254 0.403622 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720546604.231173645]: Shutdown request received.[0m
[33m[ WARN] [1720546604.231220758]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720546604.232180266]: Shutdown request received.[0m
[33m[ WARN] [1720546604.232209386]: Reason given for shutdown: [user request][0m
killed
