/SLAM-Hive/slam_hive_results/mapping_results/3162/2367_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-27.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720552477.027186057]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720552477.028796068]: init begins[0m
[31m[ERROR] [1720552477.029885644]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/7ba47370-3e27-11ef-bd63-0242ac110005/roslaunch-6828a306f6e0-118.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://6828a306f6e0:35553/[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] [1720552478.183825139]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720552478.184867268]: Connected to master at [localhost:11311][0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
[1mROS_MASTER_URI=http://6828a306f6e0:11311/[0m
]2;roscore http://6828a306f6e0:11311/
[1msetting /run_id to 7ba47370-3e27-11ef-bd63-0242ac110005[0m
result path /home/output/vio.csv
[33m[ WARN] [1720552478.191437352]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720552478.191643473]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720552478.191670757]: 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] [1720552478.191880211]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720552478.192077100]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720552478.192268426]: 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 [245][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_02_easy.bag  --clock 
[0m[ INFO] [1720552487.187026107]: 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: 316915630.54 
init first imu pose
averge acc 9.674898 -0.483755 -3.234680
init R0 
  0.320251   0.140118   0.936913
         0  -0.989001   0.147908
  0.947333 -0.0473676  -0.316729
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! 
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] [1720552510.398084051]: gyroscope bias initial calibration -0.0371644 0.00558806  0.0190418[0m
[0m[ INFO] [1720552510.477438639]: Initialization finish![0m
time: 1403636879.651666, t: 648.605334 -182.909959 -438.309639 q: 0.947536 0.107849 -0.250302 0.167012 
time: 1403636881.651666, t: 52.470283 952.051998 -426.191892 q: 0.305445 0.330993 -0.011460 0.892757 
time: 1403636883.651666, t: 26.890271 1200.005221 -642.482645 q: 0.200493 0.205555 0.251342 0.924325 
time: 1403636885.651666, t: -31.216872 1461.217478 -902.491656 q: 0.093269 0.180370 0.375126 0.904460 
time: 1403636887.651666, t: -123.021000 1725.723157 -1203.986877 q: -0.010807 0.171165 0.465242 0.868410 
time: 1403636889.651666, t: -1897.783835 885.450255 -1631.725976 q: 0.535836 0.392365 -0.486339 -0.567806 
time: 1403636891.651666, t: -2292.468700 -35.536035 -2039.805959 q: 0.472830 0.751545 -0.414657 -0.199177 
time: 1403636893.651666, t: -2507.371054 74.083755 -2410.870232 q: 0.320917 0.774881 -0.494652 -0.227798 
time: 1403636895.651666, t: -2706.882682 503.331699 -2832.693758 q: 0.280698 0.799661 -0.504399 -0.165328 
time: 1403636897.651666, t: -2706.369240 -584.322086 -3289.965610 q: 0.197968 0.907764 -0.344374 -0.134834 
time: 1403636899.651666, t: -2995.002518 -446.360064 -3732.428055 q: 0.066629 0.924054 -0.376366 0.005745 
time: 1403636901.651666, t: -3103.011910 -670.593916 -4212.067595 q: -0.005388 0.959561 -0.269460 0.081274 
time: 1403636903.651666, t: -3179.784666 -912.698404 -4708.791566 q: -0.086129 0.971457 -0.152877 0.159630 
time: 1403636905.651666, t: -3428.476502 -921.472952 -5267.962785 q: -0.121645 0.988401 -0.021237 -0.088404 
time: 1403636907.651666, t: -3919.424964 -603.996482 -5842.945561 q: -0.120326 0.942965 -0.310383 0.000913 
time: 1403636909.651666, t: -3719.941023 -1177.485702 -6413.866845 q: -0.119074 0.981573 -0.052995 -0.139741 
time: 1403636911.651666, t: -3812.549279 -1359.210992 -7035.972876 q: -0.125104 0.983429 -0.003143 -0.131170 
time: 1403636913.651666, t: -4192.848350 -1310.329804 -7708.241246 q: -0.232653 0.932546 -0.119815 -0.248745 
time: 1403636915.651666, t: -4252.635790 -1526.702658 -8396.720050 q: -0.010173 0.995540 -0.044083 -0.082787 
time: 1403636917.651666, t: -3907.389099 -1921.230206 -9118.850477 q: 0.231420 0.959375 0.161381 0.000310 
time: 1403636919.651666, t: -4418.424947 -1878.164706 -9857.210104 q: 0.152217 0.987060 0.016320 -0.047708 
time: 1403636921.651666, t: -4240.588239 -2144.284233 -10619.990308 q: -0.029593 0.976158 0.182512 -0.113708 
time: 1403636923.651666, t: -4890.077928 -2036.858649 -11417.993913 q: 0.060870 0.993570 -0.020247 -0.093295 
time: 1403636925.651666, t: -5485.250923 -1766.965510 -12177.101424 q: 0.055859 0.965757 -0.238235 -0.086237 
time: 1403636927.651666, t: -5759.561846 -1689.153278 -12984.473215 q: 0.007100 0.981573 -0.190918 -0.003815 
