/SLAM-Hive/slam_hive_results/mapping_results/3178/2383_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-13.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720555329.907258956]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720555329.909219825]: init begins[0m
[31m[ERROR] [1720555329.910237049]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/20177046-3e2e-11ef-afce-0242ac110005/roslaunch-3ca36257f650-118.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://3ca36257f650:42425/[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
[1mROS_MASTER_URI=http://3ca36257f650:11311/[0m
]2;roscore http://3ca36257f650:11311/
[1msetting /run_id to 20177046-3e2e-11ef-afce-0242ac110005[0m
[0m[ INFO] [1720555331.062740324]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720555331.065588354]: 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] [1720555331.071734673]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720555331.071931292]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720555331.071963741]: ROW: 384 COL: 601 [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] [1720555331.072240470]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720555331.072450997]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720555331.072646622]: 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 [220][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720555340.063042479]: 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: 316918209.73 
init first imu pose
averge acc 9.438567 -0.684964 -2.448160
init R0 
  0.260071   0.260169   0.929879
         0  -0.963017    0.26944
  0.965589 -0.0700736  -0.250453
[33m[ WARN] [1720555344.653360152]: gyroscope bias initial calibration 0.00860989  0.0240464  0.0905362[0m
[0m[ INFO] [1720555344.762647834]: Initialization finish![0m
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time: 1403637135.538319, t: 0.002048 -0.056523 0.213517 q: -0.081699 0.818295 0.087608 0.562178 
time: 1403637135.938319, t: 0.014542 -0.061684 0.432540 q: -0.070053 0.786948 0.056905 0.610383 
time: 1403637136.338319, t: 0.059440 -0.011655 0.186601 q: -0.068053 0.828397 0.069541 0.551625 
time: 1403637136.738319, t: 0.004708 -0.044844 0.083113 q: -0.058450 0.854651 0.052157 0.513258 
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time: 1403637139.138319, t: -0.138587 -0.160709 0.012295 q: -0.015850 0.755251 0.000004 0.655244 
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time: 1403637189.938319, t: -2.874953 -2.192340 -0.386015 q: 0.533963 0.302938 -0.756388 0.225810 
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time: 1403637191.938319, t: -4.679375 -1.533430 -0.169097 q: 0.531732 0.354593 -0.738882 0.213490 
time: 1403637192.338319, t: -4.836316 -1.461245 -0.009672 q: 0.522615 0.364433 -0.746801 0.190657 
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time: 1403637193.138319, t: -5.029824 -1.736970 0.249581 q: 0.502231 0.337591 -0.761458 0.232331 
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time: 1403637193.938319, t: -5.408468 -2.297666 0.480068 q: 0.518795 0.352021 -0.748715 0.215312 
time: 1403637194.338319, t: -5.577687 -2.660731 0.505286 q: 0.524412 0.346448 -0.745716 0.221072 
time: 1403637194.738319, t: -5.705068 -3.055121 0.563386 q: 0.515029 0.347137 -0.753255 0.216444 
