/SLAM-Hive/slam_hive_results/mapping_results/3163/2368_vins-fusion-stereo-imu+MH_02_easy+Image_comb_test-28.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720552666.133453596]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720552666.135191848]: init begins[0m
[31m[ERROR] [1720552666.136288222]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/ec5afe18-3e27-11ef-bf3c-0242ac110005/roslaunch-d65ff060d8df-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://d65ff060d8df:40751/[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] [1720552667.240160717]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720552667.240977655]: 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] [1720552667.247153339]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720552667.247359952]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720552667.247389649]: 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] [1720552667.247624340]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720552667.247828054]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720552667.247992869]: 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://d65ff060d8df:11311/[0m
]2;roscore http://d65ff060d8df:11311/
[1msetting /run_id to ec5afe18-3e27-11ef-bf3c-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] [1720552676.292191958]: 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: 316915819.65 
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! 
[0m[ INFO] [1720552699.559595022]: Initialization finish![0m
time: 1403636879.651666, t: -34.962987 -149.241952 -67.073621 q: -0.321697 -0.447931 0.740549 -0.383999 
time: 1403636881.651666, t: -63.442590 -154.750504 -80.127801 q: -0.353487 -0.437763 0.718155 -0.409468 
time: 1403636883.651666, t: -99.815417 -151.382417 -95.884852 q: -0.442721 -0.378027 0.615578 -0.531185 
time: 1403636885.651666, t: -144.750991 -136.030121 -114.704469 q: -0.454281 -0.300819 0.626448 -0.557404 
time: 1403636887.651666, t: -201.120486 -106.211702 -138.497527 q: -0.451945 -0.218662 0.657807 -0.561448 
time: 1403636889.651666, t: -79.366521 144.730996 -351.977203 q: -0.159967 -0.087651 0.780302 -0.598211 
time: 1403636891.651666, t: -174.413908 -120.621777 -209.467226 q: -0.070108 0.729462 -0.620051 0.280191 
time: 1403636893.651666, t: -246.576254 -192.467126 -260.820403 q: -0.340925 -0.542028 0.707551 -0.298909 
time: 1403636895.651666, t: 165.337764 -415.326356 -316.665841 q: 0.363894 0.636028 -0.468918 0.493118 
time: 1403636897.651666, t: 35.577105 -509.357571 -380.853239 q: 0.169946 0.653086 -0.636186 0.373983 
time: 1403636899.651666, t: 219.748857 -705.572198 -489.871161 q: -0.277226 -0.591106 0.717125 -0.243867 
time: 1403636901.651666, t: 335.224884 -934.098532 -601.654227 q: -0.280563 -0.587132 0.728406 -0.214441 
time: 1403636903.651666, t: 446.137177 -1195.862346 -727.273110 q: -0.281055 -0.576359 0.742342 -0.194284 
time: 1403636905.651666, t: 618.231085 -1459.120550 -884.774574 q: 0.031211 0.667049 -0.596226 0.445630 
time: 1403636907.651666, t: 48.716086 -1984.025128 -1080.321301 q: 0.016462 0.407539 -0.626345 0.664329 
time: 1403636909.651666, t: 566.234960 -2201.507691 -1218.601058 q: 0.016704 0.479483 -0.588573 0.650691 
time: 1403636911.651666, t: 933.058636 -2445.171853 -1375.321697 q: -0.000302 -0.532149 0.672947 -0.513770 
time: 1403636913.651666, t: 962.791624 -2844.464669 -1548.337220 q: -0.062687 -0.476905 0.729867 -0.485723 
time: 1403636915.651666, t: 1004.126035 -3236.947814 -1742.099735 q: 0.096927 0.404090 -0.600038 0.683572 
time: 1403636917.651666, t: 1099.219385 -3626.812165 -1942.132931 q: -0.078715 -0.363252 0.714460 -0.592789 
time: 1403636921.651666, t: 1601.432569 -4380.814279 -2355.972482 q: -0.315426 -0.279961 0.832981 -0.358149 
time: 1403636923.651666, t: 3161.098797 -3975.059826 -2579.239509 q: 0.164026 0.635805 -0.530331 0.536280 
time: 1403636925.651666, t: 703.467436 -5396.809973 -2811.338207 q: -0.313821 -0.543747 0.702329 -0.335544 
time: 1403636927.651666, t: 843.036267 -5929.012656 -3061.740036 q: -0.376883 -0.448456 0.794291 -0.161084 
time: 1403636929.651666, t: 2024.102164 -6324.296177 -3337.737983 q: 0.040134 0.576145 -0.542674 0.609878 
time: 1403636931.651666, t: -154.830594 -6969.956092 -3618.337445 q: -0.383881 -0.271071 0.834282 -0.288321 
