/SLAM-Hive/slam_hive_results/mapping_results/3174/2379_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-9.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720554639.750947812]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720554639.752555726]: init begins[0m
[31m[ERROR] [1720554639.753584859]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/84b9aa70-3e2c-11ef-bf72-0242ac110005/roslaunch-603eda08befc-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://603eda08befc:39417/[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] [1720554640.857240041]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720554640.859018130]: 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] [1720554640.865358818]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720554640.865568737]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720554640.865600120]: 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] [1720554640.865842032]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720554640.866043540]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720554640.866198656]: 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://603eda08befc:11311/[0m
]2;roscore http://603eda08befc:11311/
[1msetting /run_id to 84b9aa70-3e2c-11ef-bf72-0242ac110005[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] [1720554649.874978564]: 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: 316917519.54 
init first imu pose
averge acc 9.440873 -0.712109 -2.412774
init R0 
  0.257481   0.273526   0.926762
         0  -0.959099    0.28307
  0.966283 -0.0728851   -0.24695
[33m[ WARN] [1720554652.350019130]: gyroscope bias initial calibration -0.00174844    0.020414   0.0781786[0m
[0m[ INFO] [1720554652.398389828]: Initialization finish![0m
time: 1403637132.638319, t: 0.000109 -0.000761 0.000065 q: -0.100403 0.787008 0.078579 0.603625 
time: 1403637132.838319, t: 0.000175 -0.000312 0.000358 q: -0.101088 0.786940 0.077883 0.603689 
time: 1403637133.038319, t: 0.000705 0.000157 0.000929 q: -0.101510 0.787331 0.075899 0.603361 
time: 1403637133.238319, t: -0.002088 -0.001901 0.004102 q: -0.100018 0.785618 0.078454 0.605513 
time: 1403637133.438319, t: -0.005287 -0.005125 0.018862 q: -0.088607 0.790083 0.074348 0.601989 
time: 1403637133.638319, t: -0.006333 -0.010033 0.030235 q: -0.077171 0.804360 0.060447 0.586000 
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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: 1403637264.838319, t: 0.274987 0.205313 0.173916 q: -0.128463 0.790577 0.114644 0.587658 
time: 1403637265.038319, t: 0.275148 0.205288 0.173934 q: -0.128571 0.790619 0.114573 0.587592 
time: 1403637265.238319, t: 0.274919 0.205290 0.174000 q: -0.128499 0.790664 0.114624 0.587537 
time: 1403637265.438319, t: 0.274919 0.205282 0.173988 q: -0.128572 0.790683 0.114626 0.587496 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720554786.729550924]: Shutdown request received.[0m
[33m[ WARN] [1720554786.729593794]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720554786.730600790]: Shutdown request received.[0m
[33m[ WARN] [1720554786.730632029]: Reason given for shutdown: [user request][0m
killed