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time: 1403637195.538319, t: -5.900590 -3.964174 0.609377 q: 0.534635 0.341737 -0.735802 0.236593 
time: 1403637195.938319, t: -5.927202 -4.396784 0.674640 q: 0.538439 0.368210 -0.721021 0.233738 
time: 1403637196.338319, t: -5.831266 -4.827326 0.707754 q: 0.585575 0.384840 -0.681339 0.211605 
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time: 1403637197.138319, t: -4.840696 -5.603407 0.525251 q: 0.567164 0.363860 -0.694771 0.251446 
time: 1403637197.538319, t: -4.044239 -5.894885 0.487038 q: 0.503746 0.448677 -0.668890 0.312275 
time: 1403637197.938319, t: -3.188721 -6.117459 0.556408 q: 0.454840 0.572908 -0.568510 0.376422 
time: 1403637198.338319, t: -2.243902 -6.245731 0.729385 q: 0.409514 0.644238 -0.484902 0.426762 
time: 1403637198.738319, t: -1.211365 -6.277784 0.851377 q: 0.410876 0.667979 -0.432458 0.444932 
time: 1403637199.138319, t: -0.116453 -6.238740 0.855516 q: 0.385925 0.647046 -0.437619 0.490799 
time: 1403637199.538319, t: 0.976298 -5.875328 0.880050 q: 0.335991 0.686227 -0.379791 0.521499 
time: 1403637199.938319, t: 1.987776 -5.332154 0.807439 q: 0.232678 0.703963 -0.307259 0.596564 
time: 1403637200.338319, t: 2.770854 -4.743104 0.576110 q: 0.150590 0.739696 -0.185947 0.628965 
time: 1403637200.738319, t: 3.259812 -4.110004 0.412980 q: 0.110370 0.786076 -0.168046 0.584521 
time: 1403637201.138319, t: 3.623237 -3.526154 0.396276 q: 0.122620 0.776876 -0.201752 0.583716 
time: 1403637201.538319, t: 3.028859 -2.963289 0.368770 q: 0.092526 0.766347 -0.274894 0.573223 
time: 1403637201.938319, t: 2.935280 -2.538673 0.308387 q: 0.115123 0.752727 -0.296537 0.576380 
time: 1403637202.338319, t: 2.723181 -2.471684 0.325208 q: 0.124447 0.786617 -0.282375 0.534799 
time: 1403637202.738319, t: 2.465634 -2.571615 0.364044 q: 0.152448 0.780671 -0.258533 0.548155 
time: 1403637203.138319, t: 2.233954 -2.737324 0.418840 q: 0.176237 0.781162 -0.242938 0.547456 
optimize pose graph 
time: 1403637203.538319, t: 2.045685 -2.874867 0.404317 q: 0.181716 0.780074 -0.242341 0.547480 
time: 1403637203.938319, t: 1.901822 -2.970265 0.324416 q: 0.186239 0.777518 -0.242732 0.549420 
time: 1403637204.338319, t: 1.788861 -3.020559 0.254902 q: 0.185145 0.777709 -0.245258 0.548396 
time: 1403637204.738319, t: 1.682110 -3.016612 0.298911 q: 0.185490 0.771533 -0.254040 0.552986 
time: 1403637205.138319, t: 1.582980 -2.989653 0.311893 q: 0.184652 0.779352 -0.258870 0.539908 
optimize pose graph 
time: 1403637205.538319, t: 1.519331 -2.952581 0.294566 q: 0.176894 0.782307 -0.237030 0.548197 
time: 1403637205.938319, t: 1.495726 -2.900483 0.267082 q: 0.171522 0.782972 -0.227155 0.553115 
time: 1403637206.338319, t: 1.486369 -2.818757 0.261506 q: 0.156756 0.779467 -0.234498 0.559348 
time: 1403637206.738319, t: 1.469979 -2.737789 0.318821 q: 0.162380 0.778940 -0.233465 0.558909 
time: 1403637207.138319, t: 1.432712 -2.652052 0.353675 q: 0.166539 0.775010 -0.235202 0.562410 
optimize pose graph 
time: 1403637207.538319, t: 1.367084 -2.551160 0.338107 q: 0.167318 0.774469 -0.240435 0.560709 
time: 1403637207.938319, t: 1.277686 -2.460815 0.324902 q: 0.162933 0.780896 -0.246411 0.550396 
time: 1403637208.338319, t: 1.195243 -2.402699 0.432163 q: 0.165274 0.777941 -0.248230 0.553058 
time: 1403637208.738319, t: 1.112214 -2.357677 0.478709 q: 0.173277 0.774842 -0.246453 0.555748 
time: 1403637209.138319, t: 1.027310 -2.312002 0.436230 q: 0.197149 0.780098 -0.226219 0.549003 
