/SLAM-Hive/slam_hive_results/mapping_results/3132/2337_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-27.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720546628.873755494]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720546628.874982563]: init begins[0m
[31m[ERROR] [1720546628.876004775]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ddde41f0-3e19-11ef-b4f8-0242ac110005/roslaunch-58b9e8a629ef-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://58b9e8a629ef:37793/[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] [1720546629.980939302]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720546629.981568553]: 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] [1720546629.988015347]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720546629.988234730]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720546629.988271291]: ROW: 240 COL: 376 [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] [1720546629.988516904]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720546629.988760191]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720546629.988903586]: 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://58b9e8a629ef:11311/[0m
]2;roscore http://58b9e8a629ef:11311/
[1msetting /run_id to ddde41f0-3e19-11ef-b4f8-0242ac110005[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] [1720546639.032272496]: 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: 316910060.30 
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! 
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] [1720546661.253584796]: gyroscope bias initial calibration 0.00236039  0.0171163 0.00431721[0m
[0m[ INFO] [1720546661.336684716]: Initialization finish![0m
time: 1403636600.763556, t: -36.799101 -690.155849 -222.552160 q: -0.202892 0.605551 -0.597942 0.484365 
time: 1403636602.763556, t: -75.749242 -894.103055 -308.636382 q: 0.231596 -0.558546 0.645892 -0.466061 
time: 1403636604.763556, t: 263.994315 -1059.914178 -412.759583 q: 0.021201 -0.604854 0.663199 -0.440306 
time: 1403636606.763556, t: 306.247046 -1290.378837 -517.703724 q: 0.013655 -0.591396 0.685069 -0.425142 
time: 1403636608.763556, t: 255.515377 -1556.755503 -621.341146 q: 0.013529 -0.539578 0.692148 -0.479170 
time: 1403636612.763556, t: 1297.947495 -1688.158839 -851.663526 q: 0.042980 0.705980 -0.577941 0.407097 
time: 1403636614.763556, t: 2039.475802 -1463.297999 -1040.941389 q: 0.104166 0.824645 -0.341500 0.438734 
time: 1403636616.763556, t: 2405.739060 -1486.277725 -1173.763230 q: 0.144244 0.821834 -0.351644 0.424416 
time: 1403636618.763556, t: 2549.638241 -1906.727026 -1299.947720 q: 0.077939 0.880513 -0.338822 0.322213 
time: 1403636620.763556, t: 3130.932068 -1718.537567 -1493.672899 q: 0.183690 0.791565 -0.307609 0.495035 
time: 1403636622.763556, t: 3693.644439 -1288.751915 -1654.163813 q: 0.102438 0.803671 -0.297353 0.505174 
time: 1403636624.763556, t: 4111.716135 -1131.562792 -1817.709834 q: 0.158277 0.812251 -0.306437 0.470418 
time: 1403636626.763556, t: 4442.274841 -1357.852616 -1988.352847 q: 0.138743 0.818697 -0.275444 0.484372 
time: 1403636628.763556, t: 4779.321418 -1589.003349 -2167.155365 q: 0.152448 0.808926 -0.330030 0.462037 
time: 1403636630.763556, t: 5112.200880 -1855.151645 -2353.771563 q: 0.253324 0.765368 -0.437151 0.398670 
time: 1403636632.763556, t: 5119.538077 -2721.021690 -2533.607189 q: 0.265965 0.787263 -0.397963 0.388722 
time: 1403636634.763556, t: 5539.488777 -2917.923157 -2751.001021 q: 0.312343 0.787963 -0.384068 0.366125 
time: 1403636636.763556, t: 5907.842620 -3221.177155 -2968.880102 q: -0.049839 0.867060 -0.036197 0.494382 
