/SLAM-Hive/slam_hive_results/mapping_results/3156/2361_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-21.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720551341.768507740]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720551341.770336363]: init begins[0m
[31m[ERROR] [1720551341.771351840]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/d6f95108-3e24-11ef-872e-0242ac110005/roslaunch-c4bb7e82a83d-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://c4bb7e82a83d:42463/[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] [1720551342.874644886]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720551342.876226268]: 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] [1720551342.882293325]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720551342.882484072]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720551342.882507493]: 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] [1720551342.882726624]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720551342.882926874]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720551342.883082088]: 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://c4bb7e82a83d:11311/[0m
]2;roscore http://c4bb7e82a83d:11311/
[1msetting /run_id to d6f95108-3e24-11ef-872e-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] [1720551351.927529826]: 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: 316914495.28 
init first imu pose
averge acc 9.530741 -0.420674 -3.109175
init R0 
  0.312691   0.127356   0.941278
         0  -0.990971   0.134079
  0.949855 -0.0419253  -0.309867
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! 
[33m[ WARN] [1720551364.631214915]: gyroscope bias initial calibration  -0.03306 0.0258516 0.0477136[0m
[0m[ INFO] [1720551364.684199563]: Initialization finish![0m
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time: 1403636995.151666, t: -29404.723546 6382.419026 -21900.954233 q: 0.869656 -0.302762 0.278686 -0.272704 
time: 1403636996.151666, t: -30340.415218 6853.644883 -22563.646568 q: 0.907585 -0.283439 0.181103 -0.251303 
time: 1403636997.151666, t: -31348.722203 8283.998993 -23238.141708 q: 0.929994 -0.238552 0.209216 -0.185560 
time: 1403636998.151666, t: -31797.012001 7462.466161 -23963.194059 q: 0.967686 -0.048086 0.193700 -0.154115 
time: 1403636999.151666, t: -31910.368906 6108.455120 -24725.675147 q: 0.945938 -0.045703 0.269426 -0.174706 
time: 1403637000.151666, t: -32360.078979 5701.838191 -25482.515076 q: 0.952524 -0.036684 0.263280 -0.148444 
time: 1403637001.151666, t: -33215.441108 6200.579426 -26255.902141 q: 0.934276 -0.202338 0.258381 -0.139382 
time: 1403637002.151666, t: -33755.345269 5967.377578 -27061.108728 q: 0.964970 -0.116423 0.207570 -0.110428 
time: 1403637003.151666, t: -33895.365307 4951.113771 -27885.541456 q: 0.964510 -0.028237 0.236477 -0.114020 
time: 1403637004.151666, t: -34325.038812 4578.842799 -28725.140450 q: 0.980516 -0.006936 0.156571 -0.118434 
time: 1403637005.151666, t: -35168.095633 5054.093732 -29557.845213 q: 0.989675 -0.052747 0.101565 -0.086283 
time: 1403637006.151666, t: -36100.147611 6505.453654 -30436.113838 q: 0.986692 -0.121129 0.108097 0.009043 
time: 1403637007.151666, t: -36654.908804 7305.382482 -31344.512349 q: 0.992914 0.067312 0.090784 0.036735 
time: 1403637008.151666, t: -37038.246857 8354.513581 -32268.484305 q: 0.981805 0.148340 0.071069 0.094885 
time: 1403637009.151666, t: -37489.021133 8716.379899 -33205.502998 q: 0.971659 0.178307 0.040797 0.149733 
time: 1403637010.151666, t: -37551.297372 9935.584360 -34153.698036 q: 0.936385 0.273488 0.012086 0.219638 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720551506.597142275]: Shutdown request received.[0m
[33m[ WARN] [1720551506.597195588]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720551506.598053101]: Shutdown request received.[0m
[33m[ WARN] [1720551506.598082857]: Reason given for shutdown: [user request][0m
killed