optimize pose graph 
time: 1403637209.538319, t: 0.977280 -2.201707 0.419310 q: 0.145192 0.807640 -0.204503 0.533681 
time: 1403637209.938319, t: 1.040458 -2.122201 0.491698 q: 0.126859 0.832349 -0.199226 0.501410 
time: 1403637210.338319, t: 1.293744 -2.120755 0.422150 q: 0.118858 0.852736 -0.205282 0.465375 
time: 1403637210.738319, t: 1.830695 -2.244263 0.319973 q: 0.122401 0.833803 -0.200089 0.499756 
time: 1403637211.138319, t: 2.527285 -2.456036 0.175030 q: 0.103339 0.805119 -0.214623 0.543177 
time: 1403637211.538319, t: 3.238746 -2.748818 -0.008079 q: 0.129308 0.791122 -0.207240 0.560765 
time: 1403637211.938319, t: 3.906381 -3.071130 -0.136098 q: 0.108798 0.804968 -0.222227 0.539263 
time: 1403637212.338319, t: 4.553765 -3.448042 -0.142636 q: 0.136621 0.783685 -0.207097 0.569458 
time: 1403637212.738319, t: 5.128697 -3.810406 -0.071527 q: 0.139044 0.795774 -0.212175 0.549902 
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time: 1403637213.538319, t: 6.254755 -4.524294 0.076883 q: 0.139264 0.796208 -0.203792 0.552383 
time: 1403637213.938319, t: 6.805588 -4.839056 0.042194 q: 0.162989 0.802566 -0.184453 0.543415 
time: 1403637214.338319, t: 7.394017 -5.050911 0.029464 q: 0.130091 0.792359 -0.156230 0.575183 
time: 1403637214.738319, t: 7.910596 -5.128159 0.122474 q: 0.121078 0.793048 -0.049054 0.594986 
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time: 1403637215.938319, t: 8.656147 -4.042734 0.345244 q: -0.012727 0.792439 0.054519 0.607377 
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time: 1403637216.738319, t: 8.349550 -3.010742 0.530922 q: -0.088053 0.774479 0.087086 0.620359 
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time: 1403637220.738319, t: 0.892582 -1.917357 0.505064 q: -0.130033 0.807005 0.159668 0.553480 
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time: 1403637228.738319, t: -1.100555 -0.743415 0.398899 q: 0.001164 0.808781 0.011823 0.587989 
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time: 1403637229.538319, t: -1.229634 -0.623933 0.367905 q: 0.004296 0.823140 -0.033454 0.566836 
time: 1403637229.938319, t: -1.284075 -0.614745 0.279482 q: 0.081449 0.813131 -0.131198 0.561222 
time: 1403637230.338319, t: -1.291239 -0.639689 0.205737 q: 0.144744 0.800150 -0.212981 0.541709 
time: 1403637230.738319, t: -1.255268 -0.652158 0.252487 q: 0.174044 0.768582 -0.244861 0.564831 
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time: 1403637231.538319, t: -1.302902 -0.770783 0.173734 q: 0.290256 0.668064 -0.495154 0.473566 
time: 1403637231.938319, t: -1.401502 -0.945215 -0.081185 q: -0.363509 -0.576355 0.605892 -0.410574 
time: 1403637232.338319, t: -1.605165 -1.186124 -0.187256 q: -0.432534 -0.481130 0.657456 -0.386238 
time: 1403637232.738319, t: -1.894003 -1.418094 -0.194706 q: -0.446213 -0.399627 0.726996 -0.335661 
time: 1403637233.138319, t: -2.366026 -1.576419 -0.111453 q: -0.440502 -0.377795 0.768069 -0.270737 
time: 1403637233.538319, t: -3.011208 -1.846510 -0.049911 q: -0.436479 -0.408125 0.766216 -0.236290 
time: 1403637233.938319, t: -3.682740 -2.292538 -0.139586 q: 0.536956 0.455315 -0.683572 0.192604 
time: 1403637234.338319, t: -3.991932 -2.929588 -0.310272 q: 0.568139 0.458397 -0.658339 0.183522 
time: 1403637234.738319, t: -3.877828 -3.682723 -0.544188 q: 0.543818 0.443884 -0.657292 0.274219 
