/SLAM-Hive/slam_hive_results/mapping_results/3134/2339_vins-fusion-stereo-imu+MH_01_easy+Image_comb_test-29.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720547075.372558703]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720547075.373701637]: init begins[0m
[31m[ERROR] [1720547075.374752784]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e800e4b6-3e1a-11ef-a19b-0242ac110005/roslaunch-ecbb989882e5-118.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://ecbb989882e5:36105/[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] [1720547076.478580623]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720547076.480052620]: 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] [1720547076.486036192]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720547076.486297074]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720547076.486323313]: 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] [1720547076.486576160]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720547076.486770229]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720547076.486937421]: 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://ecbb989882e5:11311/[0m
]2;roscore http://ecbb989882e5:11311/
[1msetting /run_id to e800e4b6-3e1a-11ef-a19b-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] [1720547085.533281339]: 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: 316910506.80 
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! 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720547107.735834288]: gyroscope bias initial calibration  2.24675e-08 -4.22703e-08  -7.5702e-08[0m
[0m[ INFO] [1720547107.807132798]: Initialization finish![0m
time: 1403636602.763556, t: -577.425021 -978.909086 -475.211672 q: 0.348423 -0.372064 0.624421 -0.591834 
time: 1403636604.763556, t: -745.043859 -1219.860617 -645.301800 q: 0.380054 -0.309755 0.661197 -0.567828 
time: 1403636606.763556, t: -1684.888596 -261.408966 -940.061075 q: -0.117119 -0.287466 -0.518003 0.797069 
time: 1403636608.763556, t: -2061.193642 -242.805445 -1264.602936 q: -0.114539 -0.388850 -0.554218 0.726993 
time: 1403636610.763556, t: -2458.869013 -226.803912 -1652.313727 q: -0.109759 -0.482781 -0.564893 0.660130 
time: 1403636612.763556, t: -2876.480776 -183.933004 -2104.579944 q: -0.102660 -0.570220 -0.568381 0.584169 
time: 1403636614.763556, t: -3298.390506 334.762520 -2559.990770 q: -0.033083 0.620990 0.729817 -0.283981 
time: 1403636616.763556, t: -3757.361686 304.276139 -3108.451564 q: -0.050524 0.658211 0.724360 -0.198766 
time: 1403636618.763556, t: -3972.119513 1349.151899 -3659.256122 q: -0.212653 0.773939 0.596338 -0.013380 
wait for imu ... 
time: 1403636620.763556, t: -4247.773397 1873.376487 -4222.108013 q: -0.303575 0.792511 0.514695 0.121894 
wait for imu ... 
time: 1403636622.763556, t: -5175.119958 588.811567 -4824.686764 q: -0.318665 0.696779 0.632108 0.115719 
time: 1403636624.763556, t: -5384.677163 1602.245640 -5396.626383 q: -0.362872 0.748734 0.497844 0.244688 
time: 1403636626.763556, t: -5772.519825 1934.547668 -5977.076998 q: -0.385279 0.716915 0.453150 0.363658 
time: 1403636628.763556, t: -6141.641059 2295.107685 -6557.204687 q: -0.360321 0.731773 0.340152 0.467947 
time: 1403636630.763556, t: -6511.294131 2645.791400 -7135.949273 q: -0.232662 0.755424 0.149527 0.594008 
time: 1403636632.763556, t: -4215.008149 4854.526369 -7681.186926 q: 0.060882 0.673014 -0.193991 0.711135 
time: 1403636636.763556, t: -7819.451540 3610.168775 -8880.442087 q: 0.022210 0.347574 0.038610 0.936594 
time: 1403636638.763556, t: -7585.431225 4807.138508 -9503.868851 q: 0.086555 0.215207 -0.128867 0.964151 