time: 1403636638.763556, t: 5593.613295 -4320.932992 -3189.766813 q: 0.162545 0.833755 -0.430353 0.305334 
time: 1403636640.763556, t: 6772.835020 -3788.748730 -3441.940927 q: -0.134656 0.844419 -0.094070 0.509878 
time: 1403636642.763556, t: 7317.794249 -3907.229609 -3680.816930 q: -0.086127 0.878882 -0.066679 0.464438 
time: 1403636644.763556, t: 6888.896030 -5256.340355 -3941.345106 q: 0.020011 0.772534 -0.252412 0.582305 
time: 1403636646.763556, t: 7474.421334 -5434.695163 -4188.789454 q: 0.125485 0.747687 -0.354257 0.547467 
time: 1403636648.763556, t: 7992.303219 -5674.307620 -4441.563797 q: 0.244817 0.686479 -0.495339 0.472706 
time: 1403636650.763556, t: 8529.433919 -5892.838788 -4699.285985 q: 0.343044 0.610590 -0.591326 0.399794 
time: 1403636652.763556, t: 9068.156248 -6106.764271 -4962.372354 q: -0.433160 -0.473983 0.716262 -0.273278 
time: 1403636654.763556, t: 7527.687081 -7952.707468 -5257.123310 q: -0.282081 -0.243623 0.905457 -0.203043 
time: 1403636656.763556, t: 10525.928414 -5769.109871 -5541.573538 q: -0.415088 -0.428033 0.797648 -0.090815 
time: 1403636658.763556, t: 10638.744541 -6738.533472 -5842.929516 q: -0.371792 -0.421843 0.820689 -0.101436 
time: 1403636660.763556, t: 10540.844040 -7772.601737 -6154.309695 q: -0.338623 -0.405189 0.830941 -0.175192 
time: 1403636662.763556, t: 11111.657312 -8021.334848 -6474.065873 q: -0.345420 -0.387148 0.830756 -0.201607 
time: 1403636664.763556, t: 12034.401952 -7801.318376 -6812.587757 q: 0.018477 0.533209 -0.554012 0.639076 
time: 1403636666.763556, t: 11763.271707 -8940.173691 -7163.529728 q: -0.061425 0.488691 -0.378633 0.783610 
time: 1403636668.763556, t: 12227.732921 -9264.476807 -7533.091913 q: -0.099045 0.489358 -0.318576 0.805747 
time: 1403636670.763556, t: 12567.390448 -9700.191858 -7919.237145 q: -0.266577 0.398415 -0.168271 0.861329 
time: 1403636672.763556, t: 12832.544042 -10198.292139 -8324.428113 q: -0.227637 0.375675 0.169447 0.882234 
time: 1403636674.763556, t: 13067.491618 -10712.598110 -8745.441822 q: -0.313229 0.302884 0.378663 0.816556 
time: 1403636676.763556, t: 13292.204367 -11231.074340 -9184.555401 q: -0.311915 0.121289 0.683441 0.648773 
time: 1403636678.763556, t: 13484.475857 -11771.327465 -9642.330093 q: -0.278078 -0.106683 0.882078 0.365007 
time: 1403636680.763556, t: 13653.600047 -12329.443002 -10120.191582 q: -0.218941 -0.274232 0.930816 0.102190 
time: 1403636682.763556, t: 13800.041964 -12905.701848 -10618.587894 q: -0.202074 -0.270288 0.940772 -0.032526 
time: 1403636684.763556, t: 14194.870151 -13376.264940 -11129.826423 q: 0.034836 -0.423835 0.758347 -0.494024 
time: 1403636686.763556, t: 14202.490641 -14058.090006 -11672.773485 q: 0.109710 -0.509140 0.665507 -0.534641 
time: 1403636688.763556, t: 15109.852268 -14384.553831 -12241.649247 q: -0.202937 0.512038 -0.445407 0.705865 
time: 1403636690.763556, t: 15714.979458 -14826.151440 -12826.083789 q: -0.366781 0.411157 -0.269924 0.789660 
time: 1403636692.763556, t: 16015.487120 -15450.546503 -13437.193761 q: -0.364786 0.319997 -0.104590 0.868098 
time: 1403636694.763556, t: 16788.892987 -15837.068886 -14092.101666 q: 0.534459 -0.075617 -0.160432 -0.826376 
time: 1403636696.763556, t: 15339.689275 -17190.938204 -14785.360953 q: -0.406246 0.000494 0.217079 0.887604 
time: 1403636698.763556, t: 12857.041827 -17974.752625 -15494.941313 q: -0.295363 0.125919 0.214164 0.922518 
time: 1403636700.763556, t: 11586.364730 -18390.581369 -16213.807008 q: -0.211009 0.166162 -0.212922 0.939431 
time: 1403636702.763556, t: 10929.791445 -18966.951890 -16968.848170 q: -0.138786 0.159749 -0.339425 0.916520 
