/SLAM-Hive/slam_hive_results/mapping_results/3179/2384_vins-fusion-stereo-imu+MH_03_medium+Image_comb_test-14.yamlERROR: Unable to communicate with master!
[31m[ERROR] [1720555501.630037188]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
[0m[ INFO] [1720555501.632060263]: init begins[0m
[31m[ERROR] [1720555501.633225847]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...[0m
... logging to /root/.ros/log/86719916-3e2e-11ef-b507-0242ac110005/roslaunch-f4b2c5a18b0e-117.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://f4b2c5a18b0e:41695/[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 [154][0m
[0m[ INFO] [1720555502.736237299]: Connected to master at [localhost:11311][0m
[0m[ INFO] [1720555502.739256135]: 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] [1720555502.744737870]:  fix extrinsic param [0m
camera number 2
[0m[ INFO] [1720555502.744926225]: Synchronized sensors, fix time offset: 0[0m
[0m[ INFO] [1720555502.744956093]: ROW: 288 COL: 451 [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] [1720555502.745201045]: reading paramerter of camera /slamhive/cam0_pinhole.yaml[0m
[0m[ INFO] [1720555502.745414665]: reading paramerter of camera /slamhive/cam1_pinhole.yaml[0m
MULTIPLE_THREAD is 1
[33m[ WARN] [1720555502.745583626]: 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://f4b2c5a18b0e:11311/[0m
]2;roscore http://f4b2c5a18b0e:11311/
[1msetting /run_id to 86719916-3e2e-11ef-b507-0242ac110005[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 [247][0m
started core service [/rosout]
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1720555511.786731726]: 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: 316918381.45 
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] [1720555516.369113368]: gyroscope bias initial calibration 0.00164135 0.00955519  0.0845692[0m
[0m[ INFO] [1720555516.444615413]: Initialization finish![0m
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time: 1403637135.538319, t: 0.043016 -0.009073 0.232941 q: -0.077371 0.826403 0.082077 0.551666 
time: 1403637135.938319, t: 0.074556 -0.011808 0.448708 q: -0.082890 0.792045 0.065231 0.601281 
time: 1403637136.338319, t: 0.078619 -0.003720 0.202737 q: -0.052902 0.828552 0.056472 0.554539 
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time: 1403637249.138319, t: 1.316806 -5.371316 -0.314631 q: 0.178641 0.785531 -0.226905 0.547305 
time: 1403637249.538319, t: 1.576401 -4.867638 -0.223815 q: 0.181021 0.781878 -0.232499 0.549402 
time: 1403637249.938319, t: 1.833067 -4.339338 -0.279994 q: 0.175741 0.774370 -0.217893 0.567441 
time: 1403637250.338319, t: 2.071465 -3.775651 -0.284484 q: 0.118365 0.789437 -0.198690 0.568595 
time: 1403637250.738319, t: 2.263015 -3.273695 -0.327721 q: 0.091282 0.799257 -0.189518 0.562973 
time: 1403637251.138319, t: 2.424053 -2.910081 -0.271150 q: 0.075876 0.801642 -0.183016 0.564020 
time: 1403637251.538319, t: 2.554974 -2.593426 -0.111752 q: 0.067420 0.803798 -0.141712 0.573830 
time: 1403637251.938319, t: 2.652882 -2.387091 0.012506 q: 0.054937 0.803277 -0.102337 0.584171 
time: 1403637252.338319, t: 2.687055 -2.242794 0.062425 q: 0.054844 0.794300 -0.093636 0.597756 
time: 1403637252.738319, t: 2.643325 -2.110268 0.010434 q: 0.041643 0.812016 -0.105835 0.572446 
time: 1403637253.138319, t: 2.581086 -2.027435 0.005627 q: 0.056307 0.807530 -0.099760 0.578596 
