/SLAM-Hive/slam_hive_results/mapping_results/3167/2372_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-2.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720553430.218354697]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720553430.220216195]: init begins[0m
[31m[ERROR] [1720553430.221295514]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/b3c8cfb0-3e29-11ef-92c7-0242ac110005/roslaunch-e9e6fcabe650-118.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://e9e6fcabe650:38683/[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] [1720553431.326057277]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720553431.326762091]: 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] [1720553431.333288538]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720553431.333560761]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720553431.333586657]: ROW: 288 COL: 451 [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] [1720553431.333833951]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720553431.334101227]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720553431.334277189]: 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://e9e6fcabe650:11311/[0m
]2;roscore http://e9e6fcabe650:11311/
[1msetting /run_id to b3c8cfb0-3e29-11ef-92c7-0242ac110005[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_03_medium.bag  --clock 
[0m[ INFO] [1720553440.372970323]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 316916310.04 
init first imu pose
averge acc 9.410943 -0.689906 -2.446931
init R0 
 0.260797  0.261977  0.929168
        0 -0.962476  0.271368
 0.965394 -0.070772 -0.251011
[33m[ WARN] [1720553441.814115801]: gyroscope bias initial calibration -0.00220092   0.0205209   0.0776633[0m
[0m[ INFO] [1720553441.899077763]: Initialization finish![0m
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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optimize pose graph 
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time: 1403637206.888319, t: 1.874005 -2.945381 0.153214 q: 0.163267 0.778620 -0.234020 0.558865 
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time: 1403637207.588319, t: 1.771972 -2.778983 0.156746 q: 0.162140 0.776900 -0.244498 0.557097 
optimize pose graph 
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optimize pose graph 
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time: 1403637211.788319, t: 4.069698 -3.191092 -0.296744 q: 0.114923 0.800845 -0.218996 0.545418 
optimize pose graph 
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wait for imu ... 
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wait for imu ... 
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optimize pose graph 
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time: 1403637251.388319, t: 2.370088 -2.752278 0.186452 q: 0.070601 0.803751 -0.166780 0.566732 
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time: 1403637251.688319, t: 2.454691 -2.595993 0.316672 q: 0.059616 0.805573 -0.124510 0.576190 
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time: 1403637252.088319, t: 2.531482 -2.441582 0.408893 q: 0.063810 0.797998 -0.091869 0.592189 
optimize pose graph 
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time: 1403637253.888319, t: 2.261530 -2.095082 0.341541 q: 0.068843 0.804749 -0.094531 0.581982 
time: 1403637253.988319, t: 2.232622 -2.088235 0.356242 q: 0.069407 0.804757 -0.094497 0.581910 