time: 1403636704.763556, t: 11022.219999 -19914.188486 -17745.185135 q: -0.083370 0.159602 0.169960 0.968860 
time: 1403636706.763556, t: 14246.192610 -21220.719971 -18555.539885 q: -0.215735 0.044873 0.336928 0.915382 
time: 1403636708.763556, t: 20450.827259 -17986.737787 -19392.260615 q: 0.603920 0.103828 -0.353989 -0.706535 
time: 1403636710.763556, t: 22060.200751 -15456.418578 -20237.166896 q: 0.748749 0.173930 -0.314304 -0.557079 
time: 1403636712.763556, t: 22795.986826 -13455.298639 -21109.515978 q: 0.766127 0.436485 -0.287967 -0.373638 
time: 1403636714.763556, t: 22399.598135 -10317.144195 -22041.565322 q: 0.711508 0.525985 -0.285115 -0.368518 
time: 1403636716.763556, t: 22670.794227 -9360.375725 -23015.512252 q: 0.515202 0.745070 -0.399106 -0.141956 
time: 1403636718.763556, t: 22979.176042 -8520.655155 -24015.579935 q: 0.215614 0.879568 -0.418845 0.066632 
time: 1403636720.763556, t: 24044.599910 -8659.754263 -25047.775873 q: 0.117012 0.873052 -0.446286 0.157848 
time: 1403636722.763556, t: 24766.596143 -8373.766636 -26109.179294 q: 0.112585 0.811309 -0.518200 0.246111 
time: 1403636724.763556, t: 26377.423643 -10325.598344 -27208.589786 q: 0.103927 0.781128 -0.494058 0.367349 
time: 1403636726.763556, t: 27260.101578 -10883.578824 -28330.075139 q: -0.082600 0.728529 -0.425603 0.530362 
time: 1403636728.763556, t: 27522.635651 -14468.583010 -29513.165219 q: -0.092896 0.809990 -0.305124 0.492124 
time: 1403636730.763556, t: 27764.904013 -15799.569661 -30715.954258 q: -0.204385 0.825349 -0.181082 0.494201 
time: 1403636732.763556, t: 28166.446607 -16748.157328 -31943.212189 q: -0.115163 0.891654 -0.107300 0.424473 
time: 1403636734.763556, t: 29118.787136 -16755.764994 -33074.594047 q: -0.004658 0.927246 0.028480 0.373340 
time: 1403636736.763556, t: 29001.562079 -18407.208932 -34326.546312 q: -0.036449 0.939036 0.112462 0.322854 
time: 1403636738.763556, t: 30279.947197 -18208.244373 -35591.469100 q: -0.008321 0.972988 0.122946 0.195216 
time: 1403636740.763556, t: 31708.978063 -17616.132304 -36936.029211 q: 0.365205 0.835212 0.244960 0.330215 
time: 1403636742.763556, t: 31677.624709 -19510.596943 -38321.552135 q: 0.158097 0.914142 0.130814 0.349625 
time: 1403636744.763556, t: 33154.236825 -18955.516987 -39721.122918 q: 0.115807 0.857800 0.153099 0.476790 
time: 1403636746.763556, t: 32206.483189 -21741.232884 -41120.690193 q: 0.142289 0.917438 0.210074 0.306482 
time: 1403636748.763556, t: 34617.744131 -20087.927020 -42610.918503 q: 0.017748 0.900270 0.232013 0.367925 
time: 1403636750.763556, t: 35561.832363 -20493.121946 -44130.626643 q: 0.268982 0.801223 0.452496 0.284494 
time: 1403636752.763556, t: 36924.862456 -19808.582303 -45742.448936 q: 0.264448 0.643977 0.711994 0.091791 
time: 1403636754.763556, t: 38330.595102 -17300.589867 -47406.663466 q: 0.188262 0.339590 0.916965 -0.091711 
time: 1403636756.763556, t: 38560.223451 -20907.126658 -49130.664706 q: -0.053357 0.565539 0.803014 -0.180244 
time: 1403636758.763556, t: 40101.487151 -18399.078951 -50907.754473 q: 0.063865 0.423016 0.888327 -0.166893 
time: 1403636760.763556, t: 40440.117817 -14347.801574 -52711.873440 q: 0.121082 0.433602 0.870873 -0.197256 
time: 1403636762.763556, t: 41212.393664 -21456.226295 -54580.663482 q: -0.471940 0.719094 0.406900 -0.307585 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720546827.726090854]: Shutdown request received.[0m
[33m[ WARN] [1720546827.726149637]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720546827.727055310]: Shutdown request received.[0m
[33m[ WARN] [1720546827.727098183]: Reason given for shutdown: [user request][0m
killed