time: 1403637253.538319, t: 2.507609 -1.981401 0.000293 q: 0.058662 0.806199 -0.102000 0.579826 
optimize pose graph 
time: 1403637253.938319, t: 2.409409 -1.952756 -0.000736 q: 0.069518 0.804566 -0.094945 0.582088 
time: 1403637254.338319, t: 2.278526 -1.897791 0.086133 q: 0.061321 0.809918 -0.075759 0.578388 
time: 1403637254.738319, t: 2.134787 -1.809799 0.167415 q: 0.047432 0.814251 -0.056071 0.575848 
time: 1403637255.138319, t: 1.991033 -1.705544 0.164244 q: 0.036700 0.807609 -0.050564 0.586400 
optimize pose graph 
time: 1403637255.538319, t: 1.823655 -1.581043 0.177905 q: 0.008892 0.810056 -0.016203 0.586061 
time: 1403637255.938319, t: 1.632681 -1.446651 0.170125 q: -0.028564 0.815492 0.053828 0.575551 
time: 1403637256.338319, t: 1.427621 -1.294171 0.240084 q: -0.049199 0.807823 0.087270 0.580849 
time: 1403637256.738319, t: 1.205904 -1.111598 0.230526 q: -0.055675 0.814555 0.077054 0.572244 
time: 1403637257.138319, t: 0.985250 -0.934436 0.196730 q: -0.065940 0.810641 0.087845 0.575149 
time: 1403637257.538319, t: 0.773470 -0.761413 0.235324 q: -0.068671 0.810700 0.114307 0.570073 
optimize pose graph 
time: 1403637257.938319, t: 0.588885 -0.556747 0.218238 q: -0.085882 0.821658 0.126003 0.549205 
time: 1403637258.338319, t: 0.461840 -0.348295 0.188810 q: -0.123925 0.799715 0.182515 0.558379 
time: 1403637258.738319, t: 0.391484 -0.133704 0.129290 q: -0.153153 0.793849 0.193237 0.555884 
time: 1403637259.138319, t: 0.375048 0.056519 0.086907 q: -0.155124 0.791886 0.187585 0.560057 
time: 1403637259.538319, t: 0.343665 0.175819 0.126173 q: -0.166450 0.792395 0.173307 0.560686 
optimize pose graph 
time: 1403637259.938319, t: 0.287880 0.224298 0.124866 q: -0.158937 0.794235 0.176188 0.559363 
time: 1403637260.338319, t: 0.242016 0.199056 0.070726 q: -0.138666 0.791138 0.192720 0.563677 
time: 1403637260.738319, t: 0.202141 0.190754 -0.013221 q: -0.131616 0.800749 0.199023 0.549425 
time: 1403637261.138319, t: 0.164807 0.217176 -0.098685 q: -0.138312 0.794583 0.196690 0.557513 
time: 1403637261.538319, t: 0.132278 0.274872 -0.150574 q: -0.143245 0.797831 0.192135 0.553201 
time: 1403637261.938319, t: 0.138774 0.341467 -0.139237 q: -0.139045 0.795093 0.192888 0.557931 
time: 1403637262.338319, t: 0.157003 0.395657 -0.188719 q: -0.180266 0.778675 0.158740 0.579630 
time: 1403637262.738319, t: 0.147141 0.377846 -0.198960 q: -0.143887 0.790106 0.139907 0.579184 
time: 1403637263.138319, t: 0.149340 0.378111 -0.198285 q: -0.147228 0.786486 0.138702 0.583546 
time: 1403637263.538319, t: 0.148115 0.374413 -0.193908 q: -0.147340 0.786511 0.138259 0.583589 
time: 1403637263.938319, t: 0.150116 0.375604 -0.194415 q: -0.147077 0.786569 0.138207 0.583590 
time: 1403637264.338319, t: 0.149488 0.375421 -0.194163 q: -0.147038 0.786584 0.138177 0.583586 
time: 1403637264.738319, t: 0.149571 0.375095 -0.193984 q: -0.147064 0.786588 0.138194 0.583570 
time: 1403637265.138319, t: 0.149702 0.376019 -0.194361 q: -0.146939 0.786633 0.138246 0.583528 

Done.
killing:
 * /loop_fusion
 * /rosout
 * /vins_estimator
[33m[ WARN] [1720555648.610336517]: Shutdown request received.[0m
[33m[ WARN] [1720555648.610381712]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1720555648.611174028]: Shutdown request received.[0m
[33m[ WARN] [1720555648.611205022]: Reason given for shutdown: [user request][0m
killed