time: 1403636933.651666, t: -163.887702 -7621.574063 -3914.600533 q: -0.379578 -0.396563 0.810047 -0.206112 
time: 1403636935.651666, t: -1527.606875 -7875.591470 -4236.165247 q: 0.521588 0.342164 -0.770997 0.128191 
time: 1403636937.651666, t: -1049.881926 -8770.587574 -4562.942951 q: 0.507669 0.409620 -0.747755 0.123877 
time: 1403636939.651666, t: 107.715900 -9645.864020 -4922.832821 q: 0.638632 0.407459 -0.624102 0.191374 
time: 1403636941.651666, t: -1848.698345 -9930.604760 -5256.938434 q: 0.671077 0.429944 -0.593432 0.112436 
time: 1403636943.651666, t: -3147.243550 -10083.246297 -5595.990363 q: 0.639015 0.407714 -0.651588 -0.029374 
time: 1403636947.651666, t: 3173.504723 -11371.165233 -6385.482585 q: 0.593074 0.676838 -0.246105 0.359981 
time: 1403636949.651666, t: 1388.575645 374.555710 -6766.794379 q: -0.102089 0.485182 0.577801 0.648322 
time: 1403636951.651666, t: 5552.973026 -1436.623611 -7124.125808 q: 0.105043 0.719955 0.308402 0.612797 
time: 1403636953.651666, t: 5375.722055 -88.094246 -7570.525101 q: 0.195632 0.683679 0.329845 0.620897 
time: 1403636955.651666, t: 7615.923550 -1839.655508 -8026.237286 q: 0.275570 0.751720 0.141245 0.582262 
time: 1403636957.651666, t: 5632.452415 1612.099755 -8558.642368 q: -0.119754 0.885671 0.306662 0.327422 
time: 1403636959.651666, t: 6193.451945 2251.535686 -9123.101740 q: -0.159386 0.865502 0.405971 0.246354 
time: 1403636961.651666, t: 6849.868842 2850.777799 -9724.884274 q: -0.237818 0.840959 0.467048 0.134523 
time: 1403636963.651666, t: 7606.700001 3395.541459 -10364.208631 q: -0.345140 0.763339 0.546054 0.004183 
time: 1403636967.651666, t: 9569.912590 4106.126551 -11762.481971 q: -0.246543 0.804054 0.533076 -0.092431 
time: 1403636969.651666, t: 12614.867940 111.862530 -12524.995787 q: -0.020206 0.934599 0.352325 -0.044533 
time: 1403636971.651666, t: 13111.742830 1820.352327 -13344.343515 q: -0.185595 0.893840 0.403437 0.061991 
time: 1403636973.651666, t: 7253.603120 7757.271152 -14143.821787 q: -0.245902 0.519277 0.751770 -0.323613 
time: 1403636975.651666, t: 9599.100812 8023.629836 -14993.991677 q: 0.023072 0.688588 0.708017 -0.155007 
time: 1403636977.651666, t: 13863.613395 5614.376580 -15909.628872 q: 0.226594 0.841819 0.484634 0.071592 
time: 1403636979.651666, t: 14983.397936 5696.301664 -16866.059067 q: 0.166384 0.927277 0.206786 0.264034 
time: 1403636981.651666, t: 15664.772611 6470.320972 -17813.429385 q: -0.101987 0.925138 0.279360 0.235958 
time: 1403636983.651666, t: 15853.793904 7917.453249 -18794.175217 q: 0.020567 0.933452 0.228455 0.275777 
time: 1403636985.651666, t: 17931.865927 6802.112192 -19822.362148 q: -0.025356 0.935770 0.118541 0.331120 
time: 1403636987.651666, t: 17587.388852 9175.559227 -20883.838246 q: -0.092145 0.935270 0.186814 0.286148 
time: 1403636989.651666, t: 20119.148560 7374.646784 -21979.481452 q: -0.073990 0.958114 0.110664 0.253568 
time: 1403636991.651666, t: 19289.128241 10588.596856 -23113.773840 q: -0.119723 0.949662 0.197265 0.211885 
time: 1403636993.651666, t: 22969.321769 5797.499375 -24278.219699 q: -0.065579 0.943075 0.006314 0.325989 
time: 1403636995.651666, t: 19138.561130 13389.917019 -25447.245808 q: -0.364027 0.875518 0.283247 0.143957 
time: 1403636997.651666, t: 22856.948281 11680.626983 -26707.172218 q: -0.379030 0.856665 0.304994 0.171583 
time: 1403636999.651666, t: 22375.536432 14006.439027 -27992.569068 q: -0.195008 0.832174 0.480752 0.195792 
time: 1403637001.651666, t: 25364.101345 12519.598761 -29312.790139 q: -0.168768 0.876503 0.367262 0.261492 
time: 1403637003.651666, t: 22832.697587 16866.293735 -30624.222487 q: -0.410010 0.758030 0.473863 0.180931 
time: 1403637005.651666, t: 27338.033525 14329.527182 -32014.616151 q: -0.138334 0.837407 0.324524 0.417488 
time: 1403637007.651666, t: 24025.457366 19228.431955 -33425.193890 q: -0.341715 0.776411 0.497661 0.180969 
time: 1403637009.651666, t: 29576.085170 15932.241768 -34910.377196 q: -0.101784 0.811222 0.342803 0.462650 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720552830.931464389]: Shutdown request received.[0m
[33m[ WARN] [1720552830.931522073]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720552830.932329255]: Shutdown request received.[0m
[33m[ WARN] [1720552830.932354651]: Reason given for shutdown: [user request][0m
killed
