/SLAM-Hive/slam_hive_results/mapping_results/3168/2373_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-3.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720553603.503969042]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720553603.505613474]: init begins[0m
[31m[ERROR] [1720553603.506588797]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/1b129fde-3e2a-11ef-8226-0242ac110005/roslaunch-3b04aa012a9d-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://3b04aa012a9d:36749/[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] [1720553604.610308267]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720553604.611868795]: 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] [1720553604.618051958]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720553604.618267463]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720553604.618291439]: 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] [1720553604.618480458]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720553604.618700136]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720553604.618867442]: 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://3b04aa012a9d:11311/[0m
]2;roscore http://3b04aa012a9d:11311/
[1msetting /run_id to 1b129fde-3e2a-11ef-8226-0242ac110005[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] [1720553613.656359751]: 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: 316916483.32 
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] [1720553615.065912405]: gyroscope bias initial calibration -0.00220376    0.020495   0.0774111[0m
[0m[ INFO] [1720553615.103146815]: Initialization finish![0m
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time: 1403637131.888319, t: -0.000063 -0.000070 -0.000031 q: -0.102008 0.787051 0.078133 0.603358 
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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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wait for imu ... 
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wait for imu ... 
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optimize pose graph 
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optimize pose graph 
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time: 1403637265.088319, t: -0.310669 0.137831 0.002370 q: -0.149804 0.785953 0.142148 0.582778 
time: 1403637265.188319, t: -0.310716 0.137808 0.002387 q: -0.149765 0.785931 0.142122 0.582824 
time: 1403637265.288319, t: -0.310754 0.137774 0.002394 q: -0.149796 0.785975 0.142144 0.582752 
time: 1403637265.388319, t: -0.310801 0.137803 0.002435 q: -0.149751 0.785978 0.142163 0.582755 
time: 1403637265.488319, t: -0.310829 0.137810 0.002402 q: -0.149755 0.785976 0.142165 0.582756 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720553750.434160098]: Shutdown request received.[0m
[33m[ WARN] [1720553750.434213312]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720553750.435116884]: Shutdown request received.[0m
[33m[ WARN] [1720553750.435142869]: Reason given for shutdown: [user request][0m
killed
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/1b129fde-3e2a-11ef-8226-0242ac110005/rosout-1*.log[0m
[rosout-1] restarting process