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optimize pose graph 
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time: 1403637255.388319, t: 1.719287 -1.762600 0.525817 q: 0.019499 0.808343 -0.033071 0.587458 
time: 1403637255.488319, t: 1.672466 -1.728041 0.530927 q: 0.012673 0.809601 -0.022962 0.586395 
time: 1403637255.588319, t: 1.627182 -1.695051 0.532365 q: 0.006513 0.810505 -0.008582 0.585633 
time: 1403637255.688319, t: 1.580276 -1.660149 0.527853 q: -0.001135 0.811363 0.007622 0.584492 
time: 1403637255.788319, t: 1.530375 -1.624758 0.522677 q: -0.010241 0.813472 0.026228 0.580923 
time: 1403637255.888319, t: 1.479758 -1.588538 0.525085 q: -0.021832 0.815767 0.044909 0.576220 
time: 1403637255.988319, t: 1.428870 -1.552314 0.537871 q: -0.033571 0.815964 0.061174 0.573876 
time: 1403637256.088319, t: 1.375302 -1.516481 0.560227 q: -0.040377 0.815718 0.074280 0.572238 
time: 1403637256.188319, t: 1.321488 -1.479624 0.584295 q: -0.044870 0.813186 0.082199 0.574420 
time: 1403637256.288319, t: 1.267752 -1.441615 0.602905 q: -0.048566 0.809230 0.086174 0.579105 
time: 1403637256.388319, t: 1.214506 -1.401520 0.613854 q: -0.049251 0.807058 0.088378 0.581739 
time: 1403637256.488319, t: 1.158795 -1.360079 0.616872 q: -0.047463 0.805949 0.089291 0.583284 
optimize pose graph 
time: 1403637256.588319, t: 1.103129 -1.315862 0.615744 q: -0.047723 0.805494 0.087473 0.584166 
time: 1403637256.688319, t: 1.044409 -1.270820 0.607127 q: -0.051463 0.810653 0.081938 0.577477 
time: 1403637256.788319, t: 0.984741 -1.223537 0.593260 q: -0.060251 0.817840 0.072491 0.567673 
time: 1403637256.888319, t: 0.929503 -1.175817 0.578852 q: -0.065821 0.819533 0.066798 0.565306 
time: 1403637256.988319, t: 0.877776 -1.130875 0.566845 q: -0.065440 0.816047 0.072100 0.569725 
time: 1403637257.188319, t: 0.770568 -1.042660 0.563157 q: -0.066516 0.810112 0.091740 0.575219 
time: 1403637257.288319, t: 0.718939 -0.998208 0.572150 q: -0.068383 0.810470 0.098971 0.573295 
time: 1403637257.388319, t: 0.668425 -0.954262 0.586335 q: -0.068717 0.811169 0.106178 0.570972 
time: 1403637257.488319, t: 0.619235 -0.909162 0.600317 q: -0.069512 0.811329 0.110736 0.569781 
time: 1403637257.588319, t: 0.570170 -0.862349 0.608893 q: -0.068919 0.812444 0.114537 0.567509 
time: 1403637257.688319, t: 0.524527 -0.813650 0.611291 q: -0.071517 0.816472 0.114541 0.561372 
time: 1403637257.788319, t: 0.479175 -0.763260 0.608815 q: -0.075352 0.819625 0.116882 0.555766 
time: 1403637257.888319, t: 0.436241 -0.711642 0.599777 q: -0.080686 0.821983 0.122334 0.550335 
time: 1403637257.988319, t: 0.398551 -0.660625 0.586722 q: -0.089076 0.822107 0.130416 0.546990 
time: 1403637258.088319, t: 0.366166 -0.608359 0.575555 q: -0.100833 0.820441 0.141980 0.544565 
time: 1403637258.188319, t: 0.340699 -0.553834 0.570243 q: -0.112012 0.813460 0.159162 0.548090 
time: 1403637258.288319, t: 0.314771 -0.497728 0.572488 q: -0.119486 0.804472 0.175718 0.554681 
time: 1403637258.388319, t: 0.292911 -0.443253 0.571550 q: -0.127480 0.798169 0.187141 0.558259 
time: 1403637258.488319, t: 0.269961 -0.387409 0.561870 q: -0.138978 0.797330 0.191007 0.555398 
time: 1403637258.588319, t: 0.249119 -0.332391 0.545572 q: -0.148250 0.798906 0.191772 0.550449 
optimize pose graph 
time: 1403637258.688319, t: 0.232101 -0.279935 0.526119 q: -0.150961 0.795752 0.193407 0.553700 