time: 1403636640.763556, t: -8216.871309 5087.245277 -10163.146307 q: 0.106283 0.064744 -0.127453 0.984006 
time: 1403636642.763556, t: -8729.208342 5530.342424 -10863.469501 q: 0.085534 -0.063501 -0.237730 0.965472 
time: 1403636644.763556, t: -9211.546876 6058.337956 -11613.451026 q: 0.103368 -0.215357 -0.281743 0.929278 
time: 1403636646.763556, t: -9258.577830 7034.872580 -12420.290877 q: 0.011790 -0.371280 -0.516519 0.771505 
time: 1403636648.763556, t: -9303.609982 7954.031266 -13259.959484 q: -0.021813 -0.411962 -0.574683 0.706789 
time: 1403636650.763556, t: -9456.430713 8832.793473 -14158.721014 q: 0.085847 0.533204 0.663044 -0.518360 
time: 1403636652.763556, t: -10467.827553 9172.198802 -15114.891223 q: 0.238616 0.568519 0.743860 -0.257918 
time: 1403636654.763556, t: -11520.653615 9450.147269 -16126.572553 q: 0.209195 0.579810 0.786916 -0.028652 
time: 1403636656.763556, t: -11815.510955 10451.190962 -17169.931243 q: 0.237088 0.592566 0.726817 0.253756 
time: 1403636658.763556, t: -12592.264844 11073.053829 -18251.207818 q: 0.213213 0.533274 0.725903 0.378450 
time: 1403636660.763556, t: -13095.003702 11991.155023 -19359.536352 q: 0.162989 0.476381 0.693073 0.515892 
time: 1403636662.763556, t: -13880.286395 12712.603974 -20495.716072 q: 0.066874 0.440013 0.651236 0.614660 
time: 1403636664.763556, t: -14672.356169 13414.762918 -21576.342688 q: -0.228529 0.283720 0.697597 0.616957 
time: 1403636666.763556, t: -15193.008669 14373.549390 -22700.994142 q: -0.284202 0.248280 0.765189 0.521605 
time: 1403636668.763556, t: -15886.659236 15237.705469 -23842.970278 q: -0.307112 0.136488 0.693759 0.636986 
time: 1403636670.763556, t: -16652.532516 16048.088258 -25004.379928 q: -0.411538 0.018174 0.668563 0.619136 
time: 1403636672.763556, t: -17479.059648 16796.070178 -26192.402540 q: -0.302053 -0.255168 0.675803 0.622048 
time: 1403636674.763556, t: -18289.597957 17537.118087 -27423.294616 q: -0.322767 -0.409516 0.640575 0.563722 
time: 1403636676.763556, t: -19120.462358 18222.720922 -28702.753303 q: 0.198433 0.639309 -0.585774 -0.456921 
time: 1403636678.763556, t: -19931.115111 18876.063654 -30034.734397 q: 0.051287 0.823469 -0.494840 -0.272768 
time: 1403636680.763556, t: -20715.209755 19493.768564 -31411.415435 q: -0.007850 0.921387 -0.379769 -0.082216 
time: 1403636682.763556, t: -21468.031883 20081.598703 -32821.681355 q: 0.102620 0.938725 -0.328597 0.017014 
time: 1403636684.763556, t: -22180.551509 20654.467349 -34256.275855 q: 0.199282 0.941458 -0.245026 0.117928 
time: 1403636686.763556, t: -22859.971253 21215.575106 -35708.774258 q: 0.319969 0.917479 -0.153907 0.179345 
time: 1403636688.763556, t: -23496.431402 21790.986511 -37176.854073 q: 0.429325 0.864492 -0.031453 0.259507 
time: 1403636690.763556, t: -24106.161655 22379.401378 -38661.559848 q: 0.456018 0.815932 0.033418 0.353817 
time: 1403636692.763556, t: -24685.225470 23006.031486 -40165.795751 q: 0.570286 0.696165 0.172240 0.400576 
time: 1403636694.763556, t: -25250.944231 23667.146136 -41700.160604 q: 0.612477 0.584877 0.262990 0.462199 
time: 1403636696.763556, t: -25804.303027 24375.143027 -43274.506873 q: 0.655788 0.428364 0.341353 0.519543 
time: 1403636698.763556, t: -26359.394960 25122.047152 -44901.183815 q: 0.701999 0.164247 0.261704 0.641663 
time: 1403636700.763556, t: -26913.433017 25909.385273 -46587.944195 q: 0.629783 -0.220317 0.046608 0.743412 
time: 1403636702.763556, t: -27463.469215 26730.310242 -48339.586651 q: 0.595804 -0.425836 -0.046391 0.679360 
time: 1403636704.763556, t: -27996.803569 27580.983830 -50157.147872 q: 0.620665 -0.537006 -0.058042 0.568357 
