/SLAM-Hive/slam_hive_results/mapping_results/3138/2343_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-3.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720547919.307549209]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720547919.309029444]: init begins[0m
[31m[ERROR] [1720547919.310097356]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/df06f0ba-3e1c-11ef-9f0c-0242ac110005/roslaunch-8ebbeee05ebf-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://8ebbeee05ebf:42163/[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] [1720547920.414712365]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720547920.414980142]: 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] [1720547920.421519880]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720547920.421731112]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720547920.421755970]: 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] [1720547920.421981015]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720547920.422184202]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720547920.422362184]: 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://8ebbeee05ebf:11311/[0m
]2;roscore http://8ebbeee05ebf:11311/
[1msetting /run_id to df06f0ba-3e1c-11ef-9f0c-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_02_easy.bag  --clock 
[0m[ INFO] [1720547929.469216869]: 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: 316911072.83 
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] [1720547932.712091579]: gyroscope bias initial calibration -0.00344155   0.0294756    0.125922[0m
[0m[ INFO] [1720547932.747723945]: Initialization finish![0m
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time: 1403636867.701667, t: -0.062381 -0.110126 0.239663 q: -0.043659 0.906840 0.050613 0.416142 
optimize pose graph 
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time: 1403637009.601666, t: -0.213779 0.344814 0.051196 q: -0.074175 0.786825 0.034773 0.611716 
time: 1403637009.701667, t: -0.220594 0.338077 0.049896 q: -0.063181 0.792375 0.021633 0.606368 
time: 1403637009.801666, t: -0.220769 0.338674 0.049621 q: -0.062786 0.791672 0.018530 0.607429 
time: 1403637009.901666, t: -0.226457 0.338366 0.049718 q: -0.063336 0.791389 0.019534 0.607709 
time: 1403637010.001667, t: -0.227451 0.337846 0.049532 q: -0.063834 0.791401 0.019642 0.607638 
time: 1403637010.101666, t: -0.227835 0.337418 0.049788 q: -0.064777 0.791511 0.019380 0.607403 
time: 1403637010.201667, t: -0.228675 0.337365 0.050127 q: -0.064792 0.791623 0.019294 0.607258 
time: 1403637010.301666, t: -0.228661 0.337361 0.050165 q: -0.065015 0.791841 0.019172 0.606955 
time: 1403637010.401666, t: -0.228713 0.337341 0.050261 q: -0.064824 0.791795 0.019155 0.607035 
time: 1403637010.501667, t: -0.228713 0.337355 0.050232 q: -0.064713 0.791882 0.019096 0.606936 

Done.
time: 1403637010.601666, t: -0.228723 0.337379 0.050297 q: -0.064735 0.791939 0.019020 0.606861 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720548084.178443899]: Shutdown request received.[0m
[33m[ WARN] [1720548084.178490303]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720548084.179369779]: Shutdown request received.[0m
[33m[ WARN] [1720548084.179396169]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/df06f0ba-3e1c-11ef-9f0c-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
