/SLAM-Hive/slam_hive_results/mapping_results/3136/2341_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-1.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720547534.713967985]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720547534.715879383]: init begins[0m
[31m[ERROR] [1720547534.716858743]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/f9ca9826-3e1b-11ef-bd26-0242ac110005/roslaunch-05f6885e425e-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://05f6885e425e:36961/[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
[1mROS_MASTER_URI=http://05f6885e425e:11311/[0m
]2;roscore http://05f6885e425e:11311/
[0m[ INFO] [1720547535.872255414]: Connected to master at [localhost:11311][0m
[1msetting /run_id to f9ca9826-3e1b-11ef-bd26-0242ac110005[0m
[0m[ INFO] [1720547535.880926422]: 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] [1720547535.907949462]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720547535.908314121]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720547535.908390370]: ROW: 384 COL: 601 [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] [1720547535.909017512]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720547535.909421342]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720547535.909824257]: 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 [231][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720547544.843522391]: Opening /slamhive/dataset/MH_02_easy.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403636856.854208   Duration: 0.000000 / 153.782490   Delay: 316910688.22 
init first imu pose
averge acc 9.439445 -0.460368 -3.138128
init R0 
  0.318508   0.137589   0.937882
         0   -0.98941   0.145148
   0.94792 -0.0462307  -0.315135
[33m[ WARN] [1720547548.093392698]: gyroscope bias initial calibration -0.0140384  0.0232025  0.0519494[0m
[0m[ INFO] [1720547548.160158896]: Initialization finish![0m
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time: 1403636859.901666, t: 0.026314 -0.074656 0.326207 q: -0.027990 0.805218 0.047709 0.590394 
time: 1403636860.001667, t: 0.024435 -0.075221 0.358355 q: -0.025701 0.802186 0.046583 0.594700 
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time: 1403636867.801666, t: -0.078114 -0.106890 0.225221 q: -0.035212 0.929731 0.042759 0.364050 
optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403636987.801666, t: 10.028568 -6.647386 -1.380294 q: 0.171100 0.769186 -0.227370 0.572172 
optimize pose graph 
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time: 1403636990.601666, t: 8.571170 -5.768894 -1.005041 q: 0.164975 0.781782 -0.229699 0.555733 
wait for imu ... 
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time: 1403636996.001667, t: 4.595422 -3.668439 -0.470448 q: 0.088886 0.799285 -0.172161 0.568861 
optimize pose graph 
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time: 1403636996.601666, t: 4.050830 -3.465193 -0.364050 q: 0.089919 0.808648 -0.135621 0.565341 
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time: 1403636998.201667, t: 3.133914 -3.027257 -0.185222 q: 0.012365 0.826106 -0.026106 0.562774 
optimize pose graph 
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time: 1403637000.501667, t: 2.546644 -2.375655 0.156808 q: 0.030438 0.811317 -0.028135 0.583135 
time: 1403637000.601666, t: 2.500987 -2.330007 0.157661 q: 0.031149 0.811432 -0.027713 0.582958 
wait for imu ... 
wait for imu ... 