time: 1403637235.138319, t: -3.549479 -4.388594 -0.785181 q: -0.497202 -0.481493 0.630667 -0.351018 
time: 1403637235.538319, t: -3.127056 -4.942466 -0.926866 q: -0.444977 -0.539873 0.618397 -0.357936 
optimize pose graph 
time: 1403637235.938319, t: -2.648534 -5.445536 -0.933801 q: 0.458162 0.587155 -0.550520 0.377179 
time: 1403637236.338319, t: -2.003618 -5.840718 -0.828378 q: 0.437481 0.642844 -0.484213 0.401124 
time: 1403637236.738319, t: -1.151006 -6.115852 -0.659682 q: 0.404314 0.655855 -0.450420 0.451118 
time: 1403637237.138319, t: -0.205827 -6.174310 -0.466985 q: 0.390475 0.633525 -0.396293 0.537706 
time: 1403637237.538319, t: 0.641142 -5.913648 -0.164805 q: 0.338796 0.649549 -0.370788 0.570806 
time: 1403637237.938319, t: 1.274786 -5.308001 0.190803 q: 0.297033 0.650561 -0.394834 0.576756 
time: 1403637238.338319, t: 1.640007 -4.571683 0.441395 q: 0.271807 0.612622 -0.512680 0.536632 
time: 1403637238.738319, t: 1.624300 -3.845053 0.607331 q: -0.279500 -0.537846 0.635201 -0.478667 
time: 1403637239.138319, t: 1.155200 -3.340127 0.751195 q: -0.260637 -0.556311 0.688063 -0.386207 
time: 1403637239.538319, t: 0.330463 -3.264922 0.878850 q: -0.353530 -0.517439 0.687564 -0.366781 
time: 1403637239.938319, t: -0.637563 -3.346501 0.786516 q: -0.461021 -0.428440 0.704663 -0.327643 
time: 1403637240.338319, t: -1.614086 -3.466556 0.572934 q: 0.508079 0.343587 -0.746555 0.257796 
time: 1403637240.738319, t: -2.585730 -3.555568 0.409321 q: 0.500703 0.334229 -0.771429 0.206120 
time: 1403637241.138319, t: -3.460051 -3.696239 0.257237 q: 0.532567 0.336922 -0.745871 0.215713 
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time: 1403637241.938319, t: -4.789744 -4.292533 0.000114 q: 0.572448 0.350995 -0.705341 0.227158 
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time: 1403637242.738319, t: -5.084049 -4.838511 -0.010464 q: 0.585858 0.371404 -0.684447 0.224416 
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time: 1403637244.738319, t: -2.843548 -5.437222 0.522850 q: -0.485675 -0.424514 0.713720 -0.272966 
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time: 1403637246.738319, t: -1.280092 -6.729340 0.597773 q: 0.343686 0.691969 -0.392234 0.499211 
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time: 1403637248.738319, t: 0.552422 -5.902333 0.107224 q: 0.184973 0.778654 -0.220665 0.557486 
time: 1403637249.138319, t: 0.838282 -5.436410 0.134242 q: 0.187641 0.782445 -0.235845 0.544929 
time: 1403637249.538319, t: 1.086067 -4.939597 0.226687 q: 0.189994 0.778608 -0.241427 0.547162 
time: 1403637249.938319, t: 1.350326 -4.409696 0.168519 q: 0.184584 0.770875 -0.226911 0.565855 
time: 1403637250.338319, t: 1.594527 -3.850699 0.164841 q: 0.126883 0.786217 -0.207792 0.567967 
time: 1403637250.738319, t: 1.787602 -3.358590 0.122524 q: 0.099440 0.796250 -0.198644 0.562706 
time: 1403637251.138319, t: 1.953957 -2.996878 0.182002 q: 0.083809 0.798804 -0.191992 0.563938 
time: 1403637251.538319, t: 2.089088 -2.699385 0.345040 q: 0.075490 0.801724 -0.150565 0.573472 
time: 1403637251.938319, t: 2.198392 -2.471873 0.467067 q: 0.063138 0.801669 -0.111156 0.583939 
time: 1403637252.338319, t: 2.240076 -2.317035 0.512822 q: 0.063289 0.792656 -0.102331 0.597679 
time: 1403637252.738319, t: 2.190094 -2.198809 0.460602 q: 0.049332 0.810363 -0.114671 0.572476 