time: 1403636706.763556, t: -28502.873819 28454.663314 -52036.816370 q: 0.627962 -0.653357 -0.054279 0.419336 
time: 1403636708.763556, t: -30326.172324 28092.067292 -54073.600979 q: -0.428764 0.837388 0.232733 -0.246532 
time: 1403636710.763556, t: -31132.819457 28768.568442 -56049.638364 q: 0.504099 -0.815850 -0.149992 0.240364 
time: 1403636712.763556, t: -31146.889094 30141.393527 -58002.897349 q: -0.400168 0.915175 0.005900 0.047813 
time: 1403636714.763556, t: -32326.735886 30373.708874 -60033.259226 q: -0.356972 0.926572 -0.113928 0.032497 
time: 1403636716.763556, t: -32991.691135 31029.875089 -62079.947591 q: -0.348867 0.869701 -0.185786 0.295629 
time: 1403636718.763556, t: -31634.200041 33020.608327 -64152.320148 q: -0.446410 0.722973 -0.267158 0.454592 
time: 1403636720.763556, t: -34789.866039 31651.166899 -66320.198838 q: 0.688813 -0.596816 0.040522 -0.409518 
time: 1403636722.763556, t: -35731.836256 31841.985360 -68454.348382 q: -0.395124 0.744901 -0.332516 0.422413 
time: 1403636724.763556, t: -38605.507620 26660.828303 -70619.320932 q: -0.292034 0.917462 -0.126782 0.238552 
time: 1403636726.763556, t: -39366.232406 26684.920134 -72766.400466 q: -0.079319 0.847029 -0.446759 0.276870 
time: 1403636728.763556, t: -40139.958324 26830.787807 -74947.588812 q: -0.167847 -0.649350 0.676763 -0.303583 
time: 1403636730.763556, t: -40975.452878 26060.948971 -77128.688664 q: -0.267224 -0.462000 0.773620 -0.341554 
time: 1403636732.763556, t: -41705.473265 24890.116698 -79318.791087 q: -0.434405 -0.253536 0.801311 -0.323902 
time: 1403636734.763556, t: -42289.919748 23696.105826 -81517.051365 q: 0.523116 0.080096 -0.796372 0.292788 
time: 1403636736.763556, t: -42562.278530 22193.967747 -83739.849968 q: 0.577462 -0.066199 -0.742333 0.333313 
time: 1403636738.763556, t: -42581.927923 20689.987295 -85979.844245 q: 0.562803 -0.277374 -0.691267 0.358421 
time: 1403636740.763556, t: -41865.381678 18828.114319 -88248.042030 q: -0.443256 0.589742 0.641037 -0.211659 
time: 1403636742.763556, t: -40515.203169 17099.203147 -90518.236290 q: -0.490181 0.666039 0.551702 -0.108349 
time: 1403636744.763556, t: -38885.646286 15786.738396 -92805.060299 q: 0.501747 -0.756421 -0.419612 0.001571 
time: 1403636746.763556, t: -34734.068363 15315.933228 -95103.875019 q: -0.447393 0.803109 0.392962 0.020870 
time: 1403636748.763556, t: -32763.227297 15380.952798 -97451.297366 q: 0.597859 -0.745729 -0.291610 -0.037623 
time: 1403636750.763556, t: -32375.709526 14654.409773 -99822.388038 q: 0.697281 -0.694499 -0.173165 -0.038527 
time: 1403636752.763556, t: -32926.436586 13395.356783 -102236.745815 q: 0.837180 -0.538128 -0.065903 -0.072141 
time: 1403636754.763556, t: -32182.312265 12752.878255 -104708.665944 q: 0.947204 -0.316537 -0.027582 -0.042983 
time: 1403636756.763556, t: -33499.471433 11217.098824 -107242.160916 q: 0.979897 -0.164081 -0.022050 -0.111323 
time: 1403636758.763556, t: -35098.266204 9961.772526 -109836.467873 q: 0.967099 -0.017301 -0.166836 -0.191275 
time: 1403636760.763556, t: -34440.145795 9002.027011 -112463.824886 q: 0.935411 0.059361 -0.251026 -0.241803 
time: 1403636762.763556, t: -33246.275275 8152.923211 -115116.672337 q: 0.922046 0.145341 -0.296733 -0.201638 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720547274.252736517]: Shutdown request received.[0m
[33m[ WARN] [1720547274.252798310]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720547274.253743283]: Shutdown request received.[0m
[33m[ WARN] [1720547274.253774071]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/e800e4b6-3e1a-11ef-a19b-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