time: 1403637000.701667, t: 2.453375 -2.284043 0.164528 q: 0.028989 0.810480 -0.029305 0.584314 
time: 1403637000.801666, t: 2.407944 -2.235015 0.180379 q: 0.029066 0.809850 -0.030080 0.585144 
time: 1403637000.901666, t: 2.358062 -2.186494 0.196036 q: 0.028504 0.809868 -0.031017 0.585098 
time: 1403637001.001667, t: 2.309328 -2.135784 0.206277 q: 0.028888 0.809552 -0.032077 0.585459 
time: 1403637001.101666, t: 2.255795 -2.085403 0.210027 q: 0.028601 0.809340 -0.032844 0.585723 
time: 1403637001.301666, t: 2.143625 -1.985193 0.217358 q: 0.026813 0.808745 -0.035208 0.586492 
time: 1403637001.401666, t: 2.081633 -1.935874 0.233663 q: 0.024417 0.810074 -0.037088 0.584643 
time: 1403637001.501667, t: 2.020693 -1.886736 0.255909 q: 0.024409 0.813092 -0.038392 0.580354 
time: 1403637001.601666, t: 1.956796 -1.839124 0.277008 q: 0.024732 0.814602 -0.039408 0.578152 
time: 1403637001.701667, t: 1.893938 -1.794244 0.293449 q: 0.025013 0.814764 -0.040108 0.577862 
time: 1403637001.801666, t: 1.830566 -1.748838 0.303582 q: 0.024359 0.813881 -0.041435 0.579040 
time: 1403637001.901666, t: 1.769917 -1.702122 0.304619 q: 0.025496 0.815410 -0.041509 0.576830 
time: 1403637002.001667, t: 1.706495 -1.658857 0.302023 q: 0.025851 0.816244 -0.041461 0.575637 
time: 1403637002.101666, t: 1.646328 -1.614054 0.294246 q: 0.026357 0.816825 -0.041842 0.574763 
time: 1403637002.201667, t: 1.586965 -1.570555 0.285012 q: 0.026089 0.817018 -0.042000 0.574488 
time: 1403637002.301666, t: 1.528706 -1.529364 0.271493 q: 0.027488 0.817024 -0.041277 0.574467 
optimize pose graph 
time: 1403637002.401666, t: 1.469715 -1.487323 0.262739 q: 0.029454 0.817552 -0.039569 0.573739 
time: 1403637002.501667, t: 1.412399 -1.448615 0.261118 q: 0.030851 0.816987 -0.038343 0.574552 
time: 1403637002.601666, t: 1.357544 -1.406506 0.268526 q: 0.033512 0.816643 -0.036444 0.575016 
time: 1403637002.701667, t: 1.301320 -1.364541 0.280794 q: 0.034701 0.816886 -0.036320 0.574608 
time: 1403637002.801666, t: 1.246770 -1.319727 0.293971 q: 0.034897 0.816651 -0.037296 0.574868 
time: 1403637002.901666, t: 1.192358 -1.274069 0.301246 q: 0.031844 0.816072 -0.040744 0.575632 
time: 1403637003.001667, t: 1.139972 -1.228822 0.299193 q: 0.031597 0.816270 -0.042310 0.575252 
time: 1403637003.101666, t: 1.088559 -1.181984 0.294023 q: 0.031542 0.816604 -0.044136 0.574644 
time: 1403637003.201667, t: 1.037642 -1.137841 0.283225 q: 0.032355 0.816125 -0.045202 0.575195 
time: 1403637003.301666, t: 0.986163 -1.091258 0.271547 q: 0.032329 0.815040 -0.046771 0.576608 
time: 1403637003.401666, t: 0.938395 -1.046085 0.264081 q: 0.032325 0.813706 -0.047980 0.578390 
time: 1403637003.501667, t: 0.886154 -1.001200 0.265314 q: 0.031727 0.812437 -0.049580 0.580070 
time: 1403637003.601666, t: 0.835071 -0.957311 0.271926 q: 0.031135 0.812660 -0.050876 0.579678 
time: 1403637003.701667, t: 0.785216 -0.913239 0.285070 q: 0.031073 0.812868 -0.051721 0.579314 
time: 1403637003.801666, t: 0.733015 -0.871658 0.292896 q: 0.029464 0.813302 -0.052048 0.578760 
time: 1403637003.901666, t: 0.680730 -0.829122 0.297747 q: 0.030884 0.815159 -0.049846 0.576262 
time: 1403637004.001667, t: 0.628423 -0.786397 0.292967 q: 0.031539 0.817752 -0.047176 0.572767 
time: 1403637004.101666, t: 0.578464 -0.746905 0.285860 q: 0.032252 0.819892 -0.044881 0.569845 