time: 1403636929.651666, t: -5483.522335 -2200.963042 -13841.395482 q: -0.101668 0.911191 -0.391466 0.078414 
time: 1403636931.651666, t: -5143.593299 -2618.236644 -14735.314427 q: 0.116655 0.773483 -0.614439 0.102862 
time: 1403636933.651666, t: -5048.074060 -2941.005107 -15598.216325 q: 0.217691 0.718400 -0.655701 -0.081046 
time: 1403636935.651666, t: -4592.468499 -3215.983995 -16482.184933 q: 0.412605 0.776518 -0.472980 -0.055382 
time: 1403636937.651666, t: -5482.258072 -3383.264036 -17423.779489 q: 0.340111 0.832421 -0.437121 -0.018012 
time: 1403636939.651666, t: -5353.069661 -3639.963900 -18376.508210 q: 0.412146 0.804413 -0.427846 0.001864 
time: 1403636941.651666, t: -5942.800064 -3767.004628 -19348.562369 q: 0.251767 0.711004 -0.617496 -0.223125 
time: 1403636943.651666, t: -6369.099484 -3879.134350 -20389.747393 q: -0.177425 -0.642287 0.705546 0.241232 
time: 1403636945.651666, t: -5786.239491 -4352.589527 -21439.078639 q: 0.285774 0.747710 -0.574494 -0.170936 
time: 1403636947.651666, t: -5336.323277 -4638.594595 -22540.060793 q: 0.293865 0.873152 -0.388803 -0.009071 
time: 1403636949.651666, t: -5569.552343 -4878.411998 -23633.379765 q: -0.008754 0.991937 0.111268 0.060029 
time: 1403636951.651666, t: -5154.643364 -5056.682741 -24814.018084 q: 0.110254 0.986509 0.075061 0.094916 
time: 1403636953.651666, t: -4303.700768 -4902.905803 -26034.812216 q: 0.336120 0.914594 0.145535 0.171352 
time: 1403636955.651666, t: -3407.849542 -4208.800749 -27307.538467 q: 0.302101 0.913963 0.122745 0.241535 
time: 1403636957.651666, t: -3096.971489 -4199.086728 -28560.700851 q: -0.037709 0.941387 0.323349 0.088398 
time: 1403636959.651666, t: -2791.315633 -4201.053533 -29839.320765 q: -0.328201 0.830981 0.448201 -0.029515 
time: 1403636961.651666, t: -2474.044368 -4164.518768 -31140.619402 q: 0.526740 -0.680337 -0.499892 0.098972 
time: 1403636963.651666, t: -2143.266090 -4098.388440 -32458.911068 q: 0.721052 -0.433921 -0.518913 0.150087 
time: 1403636965.651666, t: -1798.914842 -4027.667304 -33796.134773 q: 0.788429 -0.251172 -0.531818 0.180175 
time: 1403636967.651666, t: -1438.617699 -3960.601129 -35155.358640 q: 0.827420 -0.234920 -0.494037 0.126950 
time: 1403636969.651666, t: -1060.889113 -3896.270957 -36538.606197 q: 0.826030 -0.186822 -0.519417 0.113919 
time: 1403636971.651666, t: -650.157897 -4385.183030 -37968.969314 q: 0.900342 0.012432 -0.427720 0.079284 
time: 1403636973.651666, t: -281.692126 -4942.721718 -39441.910721 q: 0.907461 0.107046 -0.403828 -0.044482 
time: 1403636975.651666, t: 190.709761 -5023.877163 -40954.937264 q: 0.919508 -0.118449 -0.364837 -0.085841 
time: 1403636977.651666, t: 723.460882 -4936.274419 -42515.482439 q: 0.911359 -0.162113 -0.361652 -0.111139 
time: 1403636979.651666, t: 1264.928957 -4736.136330 -44102.929905 q: 0.870901 -0.238263 -0.424852 -0.065290 
time: 1403636981.651666, t: 1820.195309 -4356.390424 -45716.451025 q: 0.886896 -0.172334 -0.428156 -0.019975 
time: 1403636983.651666, t: 2386.397957 -4294.807362 -47392.734661 q: 0.920202 -0.077775 -0.371595 -0.095371 
time: 1403636985.651666, t: 2997.364151 -3911.877885 -49165.329996 q: 0.943253 0.052619 -0.301006 -0.130002 
time: 1403636987.651666, t: 3492.336291 -5178.187739 -50957.615811 q: 0.930417 -0.109647 -0.272368 -0.219355 
time: 1403636989.651666, t: 4135.200400 -5304.664265 -52803.872947 q: 0.917036 0.048875 -0.312807 -0.242505 
time: 1403636991.651666, t: 4567.564848 -6062.869081 -54683.823753 q: 0.857424 0.096778 -0.381500 -0.331537 
time: 1403636995.651666, t: 5617.179928 -7410.014341 -58772.895562 q: 0.917843 -0.012849 -0.265728 -0.294596 
time: 1403636997.651666, t: 6270.843847 -7816.350516 -60829.185162 q: 0.921173 0.172258 -0.296344 -0.184249 
time: 1403636999.651666, t: 6925.118919 -8258.509036 -62956.728480 q: 0.873550 0.184937 -0.334378 -0.301495 
time: 1403637001.651666, t: 7584.408405 -8811.620483 -65166.986271 q: 0.942484 0.235446 -0.189087 -0.143304 
time: 1403637003.651666, t: 7613.185963 -10132.983563 -67441.566425 q: 0.921907 0.099100 -0.327224 -0.182186 
time: 1403637005.651666, t: 8387.585440 -10616.358178 -69753.558583 q: 0.903906 0.081660 -0.348425 -0.234277 
time: 1403637007.651666, t: 9022.977693 -11275.437312 -72109.735987 q: 0.849317 0.227573 -0.389638 -0.273959 
time: 1403637009.651666, t: 9694.276634 -11933.200655 -74528.257671 q: 0.855820 0.267377 -0.366321 -0.248780 
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720552641.736249473]: Shutdown request received.[0m
[33m[ WARN] [1720552641.736281205]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720552641.737175982]: Shutdown request received.[0m
[33m[ WARN] [1720552641.737217407]: Reason given for shutdown: [user request][0m
killed