time: 1403637258.888319, t: 0.201434 -0.183360 0.484190 q: -0.153708 0.791387 0.192948 0.559332 
time: 1403637258.988319, t: 0.188665 -0.139736 0.469011 q: -0.155410 0.791738 0.190723 0.559128 
time: 1403637259.088319, t: 0.175651 -0.098318 0.464978 q: -0.155147 0.792415 0.189003 0.558825 
time: 1403637259.188319, t: 0.163646 -0.060500 0.473082 q: -0.155792 0.792164 0.187643 0.559460 
time: 1403637259.288319, t: 0.150759 -0.026796 0.489155 q: -0.156244 0.791647 0.185706 0.560710 
time: 1403637259.388319, t: 0.137166 0.002619 0.504096 q: -0.156993 0.792306 0.183774 0.560207 
time: 1403637259.488319, t: 0.123345 0.027959 0.515608 q: -0.164357 0.792292 0.177393 0.560172 
time: 1403637259.588319, t: 0.112697 0.049302 0.521860 q: -0.168135 0.792447 0.173937 0.559914 
time: 1403637259.688319, t: 0.101699 0.062055 0.527869 q: -0.164772 0.792344 0.175553 0.560555 
time: 1403637259.788319, t: 0.092891 0.071896 0.527714 q: -0.157744 0.795203 0.179984 0.557112 
time: 1403637259.888319, t: 0.083945 0.077358 0.526957 q: -0.156403 0.795448 0.180675 0.556918 
time: 1403637259.988319, t: 0.077704 0.080544 0.520197 q: -0.160213 0.793542 0.177934 0.559430 
time: 1403637260.088319, t: 0.071316 0.078853 0.510315 q: -0.156595 0.791389 0.180812 0.562573 
time: 1403637260.188319, t: 0.065702 0.074228 0.495250 q: -0.150572 0.791670 0.185400 0.562329 
time: 1403637260.288319, t: 0.059763 0.067943 0.477318 q: -0.143132 0.791811 0.191343 0.562082 
time: 1403637260.388319, t: 0.052614 0.061263 0.457951 q: -0.134201 0.789961 0.198250 0.564490 
time: 1403637260.488319, t: 0.044386 0.056153 0.436952 q: -0.129125 0.790059 0.202553 0.564008 
time: 1403637260.688319, t: 0.024062 0.054747 0.391773 q: -0.129700 0.801136 0.202333 0.548105 
time: 1403637260.788319, t: 0.015191 0.060027 0.369687 q: -0.133000 0.798714 0.200457 0.551529 
optimize pose graph 
time: 1403637260.888319, t: 0.007652 0.067231 0.348151 q: -0.136983 0.793963 0.198853 0.557958 
time: 1403637260.988319, t: -0.000533 0.076016 0.325996 q: -0.138845 0.789438 0.197996 0.564187 
time: 1403637261.088319, t: -0.009434 0.086190 0.302666 q: -0.139599 0.791228 0.197567 0.561638 
time: 1403637261.188319, t: -0.019881 0.096371 0.279721 q: -0.137301 0.798118 0.198891 0.551904 
time: 1403637261.288319, t: -0.029523 0.108524 0.260232 q: -0.134918 0.803565 0.200303 0.544022 
time: 1403637261.388319, t: -0.036168 0.123228 0.248800 q: -0.136716 0.800071 0.198813 0.549244 
time: 1403637261.488319, t: -0.041494 0.139658 0.241188 q: -0.143476 0.796058 0.193977 0.555049 
time: 1403637261.588319, t: -0.045035 0.154969 0.234755 q: -0.142538 0.801109 0.194104 0.547933 
time: 1403637261.688319, t: -0.045817 0.170529 0.231980 q: -0.138392 0.806837 0.196582 0.539645 
time: 1403637261.788319, t: -0.042922 0.187662 0.237104 q: -0.137133 0.804547 0.197015 0.543216 
time: 1403637261.888319, t: -0.036063 0.206375 0.244841 q: -0.139050 0.797493 0.195057 0.553735 
time: 1403637261.988319, t: -0.029718 0.224756 0.246050 q: -0.140078 0.792923 0.193114 0.560677 
time: 1403637262.088319, t: -0.023482 0.242274 0.237284 q: -0.143505 0.790329 0.189434 0.564713 
time: 1403637262.188319, t: -0.018879 0.258091 0.219679 q: -0.147255 0.790496 0.185651 0.564770 
time: 1403637262.288319, t: -0.014031 0.272274 0.194479 q: -0.149972 0.791035 0.182037 0.564477 
time: 1403637262.388319, t: -0.017631 0.266258 0.192566 q: -0.152432 0.777671 0.180362 0.582633 
