/SLAM-Hive/slam_hive_results/mapping_results/3170/2375_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-5.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720553947.294456547]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720553947.296318625]: init begins[0m
[31m[ERROR] [1720553947.297374400]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/e7fddacc-3e2a-11ef-9716-0242ac110005/roslaunch-ecc52b11833e-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://ecc52b11833e:39877/[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] [1720553948.403102543]: 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] [1720553948.407868026]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720553948.408180731]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720553948.408202798]: ROW: 96 COL: 150 [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] [1720553948.408388641]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720553948.408622126]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720553948.408796366]: waiting for image and imu...[0m
[1mROS_MASTER_URI=http://ecc52b11833e:11311/[0m
]2;roscore http://ecc52b11833e:11311/
[1msetting /run_id to e7fddacc-3e2a-11ef-9716-0242ac110005[0m
[0m[ INFO] [1720553948.450051384]: Connected to master at [localhost:11311][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 [248][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720553957.451518438]: 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: 316916827.11 
init first imu pose
averge acc 9.410943 -0.689906 -2.446931
init R0 
[33m[ WARN] [1720553958.848448880]: gyroscope bias initial calibration -0.00253559   0.0207356   0.0776673[0m
[0m[ INFO] [1720553958.864690648]: Initialization finish![0m
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time: 1403637265.488319, t: 0.459334 -0.453775 -0.647269 q: -0.179162 0.778987 0.179761 0.573381 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720554094.140497515]: Shutdown request received.[0m
[33m[ WARN] [1720554094.140541439]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720554094.141432936]: Shutdown request received.[0m
[33m[ WARN] [1720554094.141459328]: Reason given for shutdown: [user request][0m
killed