time: 1403637253.138319, t: 2.129575 -2.116797 0.452792 q: 0.063893 0.805813 -0.108478 0.578632 
time: 1403637253.538319, t: 2.055150 -2.074457 0.445591 q: 0.065999 0.804368 -0.110570 0.580008 
optimize pose graph 
time: 1403637253.938319, t: 1.955906 -2.043556 0.443208 q: 0.077043 0.802650 -0.103926 0.582251 
time: 1403637254.338319, t: 1.826718 -1.982161 0.529123 q: 0.068916 0.808217 -0.084844 0.578652 
time: 1403637254.738319, t: 1.684555 -1.888885 0.610345 q: 0.055264 0.812723 -0.065413 0.576323 
time: 1403637255.138319, t: 1.545656 -1.781317 0.605207 q: 0.044899 0.806127 -0.060267 0.586950 
time: 1403637255.538319, t: 1.385698 -1.649561 0.615412 q: 0.017671 0.808976 -0.026412 0.586982 
optimize pose graph 
time: 1403637255.938319, t: 1.192656 -1.506271 0.604119 q: -0.019601 0.815333 0.043657 0.577012 
time: 1403637256.338319, t: 0.987057 -1.345739 0.676803 q: -0.040159 0.808200 0.077457 0.582409 
time: 1403637256.738319, t: 0.770356 -1.153158 0.669820 q: -0.046532 0.814923 0.066957 0.573804 
time: 1403637257.138319, t: 0.558296 -0.966608 0.631724 q: -0.056327 0.811279 0.077805 0.576714 
time: 1403637257.538319, t: 0.349850 -0.788611 0.674740 q: -0.059194 0.811780 0.104121 0.571549 
time: 1403637257.938319, t: 0.171812 -0.589152 0.655021 q: -0.077038 0.822800 0.116055 0.550996 
time: 1403637258.338319, t: 0.057085 -0.367120 0.623341 q: -0.114753 0.801653 0.172847 0.560632 
time: 1403637258.738319, t: -0.011182 -0.146155 0.565617 q: -0.144102 0.795835 0.183682 0.558697 
time: 1403637259.138319, t: -0.038470 0.041727 0.521543 q: -0.146387 0.793595 0.178405 0.562982 
time: 1403637259.538319, t: -0.071906 0.165450 0.562425 q: -0.157780 0.794006 0.164062 0.563688 
optimize pose graph 
time: 1403637259.938319, t: -0.129131 0.190344 0.559354 q: -0.151075 0.795582 0.167401 0.562319 
time: 1403637260.338319, t: -0.156156 0.172470 0.506843 q: -0.130555 0.792680 0.183827 0.566411 
time: 1403637260.738319, t: -0.192455 0.167566 0.419629 q: -0.123661 0.802248 0.190075 0.552248 
time: 1403637261.138319, t: -0.227622 0.199419 0.330410 q: -0.130478 0.795994 0.187952 0.560396 
time: 1403637261.538319, t: -0.258425 0.251886 0.276916 q: -0.135954 0.799020 0.183681 0.556188 
optimize pose graph 
time: 1403637261.938319, t: -0.242911 0.322497 0.288099 q: -0.131745 0.796275 0.184362 0.560893 
time: 1403637262.338319, t: -0.223887 0.375653 0.237052 q: -0.172929 0.779503 0.150465 0.582951 
time: 1403637262.738319, t: -0.232604 0.360801 0.230810 q: -0.136344 0.790748 0.131230 0.582157 
time: 1403637263.138319, t: -0.231967 0.360238 0.230436 q: -0.139758 0.787067 0.130025 0.586589 
time: 1403637263.538319, t: -0.235556 0.356257 0.233289 q: -0.140123 0.787209 0.129873 0.586346 
time: 1403637263.938319, t: -0.233289 0.359110 0.232160 q: -0.139655 0.787098 0.129823 0.586617 
time: 1403637264.338319, t: -0.233559 0.358912 0.232026 q: -0.139778 0.787115 0.129749 0.586582 
time: 1403637264.738319, t: -0.233618 0.358834 0.232009 q: -0.139742 0.787135 0.129771 0.586557 
time: 1403637265.138319, t: -0.234064 0.358481 0.232211 q: -0.139702 0.787206 0.129793 0.586467 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720555476.883360312]: Shutdown request received.[0m
[33m[ WARN] [1720555476.883400834]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720555476.884286789]: Shutdown request received.[0m
[33m[ WARN] [1720555476.884316814]: Reason given for shutdown: [user request][0m
killed
