/SLAM-Hive/slam_hive_results/mapping_results/3175/2380_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-10.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720554811.658888128]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720554811.660253729]: init begins[0m
[31m[ERROR] [1720554811.661304167]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/eb308490-3e2c-11ef-a0f6-0242ac110005/roslaunch-1069adae809f-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://1069adae809f:34415/[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] [1720554812.870737247]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720554812.875436737]: Connected to master at [localhost:11311][0m
[1mROS_MASTER_URI=http://1069adae809f:11311/[0m
]2;roscore http://1069adae809f:11311/
[1msetting /run_id to eb308490-3e2c-11ef-a0f6-0242ac110005[0m
config_file: /slamhive/mappingtask.yaml
USE_IMU: 1
IMU_TOPIC: /imu0
result path /home/output/vio.csv
[33m[ WARN] [1720554812.903071228]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720554812.903440893]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720554812.903491399]: 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] [1720554812.903912630]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720554812.904303378]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720554812.904630853]: 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
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 [237][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720554821.823154074]: 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: 316917691.49 
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] [1720554824.276330704]: gyroscope bias initial calibration -0.00203852   0.0203229   0.0777866[0m
[0m[ INFO] [1720554824.306549432]: Initialization finish![0m
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time: 1403637132.838319, t: 0.000164 -0.000247 0.000409 q: -0.101349 0.786946 0.078227 0.603593 
time: 1403637133.038319, t: 0.000682 0.000322 0.001006 q: -0.101903 0.787294 0.076487 0.603269 
time: 1403637133.238319, t: -0.002227 -0.001690 0.003971 q: -0.100462 0.785574 0.079073 0.605416 
time: 1403637133.438319, t: -0.005753 -0.004995 0.018338 q: -0.089400 0.789997 0.075284 0.601868 
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time: 1403637265.038319, t: 0.054035 -0.067482 0.107721 q: -0.137712 0.788854 0.124931 0.585779 
time: 1403637265.438319, t: 0.053872 -0.067374 0.107859 q: -0.137659 0.788865 0.125003 0.585761 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720554958.599632401]: Shutdown request received.[0m
[33m[ WARN] [1720554958.599678187]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720554958.600615298]: Shutdown request received.[0m
[33m[ WARN] [1720554958.600644894]: Reason given for shutdown: [user request][0m
killed
