/SLAM-Hive/slam_hive_results/mapping_results/3139/2344_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-4.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720548109.756260615]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720548109.757761442]: init begins[0m
[31m[ERROR] [1720548109.758776169]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/508b7c1a-3e1d-11ef-8c81-0242ac110005/roslaunch-f7d313c12830-118.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://f7d313c12830:39303/[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] [1720548110.862397440]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720548110.863413785]: 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] [1720548110.869841369]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720548110.870049821]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720548110.870076576]: ROW: 192 COL: 300 [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] [1720548110.870314845]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720548110.870506323]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720548110.870673667]: 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://f7d313c12830:11311/[0m
]2;roscore http://f7d313c12830:11311/
[1msetting /run_id to 508b7c1a-3e1d-11ef-8c81-0242ac110005[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] [1720548119.916368465]: 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: 316911263.28 
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
feature tracking not enough, please slowly move you device! 
[33m[ WARN] [1720548123.150744619]: gyroscope bias initial calibration -0.0260381 -0.0639443 -0.0518635[0m
[0m[ INFO] [1720548123.187090177]: Initialization finish![0m
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wait for imu ... 
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time: 1403637000.101666, t: 2.449084 -2.610771 0.225418 q: 0.054373 0.808347 -0.057366 0.583376 
time: 1403637000.201667, t: 2.410587 -2.567828 0.233283 q: 0.053396 0.810011 -0.057631 0.581128 
time: 1403637000.301666, t: 2.367830 -2.526811 0.240840 q: 0.051797 0.811294 -0.058491 0.579395 
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time: 1403637000.501667, t: 2.285084 -2.440158 0.251467 q: 0.051630 0.810613 -0.058934 0.580317 
time: 1403637000.601666, t: 2.242450 -2.392577 0.255196 q: 0.052356 0.810756 -0.058675 0.580079 
wait for imu ... 
wait for imu ... 
wait for imu ... 
wait for imu ... 
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time: 1403637001.101666, t: 2.035519 -2.129470 0.307877 q: 0.050842 0.808458 -0.064412 0.582805 
time: 1403637001.201667, t: 1.990866 -2.074141 0.307988 q: 0.050271 0.807687 -0.065817 0.583766 
time: 1403637001.301666, t: 1.940872 -2.019860 0.313569 q: 0.049634 0.807766 -0.066855 0.583593 
time: 1403637001.401666, t: 1.889524 -1.966486 0.327545 q: 0.047330 0.808984 -0.069039 0.581840 
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time: 1403637001.901666, t: 1.618153 -1.717431 0.387769 q: 0.048476 0.813871 -0.073631 0.574319 
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time: 1403637002.601666, t: 1.251314 -1.390705 0.356598 q: 0.057048 0.815271 -0.068796 0.572142 
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time: 1403637003.301666, t: 0.911999 -1.056416 0.373081 q: 0.055439 0.813240 -0.079077 0.573858 
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time: 1403637004.701667, t: 0.339199 -0.409944 0.434962 q: 0.044097 0.810438 -0.091115 0.577013 
time: 1403637004.801666, t: 0.311377 -0.366613 0.453120 q: 0.038075 0.809605 -0.099418 0.577239 
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time: 1403637009.401666, t: -0.136079 0.043369 0.119218 q: -0.001193 0.818804 0.007161 0.574028 
time: 1403637009.501667, t: -0.130100 0.034521 0.114294 q: -0.014350 0.810053 0.021705 0.585778 
time: 1403637009.601666, t: -0.129933 0.028333 0.105558 q: -0.055697 0.787423 0.012047 0.613773 
time: 1403637009.701667, t: -0.134151 0.026375 0.101703 q: -0.044260 0.792634 -0.001428 0.608087 
time: 1403637009.801666, t: -0.130278 0.029015 0.100338 q: -0.043723 0.791892 -0.004677 0.609076 
time: 1403637009.901666, t: -0.142403 0.025925 0.104627 q: -0.045071 0.791477 -0.003277 0.609526 
time: 1403637010.001667, t: -0.136476 0.031220 0.102550 q: -0.044846 0.791471 -0.003670 0.609549 
time: 1403637010.101666, t: -0.128273 0.039162 0.101932 q: -0.044923 0.791811 -0.004567 0.609094 
time: 1403637010.201667, t: -0.130963 0.038746 0.101885 q: -0.045478 0.791760 -0.004534 0.609120 
time: 1403637010.301666, t: -0.139942 0.032876 0.102767 q: -0.046599 0.791882 -0.004196 0.608879 
wait for imu ... 
time: 1403637010.401666, t: -0.142483 0.030709 0.104108 q: -0.046803 0.791881 -0.004040 0.608866 
time: 1403637010.501667, t: -0.143401 0.029289 0.104518 q: -0.046868 0.792033 -0.003897 0.608664 

Done.
time: 1403637010.601666, t: -0.142772 0.028969 0.103722 q: -0.047101 0.791994 -0.004261 0.608694 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720548274.612548809]: Shutdown request received.[0m
[33m[ WARN] [1720548274.612592789]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720548274.613439292]: Shutdown request received.[0m
[33m[ WARN] [1720548274.613464945]: Reason given for shutdown: [user request][0m
killed