time: 1403637004.201667, t: 0.529661 -0.706197 0.273620 q: 0.032664 0.821103 -0.043276 0.568198 
time: 1403637004.301666, t: 0.487625 -0.668443 0.266748 q: 0.030450 0.821287 -0.042847 0.568088 
time: 1403637004.401666, t: 0.447092 -0.627701 0.268852 q: 0.028265 0.820183 -0.044611 0.569658 
time: 1403637004.501667, t: 0.408563 -0.589918 0.284171 q: 0.028259 0.815889 -0.046079 0.575677 
optimize pose graph 
time: 1403637004.601666, t: 0.368390 -0.549542 0.308845 q: 0.028004 0.813484 -0.049025 0.578841 
time: 1403637004.701667, t: 0.326310 -0.511936 0.339130 q: 0.019845 0.812917 -0.058211 0.579124 
time: 1403637004.801666, t: 0.285213 -0.477404 0.359267 q: 0.013277 0.812416 -0.066101 0.579167 
time: 1403637004.901666, t: 0.244084 -0.445248 0.366831 q: 0.012007 0.815250 -0.069981 0.574740 
time: 1403637005.001667, t: 0.203257 -0.418237 0.356143 q: 0.015512 0.819503 -0.069904 0.568583 
time: 1403637005.101666, t: 0.163883 -0.396442 0.341577 q: 0.023788 0.819529 -0.066039 0.568723 
time: 1403637005.201667, t: 0.127732 -0.378333 0.324341 q: 0.030945 0.818466 -0.062229 0.570337 
time: 1403637005.301666, t: 0.091486 -0.362099 0.301680 q: 0.034367 0.820414 -0.059835 0.567591 
time: 1403637005.401666, t: 0.058080 -0.345091 0.279199 q: 0.035433 0.821433 -0.058062 0.566234 
time: 1403637005.501667, t: 0.023985 -0.328397 0.256982 q: 0.036920 0.818423 -0.054187 0.570863 
time: 1403637005.601666, t: -0.009597 -0.310822 0.240045 q: 0.034957 0.817591 -0.053058 0.572283 
time: 1403637005.701667, t: -0.038663 -0.292355 0.232066 q: 0.028585 0.821740 -0.055487 0.566433 
time: 1403637005.801666, t: -0.064994 -0.275028 0.237268 q: 0.025504 0.823407 -0.056405 0.564065 
time: 1403637005.901666, t: -0.087491 -0.259146 0.249577 q: 0.028968 0.821819 -0.053259 0.566514 
time: 1403637006.001667, t: -0.108252 -0.244901 0.260016 q: 0.031654 0.819412 -0.051466 0.570012 
time: 1403637006.101666, t: -0.127835 -0.230309 0.265951 q: 0.029882 0.817478 -0.052686 0.572766 
time: 1403637006.201667, t: -0.147240 -0.215717 0.269862 q: 0.029017 0.817495 -0.053261 0.572733 
time: 1403637006.301666, t: -0.165992 -0.201663 0.271290 q: 0.026338 0.821685 -0.055130 0.566657 
time: 1403637006.401666, t: -0.182052 -0.188390 0.270907 q: 0.024013 0.828135 -0.056725 0.557134 
time: 1403637006.501667, t: -0.195078 -0.177026 0.268975 q: 0.017898 0.830735 -0.060893 0.553038 
time: 1403637006.601666, t: -0.202293 -0.169670 0.267119 q: 0.014217 0.826304 -0.058715 0.559975 
optimize pose graph 
time: 1403637006.701667, t: -0.206189 -0.164969 0.264248 q: 0.012379 0.821613 -0.048266 0.567863 
time: 1403637006.801666, t: -0.207726 -0.162065 0.258342 q: 0.006569 0.817734 -0.034208 0.574541 
time: 1403637006.901666, t: -0.210389 -0.159338 0.249446 q: -0.005107 0.817994 -0.018314 0.574913 
time: 1403637007.001667, t: -0.213158 -0.157577 0.239955 q: -0.014923 0.819469 0.003688 0.572917 
time: 1403637007.101666, t: -0.214967 -0.157495 0.230366 q: -0.022806 0.818248 0.022610 0.573967 
time: 1403637007.201667, t: -0.217589 -0.158220 0.220398 q: -0.029340 0.816122 0.036906 0.575953 
time: 1403637007.301666, t: -0.220114 -0.159223 0.211022 q: -0.030533 0.810993 0.048594 0.582235 
time: 1403637007.401666, t: -0.225417 -0.159500 0.201453 q: -0.031376 0.807565 0.055371 0.586335 
time: 1403637007.501667, t: -0.234156 -0.158386 0.190272 q: -0.033238 0.808941 0.057956 0.584081 
time: 1403637007.601666, t: -0.245114 -0.155717 0.177075 q: -0.034455 0.813496 0.058393 0.577605 