time: 1403637262.488319, t: -0.018999 0.257340 0.184130 q: -0.141214 0.794342 0.150096 0.571447 
time: 1403637262.588319, t: -0.023937 0.252112 0.189188 q: -0.151957 0.777329 0.139862 0.594228 
time: 1403637262.688319, t: -0.019734 0.252323 0.184581 q: -0.147569 0.787512 0.141708 0.581349 
time: 1403637262.788319, t: -0.023521 0.251877 0.188473 q: -0.148420 0.785609 0.139036 0.584345 
time: 1403637262.888319, t: -0.023802 0.253526 0.188784 q: -0.149074 0.786582 0.139854 0.582672 
time: 1403637262.988319, t: -0.024021 0.253012 0.188929 q: -0.148828 0.786196 0.139656 0.583303 
time: 1403637263.088319, t: -0.023978 0.252890 0.188906 q: -0.148275 0.786170 0.139882 0.583424 
time: 1403637263.188319, t: -0.024055 0.252673 0.188963 q: -0.147855 0.786059 0.139983 0.583657 
time: 1403637263.288319, t: -0.024068 0.252758 0.188920 q: -0.148099 0.786252 0.139845 0.583367 
time: 1403637263.388319, t: -0.024053 0.252825 0.188930 q: -0.148375 0.786243 0.139750 0.583333 
time: 1403637263.488319, t: -0.024083 0.252721 0.188913 q: -0.148010 0.786264 0.139871 0.583368 
time: 1403637263.588319, t: -0.024063 0.252746 0.188915 q: -0.148201 0.786294 0.139758 0.583307 
time: 1403637263.688319, t: -0.024084 0.252755 0.188912 q: -0.148230 0.786340 0.139751 0.583239 
time: 1403637263.788319, t: -0.024104 0.252867 0.188891 q: -0.148556 0.786333 0.139478 0.583230 
time: 1403637263.888319, t: -0.024122 0.252833 0.188907 q: -0.148561 0.786351 0.139495 0.583201 
time: 1403637263.988319, t: -0.024075 0.252721 0.188899 q: -0.148224 0.786382 0.139659 0.583205 
time: 1403637264.088319, t: -0.024052 0.252746 0.188886 q: -0.148169 0.786413 0.139726 0.583162 
time: 1403637264.188319, t: -0.024054 0.252708 0.188869 q: -0.148092 0.786370 0.139722 0.583240 
time: 1403637264.288319, t: -0.024031 0.252759 0.188867 q: -0.148271 0.786395 0.139640 0.583180 
time: 1403637264.388319, t: -0.024026 0.252753 0.188840 q: -0.148225 0.786432 0.139701 0.583127 
time: 1403637264.488319, t: -0.023958 0.252762 0.188810 q: -0.148110 0.786380 0.139696 0.583228 
time: 1403637264.588319, t: -0.023934 0.252803 0.188807 q: -0.148155 0.786407 0.139663 0.583188 
time: 1403637264.688319, t: -0.023975 0.252783 0.188824 q: -0.148165 0.786420 0.139639 0.583174 
time: 1403637264.788319, t: -0.023982 0.252841 0.188824 q: -0.148204 0.786451 0.139587 0.583134 
time: 1403637264.888319, t: -0.023971 0.252768 0.188836 q: -0.148175 0.786450 0.139592 0.583142 
time: 1403637264.988319, t: -0.023948 0.252773 0.188831 q: -0.148006 0.786470 0.139697 0.583132 
time: 1403637265.088319, t: -0.023935 0.252802 0.188843 q: -0.148023 0.786519 0.139730 0.583055 
time: 1403637265.188319, t: -0.023935 0.252780 0.188843 q: -0.147974 0.786492 0.139685 0.583114 
time: 1403637265.288319, t: -0.023924 0.252764 0.188805 q: -0.147986 0.786521 0.139705 0.583067 
time: 1403637265.388319, t: -0.023987 0.252770 0.188950 q: -0.147973 0.786530 0.139719 0.583054 
time: 1403637265.488319, t: -0.023882 0.252861 0.188855 q: -0.147970 0.786513 0.139704 0.583082 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720553577.134772606]: Shutdown request received.[0m
[33m[ WARN] [1720553577.134821047]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720553577.135695125]: Shutdown request received.[0m
[33m[ WARN] [1720553577.135722551]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/b3c8cfb0-3e29-11ef-92c7-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
