/SLAM-Hive/slam_hive_results/mapping_results/3151/2356_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-16.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720550394.776684489]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720550394.777674839]: init begins[0m
[31m[ERROR] [1720550394.778704807]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/a285b670-3e22-11ef-abb9-0242ac110005/roslaunch-0123e0007fd5-119.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://0123e0007fd5:37217/[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 [156][0m
[0m[ INFO] [1720550395.882758145]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720550395.883608746]: 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] [1720550395.889790129]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720550395.890028227]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720550395.890053321]: 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] [1720550395.890300935]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720550395.890531149]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720550395.890695657]: 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://0123e0007fd5:11311/[0m
]2;roscore http://0123e0007fd5:11311/
[1msetting /run_id to a285b670-3e22-11ef-abb9-0242ac110005[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 [249][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720550404.935977585]: 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: 316913548.30 
init first imu pose
averge acc 9.704770 -0.367023 -3.127050
init R0 
 0.308595  0.110881  0.944709
        0 -0.993182   0.11657
 0.951193 -0.035973 -0.306492
feature tracking not enough, please slowly move you device! 
feature tracking not enough, please slowly move you device! 
[0m[ INFO] [1720550411.323412094]: Initialization finish![0m
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killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720550559.581691557]: Shutdown request received.[0m
[33m[ WARN] [1720550559.581731320]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720550559.582736612]: Shutdown request received.[0m
[33m[ WARN] [1720550559.582767497]: Reason given for shutdown: [user request][0m
killed