time: 1403637007.701667, t: -0.257408 -0.151585 0.162572 q: -0.034209 0.821693 0.057641 0.565975 
time: 1403637007.801666, t: -0.268074 -0.145951 0.150234 q: -0.032225 0.825308 0.057263 0.560846 
time: 1403637007.901666, t: -0.275512 -0.137954 0.141020 q: -0.035695 0.820448 0.052679 0.568169 
time: 1403637008.001667, t: -0.282483 -0.129362 0.133550 q: -0.041698 0.813979 0.045892 0.577575 
time: 1403637008.101666, t: -0.290697 -0.121721 0.125555 q: -0.038294 0.815774 0.044907 0.575351 
time: 1403637008.201667, t: -0.299510 -0.114347 0.117572 q: -0.033604 0.824934 0.044612 0.562462 
time: 1403637008.301666, t: -0.305775 -0.106802 0.113204 q: -0.028508 0.831127 0.045116 0.553515 
time: 1403637008.401666, t: -0.307538 -0.097858 0.113656 q: -0.025812 0.831343 0.044207 0.553397 
time: 1403637008.501667, t: -0.304948 -0.087258 0.118924 q: -0.028918 0.823940 0.039668 0.564547 
time: 1403637008.601666, t: -0.300428 -0.076265 0.124559 q: -0.031629 0.817833 0.035340 0.573498 
time: 1403637008.701667, t: -0.295913 -0.065787 0.125805 q: -0.036423 0.815747 0.029794 0.576491 
optimize pose graph 
time: 1403637008.801666, t: -0.291667 -0.056807 0.121834 q: -0.048631 0.819370 0.019487 0.570866 
time: 1403637008.901666, t: -0.286457 -0.051928 0.113298 q: -0.056415 0.823573 0.012996 0.564248 
time: 1403637009.001667, t: -0.279111 -0.053669 0.101493 q: -0.052851 0.823981 0.013738 0.563979 
time: 1403637009.101666, t: -0.269557 -0.061318 0.087151 q: -0.040715 0.822765 0.020698 0.566544 
time: 1403637009.201667, t: -0.258872 -0.072060 0.071454 q: -0.028769 0.821738 0.027998 0.568450 
time: 1403637009.301666, t: -0.245819 -0.083529 0.053505 q: -0.012586 0.821721 0.038431 0.568454 
time: 1403637009.401666, t: -0.233588 -0.092314 0.039829 q: -0.026476 0.817596 0.039673 0.573813 
time: 1403637009.501667, t: -0.230728 -0.100995 0.035633 q: -0.040142 0.808069 0.053836 0.585247 
time: 1403637009.601666, t: -0.231813 -0.107263 0.028551 q: -0.082407 0.785783 0.043157 0.611466 
time: 1403637009.701667, t: -0.242128 -0.113412 0.024772 q: -0.071236 0.791420 0.029956 0.606368 
time: 1403637009.801666, t: -0.242651 -0.113762 0.024946 q: -0.070984 0.790990 0.026812 0.607105 
time: 1403637009.901666, t: -0.244406 -0.114061 0.025288 q: -0.071343 0.791070 0.027648 0.606922 
time: 1403637010.001667, t: -0.244524 -0.114304 0.025914 q: -0.071620 0.791166 0.027648 0.606764 
time: 1403637010.101666, t: -0.244543 -0.114194 0.025918 q: -0.072359 0.791310 0.027310 0.606504 
time: 1403637010.201667, t: -0.244641 -0.114296 0.026093 q: -0.072460 0.791302 0.027184 0.606507 
time: 1403637010.301666, t: -0.244568 -0.114335 0.026247 q: -0.072698 0.791535 0.027056 0.606181 
time: 1403637010.401666, t: -0.244518 -0.114349 0.026417 q: -0.072526 0.791501 0.027038 0.606247 
time: 1403637010.501667, t: -0.244551 -0.114380 0.026630 q: -0.072434 0.791607 0.026996 0.606121 

Done.
time: 1403637010.601666, t: -0.244725 -0.114305 0.026742 q: -0.072447 0.791652 0.026928 0.606063 
optimize pose graph 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720547699.550327198]: Shutdown request received.[0m
[33m[ WARN] [1720547699.550365348]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720547699.551337091]: Shutdown request received.[0m
[33m[ WARN] [1720547699.551387636]: Reason given for shutdown: [user request][0m
killed
